A new non-parallel binocular stereo vision ranging system using combinations of linear and nonlinear methods

摘要

In stereo vision ranging system, the parallel binocular pinhole camera model is commonly, actually, the regular binocular stereo camera is not strictly parallel. In order to improve the accuracy of binocular stereo vision ranging system, a new non-parallel binocular model ranging system using combinations of linear and nonlinear methods is proposed. This ranging system sets up a linear stereo pinhole camera model, and determines the intrinsic and extrinsic parameters of two cameras by the classic calibration method. After rectify the images, the system adopts the nonlinear scale space theory to extract the feature of the image, it using improved KAZE algorithm for feature extracting and stereo matching. Compared with the classic SIFT and SURF algorithm, the experimental measurements show that this ranging system has high feasibility and precision. The ranging accuracy within a certain scope meets the application requirements, and according to the actual situation, this system can be adjusted to suitable for vehicle ranging and robot distance measurement.