基于双目立体视觉的防暴车智能系统的研究和开发

The Research and Development of Intelligent System of Riot Armored Car Based on Binocular Stereo Vision

该文提出将双目立体视觉技术应用于防暴驱散车的方案。该方法利用双目立体视觉为防暴车人员提供现场画面，为车载武器提供准心。方案中应用二次帧差取交集提取运动目标，采用区域和特征相结合，利用系统特殊性和纵坐标一致性进行立体匹配得到视差。通过摄像机标定、测距试验、深度计算和误差矫正，表明所得实验数据满足设计要求。

The paper presents the scheme of the application of binocular stereo vision technology in the riot armored car. The scheme provides the pictures on the scene for the personnel in the riot armored car and the crosshairs setting for the arms on the ear. Moving regions/targets are obtained through the intersection of twice-frame-difference image, and the parallex is gotten by stereo matching the particularity of the system and the consistency of the vertical coordinates and integrating the regions and their features. Through the experiments of the video camera calibrating, distance measuring, depth calculating and error rectifying, the experimental data obtained are proved to meet the design requirements.