Target tracking and measuring based on binocular vision

摘要

Vision system which can be used for real-time tracking and measuring of moving target is very important in robot soccer match. Based on DSP embedded vision subsystem, this paper proposes a method to measure the binocular distance based on binocular parallax between two images' color. First, camera's intrinsic parameters can be determined by calculating the R component of the pixels' color of the image in the experiment of camera calibration. Then image segment is used in real-time capture of the target's images, and the binocular parallax and the world coordinates of target are calculated. Then the target can be located by regional color matching method. The results of the experiments show that this algorithm can detect and locate the target commendably. It sets up a platform for further research which can supply plenteous information for strategy system and tracking target.