一种单双目结合的全景避障测距方法

An omnidirectional obstacle avoidance range finding method combining binocular vision with monocular vision

基于平行双目的测距技术已经较为成熟,而在许多实际应用中两相机的位置并不平行,导致两相机视场重叠区域大幅减少,从而缩小了测距范围。针对此问题,提出一种单双目结合的全景测距方法。该方法通过在视场重叠区域使用双目测距,在非重叠区域使用单目测距,以实现在整个视场都能实现障碍物测距,并且将此方法推广到全景相机上实现360°方位的测距。通过实验验证该测距方法的精度,实验结果表明,该方法具有较好的测距精度,能满足避障的精确性要求。

The range finding technology based on parallel binocular vision has become relatively mature, but the unparallel position of the two cameras in the practical applications can reduce the field overlapping area of the two cameras, so as to shorten the scope of range finding. Aiming at the above problems, an omnidirectional range finding method combining binocular vision with monocular vision is proposed, in which the binocular range finding is used in the FOV overlapping area, and the monocular range finding is used in the non-overlapping area to realize the obstacle range finding in the omnidirectional FOV. The method is popularized to the omnidirectional range finding of the panorama camera. The precision of the range finding method was verified with an experiment. The experimental results show that the method has high range finding accuracy, and can meet the accuracy requirement of the obstacle avoidance.