机器人立体视觉同步采集技术研究

Research on the Synchronous Capture Technology of Robot Stereo Vision

针对立体对图像采集的同步性问题,提出一种基于DirectShow技术的实时同步采集方法。利用摄像数据流反馈实现左右格式立体对图像的同步采集,构建相应的过滤器图表、过滤器图表管理器,并关联左右两路摄像数据流,实时计算左右摄像图像视差,既满足了帧同步要求又解决了嵌入式方法实现的复杂性。系统试验表明,该方法能够实现双摄像采集的帧同步,不会出现左(右)图像"丢帧或失帧",获取的立体对图像能够满足立体视觉需要。可用于立体场景恢复重建、机器人测距及3D视频获取。

Aiming at the problem existing in the synchronous capture of the stereo pair image,it proposed a method for the real-time synchronous capture of the stereo pair image based on DirectShow technology.In this approach,it introduced the feedback of the camera stream to realize the real-time synchronicity of the stereo pair image capture system.Firstly,it created the corresponding filter graphs and filter graphs manager.Then it associated left camera data stream with right camera data stream,and calculated the parallax of stereo pair image.It not only realized the frame synchronization,but also not increased the complexity of algorithm.The system experiments show that the method won’t appear the left（right）imag＂e throw frame or loss frame＂,and the stereo-pair image can meet the needs of the stereoscopic vision.It can be used in the three-dimensional scene reconstruction,robot ranging and 3D video retrieval.