大视场双目视觉定位系统中多目标稀疏匹配  

Multiple targets sparse matching for binocular vision positioning system with large field of view

作　　者：王鑫[1,2] 王向军 Wang Xin;Wang Xiangjun(Key Laboratory of MOEMS of the Ministry of Education,Tianjin University,Tianjin 300072,China;Institute of Electronic and Control Engineering,North China Institute of Aerospace Engineering,Langfang 065000,China)

机构地区：[1]天津大学微光机电系统技术教育部重点实验室,天津300072 [2]援北华航天工业学院电子与控制工程学院,河北廊坊065000

出　　处：《红外与激光工程》2018年第7期292-297,共6页Infrared and Laser Engineering

基　　金：国家重点研发计划(017YFC0601900,2017YFC0601901);国家教育部支撑项目(625010110);国家自然科学基金与中国民用航空总局联合研究基金(61179043);河北省重点研发计划自筹项目(17211708);河北省高等学校科学技术研究项目(QN2018209)

摘　　要：野外远距离、大视场、双目视觉物体定位监测系统是基于双目立体视觉原理的三维坐标测量系统。存在随机出现的多个无特征目标的正确匹配率低,导致目标定位精度降低的共性问题。正确判断首个目标出现,对于同一目标在同侧图像序列连续出现,形态特征由大到小变化或分裂的情况,利用质心判断方法排除伪目标,检测目标正确质心位置;然后,两段图像序列时间同步,同一时刻多个目标基于极线约束进行稀疏匹配,获得同一目标在两台相机中正确的对应关系。实验证明,现场连续采集的9帧图像中包含8个目标,利用上述方法完成目标检测及匹配,提高了准确率。A positioning and monitoring system for the objects with long distance, large view field and binocular vision was a three-dimensional coordinate measuring system based on binocular stereo vision principle. There was a common problem that the low correct matching rate of multiple non-feature targets randomly appearing led to the reduced accuracy of target positioning. The key was judging the trigger start time correctly. For the situation of the same target appearing continuously in the same side of the image sequence, or the morphological characteristic of the target changing from large to small or splits, the use of centroid method was to eliminate pseudo targets and detect target centroid position correctly. Then image sequences had time synchronization, and multiple targets realized sparse matching based on polar constraint at the same time. The experiment proves that 9 frame live continuous images contain 8 targets, using the above method to complete the targets detection and automatic positioning, and improve the accuracy rate.

关 键 词：双目视觉 稀疏匹配 目标检测 极线约束 

分 类 号：V243.5[航空宇航科学与技术—飞行器设计] TP391.4[自动化与计算机技术—计算机应用技术]