Abstract
A new down-the-hole drill (DTH) position method based on binocular stereo vision was presented. In this method, a pair of stereo images containing holes marker were obtained by stereo cameras, which were then segmented by the fuzzy threshold method based on trapezoidal membership functions. The hole mark centre was extracted by image invariant moment principle. Then hole mark 3D locations can be calculated by triangulation principle. Finally, the autonomous position experiments based on binocular stereo vision system were implemented on DTH test-bed. The experiments results show that the binocular stereo vision system applied to DTH drill position is reliable, and the position error is within 25mm.
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