Binocular Range Research Articles

Development of the Asphalt Foaming Performance Evaluation System Based on Binocular Ranging Technology

Development of the Asphalt Foaming Performance Evaluation System Based on Binocular Ranging Technology

Binocular Ranging Design Based on FPGA

In daily life, distance measurement is everywhere. In order to accurately measure the distance information of the target object, a system design for binocular ranging based on FPGA is proposed. The internal and external parameters of the binocular camera are determined through the Zhang Zhengyou calibration method (two-dimensional target), and then the basic model of the binocular camera is derived. The data model of the binocular camera is derived based on the binocular camera model. The calibrated binocular camera parameters are used to perform binocular correction and distortion correction on the image data collected by the binocular camera. The corrected left and right eye views are matched with pixel points through a stereo matching algorithm to form a disparity map. The principle of triangle similarity is used to estimate the target distance and obtain the coordinate system of the target. Finally, the data is measured by deploying it on the FPGA development board.

Binocular Ranging Method Based on Improved ORB-RANSAC

Binocular Ranging Method Based on Improved ORB-RANSAC

Research on Robot Binocular Ranging Based on SIFT Feature Extraction Algorithm

Binocular stereo vision belongs to the reconstruction technology of images. It has the characteristics of non-contact measurement and easy implementation. It has broad application prospects in many fields. The study of its basic theory also has great theoretical and practical significance. As part of stereo vision, robot binocular distance measurement has an irreplaceable role. In this paper, a complete binocular ranging system is divided into the following five steps: principle analysis, camera calibration, image preprocessing, SIFT feature point extraction, distance measurement, a simple model in robot binocular ranging is realized, which is a robot Route planning and obstacle avoidance provide data support, which has the advantages of easy operation and simple calculation.

一种改进Census变换的双目匹配测距方法

一种改进Census变换的双目匹配测距方法

Sensor assembly method using silicon interposer with trenches for three-dimensional binocular range sensors

To easily assemble a three-dimensional binocular range sensor, we devised an alignment method for two image sensors using a silicon interposer with trenches. The trenches were formed using deep reactive ion etching (RIE) equipment. We produced a three-dimensional (3D) range sensor using the method and experimentally confirmed that sufficient alignment accuracy was realized. It was confirmed that the alignment accuracy of the two image sensors when using the proposed method is more than twice that of the alignment assembly method on a conventional board. In addition, as a result of evaluating the deterioration of the detection performance caused by the alignment accuracy, it was confirmed that the vertical deviation between the corresponding pixels in the two image sensors is substantially proportional to the decrease in detection performance. Therefore, we confirmed that the proposed method can realize more than twice the detection performance of the conventional method. Through these evaluations, the effectiveness of the 3D binocular range sensor aligned by the silicon interposer with the trenches was confirmed.

基于硬件SURF算法的自校准双目测距系统

基于硬件SURF算法的自校准双目测距系统

Target Image Matching Algorithm Based on Binocular CCD Ranging

This paper proposed target image in a subpixel level matching algorithm for binocular CCD ranging, which is based on the principle of binocular CCD ranging. In the paper, firstly, we introduced the ranging principle of the binocular ranging system and deduced a binocular parallax formula. Secondly, we deduced the algorithm which was named improved cross-correlation matching algorithm and cubic surface fitting algorithm for target images matched, and it could achieve a subpixel level matching for binocular CCD ranging images. Lastly, through experiment we have analyzed and verified the actual CCD ranging images, then analyzed the errors of the experimental results and corrected the formula of calculating system errors. Experimental results showed that the actual measurement accuracy of a target within 3 km was higher than 0.52%, which meet the accuracy requirements of the high precision binocular ranging.

基于双目CCD测距的目标图像匹配算法研究

基于双目CCD测距的目标图像匹配算法研究

Path Planning for Indoor Mobile Robot Using Multi-sensor Based on Binocular Vision Ranging System

Path Planning for Indoor Mobile Robot Using Multi-sensor Based on Binocular Vision Ranging System

The Research of Binocular Ranging System on Independent Mobile Robot

Timeliness and accuracy is a key to be resolved on robot binocular measurement. In this paper, a kind of robot vision projection has been completely established. It analyzes the principle of binocular ranging in three aspects, makes the calculation concise and easy to understand, and expands the range of effective distance. On binocular image processing, we have proposed a gray-scale computing for, firstly, generating characteristic area, then, executing template matching in the area, finally, extracting feature points and matching them in the templates. It ensures certain robustness to noise spots and tries its best to avoid mismatches. The experiments show that the robot vision system has a better accuracy and a low time complexity, and the robot can react in real time.

The Binocular Measuring System Research Based on OpenCV

Along with the economical development, the automobile enhances unceasingly in our country's inventory. The automobile profession takes the national support the pillar industry, has the very big promoter action to national economy's development. In recent years, the independent road sense's research and the application in domestic and foreign developed rapidly, was honored as the automobile profession the next technological revolution. This topic basis independent road sense's demand, studied one kind to be possible to use in independent driving the range measuring system. This system take the binocular range finder as a principle, may supply around the automobile body the object distance information, the precise periphery object distance information is the independent road sense foundation, thus this topic research results have the broad application space. Carries on regarding the binocular range finder's analysis under the OpenCV environment, OpenCV takes one kind to open the source the machine vision function storehouse, in the last few years along with the edition renewal, the function strengthened gradually, has involved machine vision nearly all domains. The research on two-sided visual in the OpenCV environment, simplified the binocular vision development step, sped up the development progress.

Three-Dimensional Binocular Range Sensor LSI with Enhanced Correlation Signal

We developed a three-dimensional (3D) binocular range sensor LSI with an enhanced correlation signal. The developed LSI chip was produced using a process of 0.35 µm complementary metal oxide semiconductor (CMOS) 1-poly 3-metal and has a die size of 4.20×3.33 mm2. The chip uses a 3.0 V supply voltage and has a power consumption of 280 mW at a clock frequency of 10 MHz. Two image sensors and the circuits for binocular stereo vision are integrated into the sensor. The distance to an object is determined by calculating the correlation between the two photosensors' output differential signals and observing the position of strong correlated values. However, in the previously developed range sensor, the correlation was weak when there was a small differential signal and it was unable to simultaneously detect several objects. In the newly developed range sensor, a circuit that modulates the differential signal was integrated and the correlation process was enhanced. The object detection signals are ten times larger than those of the previous sensor. As a result, we were able to simultaneously detect the 3D position of several objects. All the necessary calculations for 3D detection take 32 µs per frame. However, the output time for one 3D frame is 26 ms. Thus, the frame rate is limited to 38 frames per second.

Three-Dimensional Binocular Range Sensor Large Scale Integration with a 410 µs/Frame Output Time High-Speed Data Output Method

We developed a three-dimensional (3D) binocular range sensor LSI equipped with a high-speed data output circuit. The circuit outputs only the information of the position corresponding to the detected object. As a result, the output time was reduced and the frame rate improved. The chip was produced using a process of 0.35 µm complementary metal oxide semiconductor (CMOS) 1-poly 3-metal and has a die size of 4.20×3.33 mm2. The chip uses a 3.0 V supply voltage and has a power consumption of 405 mW at a clock frequency of 10 MHz. The correlation of the image sensor's output takes 32 µs/frame and the maximum output time is 410 µs/frame. Because the output time is shorter enough than typical exposure, the frame rate is practically not limited by the data output time.

Evaluation of two new soft contact lenses for correction of presbyopia: the Focus Progressives multifocal and the Acuvue Bifocal

The clinical performance of Focus Progressives multifocal contact lenses and Acuvue Bifocal contact lenses was evaluated in a group of 42 presbyopes, with equal numbers of individuals having low, medium, and high spectacle add requirements. Following visual performance assessment with an optimal sphero-cylinder spectacle refractive correction, each individual wore each of the two types of contact lenses in successive random order. Each type of lens was used in a daily-wear mode for a period of 7 to 12 days, with follow-up and/or refitting visits occurring after 2 to 5 days, and again after 4 to 7 days of attempted wear. Testing for all three forms of refractive correction encompassed Snellen acuities at distance and near, Bailey-Lovie acuities under high and/or low ambient illumination conditions at near, intermediate, and far viewing distances, stereoacuity, a timed visuomotor task (needle threading), apparent glare/flare, and the nearwork range of subjectively clear binocular vision. The contact lenses also were evaluated for handling, comfort, distance and near ghosting, subjective visual quality, acceptability for common tasks (e.g., using a phone directory), and personal preferences. As might be expected, distance and near acuity, stereoacuity, and visuomotor task performance were somewhat better with sphero-cylinder spectacle correction than with either of the two types of contact lenses. However, several performance differences between the multifocal and bifocal lenses were noted. The Focus Progressives lenses provided significantly better distance acuity under both high and low illumination conditions, and received significantly higher ratings for visual quality (overall and at distance), comfort, and handling. The Focus Progressives lenses were preferred 5:1 over the Acuvue Bifocal lenses. No differences existed between the lenses with respect to near visual acuities, the perceived quality of the near vision, the nearpoint binocular range, stereoacuity, or the acceptability of vision for common nearwork tasks. The results suggest that although both types of lenses afford presbyopes a viable alternative to spectacles, the Focus Progressives lens is superior in many ways to the Acuvue Bifocal lens.