Abstract
Aiming at the ranging and positioning problem of floating objects polluted by water surface, the binocular system of UAV is designed to obtain the parallax and distance information of target objects in the scene. Firstly, Zhang Zhengyou calibration method is used to calibrate binocular camera; Secondly, stereo correction is carried out on the image to obtain a standard binocular stereo vision model; Finally, the depth information of the target object is obtained by stereo matching algorithm. The simulation results show that the depth error is less than 5%, and the actual physical coordinate position of the floating object is obtained by combining the GPS information of the UAV itself.
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