CN107884767A - A kind of method of binocular vision system measurement ship distance and height - Google Patents
A kind of method of binocular vision system measurement ship distance and height Download PDFInfo
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- CN107884767A CN107884767A CN201711050019.7A CN201711050019A CN107884767A CN 107884767 A CN107884767 A CN 107884767A CN 201711050019 A CN201711050019 A CN 201711050019A CN 107884767 A CN107884767 A CN 107884767A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
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Abstract
The invention discloses a kind of method of binocular vision system measurement ship distance and height, comprise the following steps:Step 1:Establish two and be used for the high binocular vision system of ship ranging survey;Step 2:Single camera calibration, step 3:Two cameras obtain left images and pre-processed respectively, so as to obtain on profile and contoured interior two dimensional image pixel point coordinates;Step 4:Binocular corrects, and calculates the parallax that target point is formed on the image of left and right two;Step 5:Stereo matching, obtain disparity map;Step 6:Three-dimensional reconstruction;Can be three-dimensional world coordinate by the two-dimensional points coordinate re-projection in image;Step 7:Ship is calculated to the distance of bridge;Step 8:The coordinate that y values are minimum and maximum in three-dimensional coordinate point is extracted, the height of ship is calculated.The present invention can monitor whether ship exceedes bridge regulation headway, prevent the accident of ship from colliding bridge from occurring, assure the safety for life and property of the people to the distance of bridge, detection ship height in real time.
Description
Technical field
The present invention relates to measure ship distance and height more particularly to a kind of binocular vision system in bridge collision prevention system
Method.
Background technology
China's rivers are numerous, and increasing crossing-fiver bridge construction has to China's economic development greatly facilitates effect.
But at the same time, often as the multiple area of maritime accidents forecast, bring huge people because bridge zone waters navigation environment is complicated
The loss of member, economy, environment etc..The origin cause of formation of ship collision Bridge Accidents is varied, but often caused by bridge itself
Caused by " genetic prerequisite " is insufficient, and ship operation is improper.
The old bridge having is in design, the waterway classification design standard of the satisfaction such as yardstick, anticollision at that time, due to navigation channel liter
Level, larger-sized vessel, these old bridges can not meet the navigation demand of present ship.With the development of larger-sized vessel, bridge
Beam Clearance dimension deficiency, ship superelevation, super drinking water, the problems such as navigating by water getting worse violating the regulations, not only brought to maritime sector supervision
Huge pressure, navigation safety also receive serious threat.
Domestic ship ranging at present and superelevation detection technique more fall behind, mostly with the ranging height-finding system of Introduced From Abroad
Based on equipment, and research and utilization ultrasonic wave and laser ranging survey height are had focused largely on, but ultrasonic ranging height-finding system is uncomfortable
For windy occasion, and laser ranging height-finding system needs to use generating laser, laser pickoff and a variety of optical sensings
Device, more sensor cause that its manufacture difficulty is larger, and cost is higher, and due to needing to keep the clean of optical system,
Bridge zone open space working service is very inconvenient.A kind of sensor-based system using single-mode reality simultaneously is designed in consideration of it, needing badly
The measurement of ship distance and height in existing bridge-collision-avoidance early warning system.
At present the method for main limitation ship superelevation be according to the situation of the tonnage of ship, according to water level information, with reference to
The information such as the experience of navigation, real-time headroom, general restriction, but often due to supervision difficulty are carried out to the tonnage for ship of opening the navigation or air flight
It is big, it is specified that uncertainty, and the demand of local economic development can not make rational mandatory provision to ship.Ship
Oceangoing ship can will be by ship operation personnel rule of thumb by bridge main, and environmental information at that time makes their own and judged whether
Pass through bridge.But some ship operations personnel leave things to chance psychology, and it is different per bridge block head room, plus external ship
Terrain environment is not known about, the main reason for often generation into accident.
The content of the invention
It is an object of the invention to provide a kind of method of binocular vision system measurement ship distance and height, in ship
During nearly bridge, it can monitor whether ship exceedes bridge regulation navigation to the distance of bridge, detection ship height in real time
Highly, prevent the accident of ship from colliding bridge from occurring, assure the safety for life and property of the people, reduce system cost, reduce system and adjust
Examination and maintenance difficulties.
What the present invention was achieved through the following technical solutions:
A kind of method of binocular vision system measurement ship distance and height, comprises the following steps:
Step 1:Establish two binocular vision systems being made up of two independent camera systems, the binocular vision system
Surveyed for ship ranging high;
Step 2:Single camera calibration, draw relative between the inner parameter of each camera and two cameras
Position;
Step 3:Two cameras obtain left images and pre-processed respectively, obtain the elementary contour information of ship,
So as to obtain on profile and contoured interior two dimensional image pixel point coordinates;
Step 4:Binocular corrects, and matches target point corresponding picture point on left images, calculates target point left and right two
The parallax formed on image;
Step 5:Stereo matching, according to parallax, obtain disparity map;
Step 6:Three-dimensional reconstruction;After getting parallax data, with reference to calibrating parameters and the two-dimensional image of ship contour area
Vegetarian refreshments coordinate, you can by the two-dimensional points coordinate re-projection in image be three-dimensional world coordinate;
Step 7:The profile of ship is detected in two field picture, the pixel two dimension on ship profile and in profile is obtained and sits
Data are marked, two-dimensional coordinate is converted into three-dimensional coordinate, using principle of triangulation, calculates ship to the distance of bridge, must
Range data is arrived.
Step 8:Detect the profile of ship in two field picture, obtain in two field picture on ship profile and the pixel of profile quilt
Point two-dimensional coordinate data, is converted to three-dimensional coordinate by two-dimensional coordinate, extracts the seat that y values are minimum and maximum in three-dimensional coordinate point
Mark, minimum y-coordinate value subtract the height that maximum y-coordinate value obtains ship.
Further, two binocular vision systems in step 1 include two focal lengths and other inner parameter all sames
Video camera, two video cameras are by optical axis is parallel to each other, X-axis mutually coincides, is placed along X-axis at a distance of T position.
Further, step 2 is based on gridiron pattern standardization, the internal reference of each camera and outer ginseng is calculated, so as to obtain
Camera focal length f and imaging origin cx, cy, and eliminate radial distortion and tangential distortion and the generation for obtaining demarcating thing of camera
Boundary's coordinate, binocular camera, which is calibrated, draws the inner parameter of each camera, and the relative position between two cameras, i.e., with
On the basis of left camera, spin matrix R, translation vector t of the right camera relative to left camera.
Further, step 3 passes through the synchronous crawl water of two cameras of binocular vision system for being installed on bridge or so
Face image, the collection to ship information is realized, gray proces, Gaussian Blur pre-treatment step are carried out to image, existing for removal
Noise;Contour detecting is carried out to ship, obtains the elementary contour information of ship, is obtained on profile and contoured interior two dimensional image picture
Vegetarian refreshments coordinate.
Further, the two images that step 4 will be eliminated after distortion using epipolar-line constraint, which are strictly gone, to be corresponded to so that two width
Image to polar curve just in the same horizontal line so that any point and its pair on another piece image on piece image
Should put just necessarily has identical line number, and only need to carry out linear search in the row can match corresponding points, calculate target point and exist
The parallax formed on the image of left and right two.
Beneficial effects of the present invention:The invention provides a kind of side of binocular vision system measurement ship distance and height
Method, utilize the binocular camera for being installed on bridge, it is only necessary to measure by capturing the picture frame can containing ship information
For ship apart from the distance of bridge and the height of ship, the measuring method is quick, timely, efficient, can be good at meeting in real time
Property demand, play early warning effect to bridge zone ship navigation, help safety of ship to pass through, play and ensure traffic safety and people's people's livelihood
Order property safety effect.
Brief description of the drawings
Fig. 1 is Binocular Stereo Vision System imaging schematic diagram of the present invention;
Fig. 2 is the operation principle flow chart of binocular vision system of the present invention;
Fig. 3 is video camera imaging schematic diagram of the present invention;
Fig. 4 is image coordinate system schematic diagram of the present invention;
Fig. 5 is epipolar-line constraint schematic diagram of the present invention;
Fig. 6 is principle of triangulation figure of the present invention;
Fig. 7 is ship elevation carrection schematic diagram of the present invention.
Embodiment
The present invention is described in detail below in conjunction with accompanying drawing and specific embodiment, below will herein with the signal of the present invention
The present invention is described in detail with reference to accompanying drawing and specific embodiment, is used for solving with the illustrative examples of the present invention and explanation herein
The present invention is released, but it is not as a limitation of the invention.
Concrete scheme is as follows:
(1) according to the requirement of bridge collision prevention system, two independent camera systems are chosen, structure is applied to ship ranging
Survey the binocular vision system of high request.It is mutually equal by optical axis using two focal lengths and the video camera of other inner parameter all sames
Row, X-axis mutually coincide, place just composition said system at a distance of T position along X-axis.Wherein focal length of camera and two shootings
The distance between machine T (i.e. baseline length) has considerable influence to measurement accuracy.
(2) single camera calibration:Based on gridiron pattern standardization, the internal reference of each camera and outer ginseng are calculated, so as to
Obtain camera focal length f and imaging origin cx, cy, and eliminate camera radial distortion and tangential distortion and obtain demarcate thing
World coordinates.Binocular camera calibrates the inner parameter that not only draw each camera, it is also necessary to is measured by demarcation
Between two cameras relative position (i.e. on the basis of left camera, right camera relative to left camera spin matrix
R, translation vector t).
(3) acquisition and pretreatment of image:It is same by the binocular vision system that is installed on bridge or so two cameras
Step crawl Surface Picture, realizes the collection to ship information.The pre-treatment steps such as gray proces, Gaussian Blur are carried out to image,
Noise existing for removal;Contour detecting is carried out to ship, obtains the elementary contour information of ship, is obtained on profile and contoured interior
Two dimensional image pixel point coordinates.
(4) binocular corrects:The parallax that Three dimensional Targets point is formed on the image of left and right two is calculated, is first had to this
Point two corresponding Pixel matchings on left images get up.However, on two-dimensional space match corresponding points be it is very time-consuming,
In order to reduce matching hunting zone, using epipolar-line constraint so that the matching of corresponding points is reduced to linear search by two-dimensional search.Binocular
School is precisely in order to strictly row is corresponding the two images after distorting are eliminated so that two images to polar curve just in same water
On horizontal line, any point just necessarily has identical line number with its corresponding points on another piece image on such piece image,
Linear search only, which need to be carried out, in the row can match corresponding points.
(5) Stereo matching:Binocular measuring principle is parallax of the utilization space same point in two camera imaging planes
Size calculates the three-dimensional coordinate of spatial point.Complete the measurement of space coordinates point it may first have to know spatial point in two image planes
Picpointed coordinate, this two picture point be referred to as match picture point.In actually measuring, the image to be obtained from left and right cameras recovers empty
Between the three-dimensional coordinate put, the picpointed coordinate of matching, referred to as Stereo matching must be found in two images, so as to obtain parallax numbers
According to obtaining disparity map.
(6) three-dimensional reconstruction:After getting parallax data, 3D point cloud is generated by three-dimensional reconstruction, 3D point cloud is 2D images
Three-dimensional coordinate corresponding to pixel coordinate.
(7) ranging:The profile of ship is detected in two field picture, obtains the pixel two dimension on ship profile and in profile
Coordinate data, two-dimensional coordinate is converted into three-dimensional coordinate, using principle of triangulation, calculates ship to the distance of bridge, just
Range data is obtained.
(8) survey high:Detect the profile of ship in two field picture, obtain in two field picture on ship profile and the picture of profile quilt
Vegetarian refreshments two-dimensional coordinate data, two-dimensional coordinate is converted into three-dimensional coordinate, extracts the seat that y values are minimum and maximum in three-dimensional coordinate point
Mark, minimum y-coordinate value subtract the height that maximum y-coordinate value obtains ship.
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.All steps of the present embodiment are all base Microsoft Visual Studio exploitations
What environment and OpenCV function libraries were completed.
Fig. 1 is the principle of Binocular Stereo Vision System imaging.If two camera horizons are placed, o, o ' it is respectively two shootings
The centre of perspectivity of machine, sensor coordinates origin are set to o points, spatial point p (x, y, the z) picpointed coordinates in two video camera image planes point
Wei not P1(X1,Y1),P2(X2,Y2).If centre of perspectivity's spacing of two video cameras is T, the effective focal length f of video camera1,f2.Object point p
The angle in xoz planes to the measurement angles of two centres of perspectivity being respectively α, β, two camera optical axis and x-axis is α0,β0Picture point
P1,P2Horizontal field of view angle to the video camera centre of perspectivity is γ1,γ2, the angle of visual field of vertical direction is θ1,θ2。
From measurement of coordinates mathematical modeling, three-dimensional coordinate of the spatial point in Binocular Stereo Vision System coordinate system is not only
Depending on its imaging point coordinate value in two image planes, the structural parameters T, α of sensor are additionally depended on0,β0,f1,f2。
With x, y, z coordinate direction of principal axis measurement error denotation coordination measurement composition error, then have:
Use ψiThe transmission function of each factor error is represented, it is defined as:
In formula, k takes x, y, z respectively;I represents T, α0,β0,f1,f2,X1,X2,Y1,Y2;FkDenotation coordination function is in each coordinate
Projected on axle;δiIt is factor i error deltaiTo the component of global error contribution.
Binocular Stereo Vision System design process:
According to information such as the ship target distance and object height of required measurement and channel spans, sensor is primarily determined that
The measurement depth of field and baseline length T size and the unilateral effective angle field range of video camera.Available field of view should be controlled in error
Carry-over factor changes in the range of less angular field, i.e., the angle of visual field of video camera should be controlled within 30 °, within preferably 20 °.
According to the unilateral effective angle field range of video camera, the angle of camera optical axis and baseline is obtained by following formula:
Wherein, Φ is the angle of camera optical axis and baseline, and γ horizontal field of view angle, θ is vertical field of view angle.
3. according to the required precision of measurand, the scope that measurement error Δ is allowed is determined, is located at maximum field of view and is
Δmax, estimate the size of image procossing error, the lens focus f of video camera obtained by following formula:
Wherein, δ represents the error of algorithm extraction picpointed coordinate, ψmaxRepresent the maximum of error transfer function.
4. determine video camera CCD form.According to horizontal angular field γmaxIt is big that CCD image planes sizes are calculated with lens focus f
It is small, select suitable video camera.I.e.:
X=f*tan γmax
5. a pair calculating focal length is standardized, select closest to the standard focal length camera lens for calculating focal length.
6. after video camera and camera lens size is determined, final baseline length T size is determined by following formula:
It is such as undesirable, restart again from the first step, untill meeting to require.
Due to mutually being restricted between sensor construction parameter, when above theoretical design requirements can not be met, Ying Gen
Traded off these structural parameters according to measurand and measuring environment.
Camera calibration:
In the ideal case, the imaging model of video camera is regarded as national forest park in Xiaokeng, as shown in figure 3, (Ow-
xwywzw) it is world coordinate system, (Oc-xcyczc) it is camera coordinate system, (O1- xy) it is image physical coordinates system, (O-uv) is figure
As pixel coordinate system.P is any point in three-dimensional scenic, P and video camera photocentre O line and video camera imaging plane phase
Hand over, its intersection point is Pu.From object point P to imaging point PuBetween relation can be represented by following coordinate transform:
Transformational relation between camera coordinate system and world coordinate system can be by spin matrix R and translation matrix t expressions, can
It is expressed as:
By similar triangles transformation of scale, the conversion between image physical coordinates system and camera coordinate system can be obtained
Relation:
Such as Fig. 4, if principal point O1It is (u in the coordinate of image pixel coordinates system0,v0), each pixel is in image physical coordinates
Physical size in system in x-axis and y-axis direction is respectively dx and dy, then image pixel coordinates system under image physical coordinates system with sitting
Target transformational relation is as follows:
With reference to above formula, coordinate (xs of certain object point P under world coordinate system in three-dimensional scenic can be obtainedw,yw,zw) with its
Relation between the coordinate (u, v) of subpoint Pu in video camera imaging plane is as follows:
Wherein, M is 3 × 4 matrixes, referred to as projection matrix;F be video camera focal length, fxFor Jiao of the video camera in x directions
Away from fyFor focal length of the video camera in y directions, (u0,v0) be video camera principal point, M1 is completely by fx、fy、u0、v0Determine, be referred to as taking the photograph
The inner parameter of camera;M2 determines by spin matrix R and translation vector t, referred to as the external parameter of video camera;XwExist for spatial point
Homogeneous coordinates under world coordinate system.
Seek to obtain intrinsic parameter M by camera calibration1With outer parameter M2。
Using gridiron pattern standardization, i.e., a calibrated reference (chessboard paper) is placed in front of camera, camera obtains
The image of chessboard paper.In order to obtain relatively good demarcation effect, it is necessary to convert the direction of chessboard paper, camera is set to obtain not Tongfang
To 10~20 groups of chessboard paper image, thus calculate the Intrinsic Matrix of camera, spin matrix, translation matrix.So as to right
Radial distortion existing for camera and tangential distortion are corrected.
Fig. 2 is the operation principle flow that binocular vision system measures ship distance and height in a kind of bridge collision prevention system
Figure, is comprised the following steps that:
The acquisition and pretreatment of image:
Surface Picture is synchronously captured by the camera of left and right two being installed on bridge, realizes and ship information is adopted
Collection.Gray proces and Gaussian Blur processing, noise existing for removal are carried out to the image collected;Edge inspection is carried out to image
Survey, then contour detecting is carried out to image, obtain the elementary contour information of ship, obtain on profile and contoured interior two dimensional image picture
Vegetarian refreshments coordinate.
Binocular corrects:
Target point caused parallax in the camera image of left and right two is calculated, first has to match the point in left and right figure
As upper corresponding picture point.It is very time-consuming due to matching corresponding picture point on 2d, in order to reduce matching hunting zone, utilize
Epipolar-line constraint causes the matching of corresponding points to be reduced to linear search by two-dimensional search.As shown in figure 5, pl、prTo be corresponded on left images
Picture point, then pl、pr、P、ol、orOn with a pair of polar planes, the plane and the intersection of two planes of delineation are respectively polar curve l1
With polar curve l2, then plIn l1On, prIn l2On.Obviously, no matter and plIt is closely remote that corresponding P, which is, and its projection in right image is total
In l2On, vice versa, projections of the P in left image is always in polar curve l1On.So to any point plOnly need at it
Polar curve on find corresponding points pr, here it is epipolar-line constraint.
And the effect of binocular correction seeks to the two images after elimination distortion strictly to go to correspond to so that two images
To polar curve, any point and its corresponding points on another piece image are just just in the same horizontal line, on such piece image
Necessarily there is identical line number, only need to carry out linear search in the row can match corresponding points, be convenient to the solid of next step
Matching.
Binocular ranging:
Binocular ranging is that most difficult and most critical a step, its result directly influence three-dimensional survey in binocular stereo vision
The accuracy and speed of amount.Its principle is the same target point of matching in left and right camera imaging pair, by matching corresponding picture
Point, calculates parallax, obtains disparity map.
Three-dimensional reconstruction:
After getting parallax data, with reference to calibrating parameters and the two-dimensional pixel point coordinates of ship contour area, you can will
Two-dimensional points coordinate re-projection in image is three-dimensional world coordinate, and re-projection matrix is as follows:
Above formula removes c 'rOuter all parameters both are from left image, c 'rIt is x coordinate of the principal point in right image, T is left and right
The centre-to-centre spacing of two cameras, cxWith cyFor the offset of origin in the coordinate system and three-dimensional coordinate system of left and right image plane.If key light
Line intersects at infinity, then cx=c 'r, and the item in the lower right corner is 0, the given homogeneous point of a two dimension regards with what it was associated
Poor d, it is possible to by this spot projection into three-dimensional:
Three-dimensional coordinate is exactly (X/W, Y/W, Z/W).
In practical operation, based on above-mentioned principle, need to only utilize cvStereoRectify () function in Opencv to
Re-projection matrix Q is calculated after going out camera interior and exterior parameter, then re-projection matrix and disparity map disparityImage are inputted
It can obtain into function reProjectImageTo3D () on ship profile and the three-dimensional coordinate number of each pixel of contoured interior
According to.
Measurement of the ship to bridge distance:
Ship to bridge distance ask for process be actually in three-dimensional reconstruction Z coordinate ask for process,
In order to describe ship range measurement principle in detail, provide binocular stereo vision and measure ship to the basic of bridge distance
Schematic diagram, such as Fig. 6, point P be ship z coordinate in camera coordinate system it is minimum a bit, OlWith OrIt is binocular stereo vision respectively
The photocentre of two cameras of left and right in system, point P is p in the imaging point of left and right cameral、pr, xlAnd xrRespectively point P is in left and right
The abscissa being imaged in two images, f are camera focal length, and T is the centre-to-centre spacing of two cameras in left and right, plTo prDistance be
Parallax d, z is the depth information to be tried to achieve, then by Δ pplprSimilar in appearance to Δ pOlOr, proportional relation:
So as to:
I.e.:
Distance of the target point to imaging plane as available from the above equation:
Wherein d=xl-xrReferred to as parallax.
The measurement of ship height:
After ship profile carries out three-dimensional reconstruction on the ship profile that seeks out and each pixel of ship contoured interior
In three-dimensional coordinate, such as Fig. 7, the minimum coordinate points p of y-coordinate is searched out1(X1,Y1,Z1) the coordinate points p maximum with y-coordinate2(X2,
Y2,Z2), because two cameras are that parallel shelf is located on bridge, and the origin of regulation world coordinate system is the light of left camera
The heart, i.e. world coordinate system overlap with left camera coordinate system, therefore only the y values of minimum need to be subtracted into maximum using what is above drawn
Y values, so that it may try to achieve the height of ship.I.e.:H=Y1-Y2。
The invention provides ship distance in a kind of bridge collision prevention system and the binocular vision system of elevation carrection, peace is utilized
Binocular camera loaded on bridge, it is only necessary to measure ship apart from bridge by capturing the picture frame can containing ship information
The distance of beam and the height of ship, the measuring method is quick, timely, efficient, can be good at meeting the needs of real-time, right
Bridge zone ship navigation plays early warning effect, helps safety of ship to pass through, and plays ensuring traffic safety and people life property safety
Effect.The system realizes the measurement of ship distance and height only with a kind of sensor simultaneously simultaneously, and algorithm is simple, is designed to
This is relatively low, reduces the difficulty of multi-sensor cooperation debugging and multisensor error correction.
For those skilled in the art, without departing from the inventive concept of the premise, this hair
Bright embodiment is not limited to examples detailed above, and in the specific implementation process of the present invention, embodiment can be with
Some deductions or optimization are made, these are deduced or optimization should all be considered as belonging to protection scope of the present invention.
Claims (5)
- A kind of 1. method of binocular vision system measurement ship distance and height, it is characterised in that:Comprise the following steps:Step 1:Two binocular vision systems being made up of two independent camera systems are established, the binocular vision system is used for Ship ranging is surveyed high;Step 2:Single camera calibration, draw the relative position between the inner parameter of each camera and two cameras Put;Step 3:Two cameras obtain left images and pre-processed respectively, obtain the elementary contour information of ship, so as to Obtain profile on and contoured interior two dimensional image pixel point coordinates;Step 4:Binocular corrects, and matches target point corresponding picture point on left images, calculates target point in the image of left and right two The parallax of upper formation;Step 5:Stereo matching, according to parallax, obtain disparity map;Step 6:Three-dimensional reconstruction;After getting parallax data, with reference to calibrating parameters and the two-dimensional image vegetarian refreshments of ship contour area Coordinate, you can by the two-dimensional points coordinate re-projection in image be three-dimensional world coordinate;Step 7:The profile of ship is detected in two field picture, obtains the pixel two-dimensional coordinate number on ship profile and in profile According to two-dimensional coordinate is converted into three-dimensional coordinate, using principle of triangulation, ship is calculated to the distance of bridge, just obtains Range data;Step 8:Detect the profile of ship in two field picture, obtain in two field picture on ship profile and the pixel two of profile quilt Dimension coordinate data, two-dimensional coordinate is converted into three-dimensional coordinate, extracts the coordinate that y values are minimum and maximum in three-dimensional coordinate point, most Small y-coordinate value subtracts the height that maximum y-coordinate value obtains ship.
- 2. the method for a kind of binocular vision system measurement ship distance and height according to claim 1, it is characterised in that: Two binocular vision systems in step 1 include two focal lengths and the video camera of other inner parameter all sames, two video cameras By optical axis is parallel to each other, X-axis mutually coincides, is placed along X-axis at a distance of T position.
- 3. the method for a kind of binocular vision system measurement ship distance and height according to claim 1, it is characterised in that: Step 2 is based on gridiron pattern standardization, calculates the internal reference of each camera and outer ginseng, so as to obtain camera focal length f and imaging Origin cx, cy, and eliminate radial distortion and tangential distortion and the world coordinates for obtaining demarcating thing of camera, binocular camera Calibration draws the inner parameter of each camera, with the relative position between two cameras, i.e., right on the basis of left camera Spin matrix R, translation vector t of the camera relative to left camera.
- 4. the method for a kind of binocular vision system measurement ship distance and height according to claim 1, it is characterised in that: Step 3 is realized to ship by the synchronous crawl Surface Pictures of two cameras of binocular vision system for being installed on bridge or so The collection of information, gray proces, Gaussian Blur pre-treatment step, noise existing for removal are carried out to image;Road wheel is entered to ship Exterior feature detection, obtains the elementary contour information of ship, obtains on profile and contoured interior two dimensional image pixel point coordinates.
- 5. the method for a kind of binocular vision system measurement ship distance and height according to claim 1, it is characterised in that: Step 4 will eliminate the two images after distortion using epipolar-line constraint, and strictly row is corresponding so that two images it is lucky to polar curve In the same horizontal line, so that any point just necessarily has phase with its corresponding points on another piece image on piece image Same line number, only need to carry out linear search in the row can match corresponding points, calculate target point shape on the image of left and right two Into parallax.
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Cited By (30)
Publication number | Priority date | Publication date | Assignee | Title |
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