Abstract
A structured light binocular stereo vision measurement method was proposed which can be applied to deal with the odometry problem of moving objects in low-light environments such as underwater and enclosed spaces. On the basis of binocular stereo vision system, we use structured light to irradiate the target object. Both the brightness of the object and the feature points’ information are increased. The accuracy of feature points’ matching is improved in this way. Meanwhile, image correction is used to eliminate the system lens distortion and three-dimensional visual field reduction is achieved based on the matching method of absolute related deviation sum. The experiments’ results show that it can measure the distance of the target object and the error is less than 1% which can meet the requirements in application like underwater odometry and topography mapping. Also image noise reduction and edge detection need to be further studied. Keywords-stereo vision; structured light; low light; measurement; absolute related deviation sum.
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