关键词: 双目视觉, 相机标定, 畸变矫正, 特征匹配

Abstract: Based on the principle of binocular parallax, the principle of binocular visual ranging is studied and analyzed, the binocular ranging system is designed and the binocular ranging system platform is built. Zhang Zhengyou camera calibration method is used to determine the camera in the system with a single target to obtain the actual focal length and distortion coefficient of the camera. Further, the system itself is determined with a double target to obtain the relative position relationship between the two cameras. Based on the calibration results, the distortion of the collected image is corrected to obtain a more accurate image. Then, it is proposed to carry out surf feature matching for the corresponding images collected by the left and right cameras through the combination of RANSAC method and epipolar constraint method. Finally, the relative position relationship between the experimental object and the ranging system is obtained. The experimental results show that the measurement accuracy of the designed ranging system meets the requirements in the effective measurement range, and the measurement accuracy of the central position area is the highest in the effective measurement area.

Key words: Binocular vision, Camera calibration, Distortion correction, Feature matching