Plane-Space Algorithm Based on Binocular Stereo Vision With its Estimation of Range and Measurement Boundary

Abstract

Aiming at the problem of distance measurement by using key sensors and sensor networks in battlefield, border patrol, search and rescue, critical structure monitoring, and surveillance, a plane-space algorithm is proposed in this paper, and its range and boundary are estimated. In the view of how to use two image sensors with different positions to measure the target points’ coordinates, the plane-space algorithm is proposed. By comparing the target point coordinates obtained from two different image sensors, the actual coordinates of the target points are calculated. The definition domain of the acquisition value of the image sensor is defined as the domain of the plane-space algorithm. By calculating the range of the plane-space algorithm under its defined domain, this paper presents a range scanning algorithm and uses it to calculate the range of the plane-space algorithm and gets a range point set. In order to solve the problem of large amount of work in the range scanning algorithm, the extreme value elimination method is proposed. Considering the boundary points and poles of the target, the maximum value of each variable is eliminated at its extreme value and the final target is obtained. Finally, the Matplotlib library-based on Python 2.7 is used to simulate the algorithm. The simulation data shows that the theoretical value of the plane-space algorithm is consistent with the actual value, and the measurement boundary of the plane-space algorithm is calculated when resolution of the image sensor is $480 \times 640$ pixel with the distance of two sensors being 1000 pixel.