Design of laser scanning binocular stereo vision imaging system and target measurement

Abstract

Binocular stereo vision is an important scheme of road environment perception for intelligent driving, because it can provide image information and spatial three-dimensional position information. However, binocular stereo matching is often disturbed by the environment, and noise, shadow, light transformation, and so on, will all cause mismatching, therefore it is impossible to carry out accurate 3D reconstruction. In this paper, an active imaging perception and target measurement method combining laser scanning and binocular vision is proposed. The binocular vision structure is used to simulate the human eye's observation of the environment in front of the vehicle. At the same time, through the laser lines scanned to the target, the strong characteristics of binocular matching are provided to enhance the anti-interference of binocular matching, and calculate the three-dimensional point cloud data of the front object according to the binocular stereo vision theory. Firstly, this paper studies the influence of the parameters changing of the system on the accuracy of object depth value in indoor environment, and then selects the most suitable system parameters to carry out three-dimensional reconstruction experiment on the actual target object in indoor environment. Finally, the scene experiment in outdoor environment is carried out. In the outdoor environment, the red spectrum laser equipped in the system can still effectively reconstruct the target surface radian, but there are some limitations due to the limitation of outdoor light intensity. This paper preliminarily summarizes the current structural design and experiment, and further discusses the follow-up research and improvement ideas. Research and experiments show that the laser scanning binocular stereo vision imaging system proposed in this paper has the function of forward target ranging, especially under some bad imaging environment, this method can also effectively match the binocular images, and present the three-dimensional information of the internal details of the target. Under the indoor experimental environment, the minimum relative error is 1.42 % for the target with a distance of about 1.5 m, and in the evening outdoor environment, the minimum the minimum relative error is 0.87 % for the target with a distance of about 3 m. Due to the advantages of laser line intensity feature matching, it can accelerate the speed of binocular matching, and has potential application prospects in autonomous system.