Binocular stereo distance-measurement method based on feature matching algorithm

摘要

Distance measurement is the prerequisite and basis of the obstacle detection and path planning.It is an important branch of the robot research area.Ranging in many ways,binocular stereo vision with rich information,wide detection range and many other advantages has obtained widespread application.In this paper a binucolar stereo distance-measurement and calibration method based on SIFT feature matching algorithm is presented.First,a model of depth measurement based on stereo vision is built,the measurement result was decided by the pixel coordinate of space points.Secondly,according to the characteristics of the model,the binocular stereo vision calibration method based on parallel optical axis is proposed.Finally,the pixel coordinates of matching points are extracted with improved SIFT feature matching,and measurement distance is completed.Experimental results show that three-dimensional reconstruction can guide the robot obstacle avoidance effectively.