基于OpenCV的双目测距系统

为解决利用双目设备实现测距并使测距时间控制在毫秒级的问题, 研究了摄像机标定、 立体校正、 极线约束下的块匹配和三维重建等关键技术。使用立体相机将拍摄多个角度的棋盘照片保存到计算机中进行角点检测和标定, 以获得摄像机参数。使用Bouguet标定立体校正算法\, 立体匹配使用块匹配方法。得到视差图后求出三维点云, 进行三维重建, 根据三角相似原理计算目标物体的距离。使用OpenCV2.4.3, 在VS2010编译环境下, 用VC++编程实现。该系统只需普通立体相机采集图像, 成本低, 与其他立体匹配方法相比, 块匹配方案测距速度快且准确度满足应用的要求。

Binocular Measuring System Based on OpenCV

The main research is to get the distance by use of 3D-camera.This article will explain some key technologies,such as camera calibration,stereo rectification,SAD （Sum of Absolute Differences）,three-dimensional reconstruction and so on.The chessboard pictures are taken by the 3 D camera from different angles,then saved to computer,and used to comer detection and camera calibration in order to get the parameters of the camera.Bouguet algorithm is selected as the stereo rectification algorithm.Stereo matching use SAD method.When we get the disparity map and the points clouds we start three-dimensional reconstruction work,then the distance between the target and camera is calculated based on similar triangles principle.The experiment is finished by OpenCV2.4.3 （C ＋ ＋） and VS2010.This system only need an ordinary 3D-camera,which is not expensive.This system is time-saving and accurate when it is used.