基于双目立体视觉的测距系统研究设计.doc

2014届 　 分 类 号：TP391 　　　　　　　　　　　　　　　　　 单位代码：10452 毕业论文（设计） 基于双目立体视觉的车辆测距系统设计 　　　　　　 姓 　　　　 　　　　　　 学 号　　　摘 要智能交通系统；双目立体视觉车距测量；摄像机标定；特征匹配Abstract Compared with other types of vehicle distance measurement system,this technique has many advantages such as velocity,robustness,reliable performance,and has become the focus of research and applications. It does not need to set radiation sources, just need utilize 2D image to recreate 3D information under natural light .Binocular stereovision technique mainly do the research on how to use 2D image to rebuild 3D atmosphere information .For one thing ,the on-board computer rectify and analyze graphics information after camaras capture image information.For another,computer send executive order to the executing unit to execute a series of movements such as slowing down,acceleration or stop.It can efficiently decrease the accident rates, improve car security and comfort, and alleviate the congestion situation. This paper mainly discusses the history，significance and some key procedures of stereo vision measurement system,including simple principle,structure,characteristics of binocular stereovision system ,camera calibration and other important steps .First of all,it captures the same scene from different location of both cameras,and then calculate the position deviation between image pixels with the help of target’s 3D information .In that case,the system can determine distance between the target vehicle and the cameras.The distance measurement has following advantages,wide application range,wide measurement range and high measurement accuracy. Keywords: Intelligent Transportation System; Binocular Stereovision; Parallax; Camera Calibration；Feature Matching目 录 1绪论 3 1.1计算机视觉技术的发展过程 3 1.2计算机视觉技术的意义 3 1.3论文组织 4 2车距测量方法 4 2.1超声波测距 5 2.2激光雷达测距 5 2.3毫米波雷达测距 6 2.4视觉测距 6 2.4.1单目视觉 6 2.4.2双目立体视觉 7 2.4.3三（多）目视觉 7 3双目立体视觉系统设计 7 3.1双目立体视觉系统原理 8 3.2双目视觉结构 8 3.2.1数字图像的采集 9 3.2.2摄像机标定 9 3.2.3图像