基于嵌入式Linux的双目测距系统研究

Researches on Binocular Distance Measurement System Based on Embedded Linux

针对排爆机器人在复杂作业环境下确定爆炸物距离的要求,研究和设计了一种基于S3C2440硬件平台和嵌入式Linux系统的半自主双目测距系统。结合双目视觉原理对系统的软硬件进行设计,介绍了图像采集模块的设计,详细分析了相机透视变换标定法,从实际应用角度出发提出了一种基于触摸屏的人工特征选取法,极大地提高了复杂环境下图像特征的匹配率。实验结果分析表明,此方法设计的排爆机器人在复杂环境下能对静止爆炸物进行测距,工作稳定、数据准确。

A kind of semiautomatic binocular vision system is introduced based on S3C2440 hardware platform and Linux embedded system,in order to meet the need for explosive-handling robot calculating the distance of explosives in compli-cated situations.Based on the binocular stereo vision theory,both the software and hardware were designed,the design for image acquisition module was introduced,the camera calibration method of perspective transformation was analysed in de-tail.A new method of artificial feature selection based on the touch screen was put forward from a view of practical applica-tion,with the matching rate for image features improved prominently.The results indicated that the designed explosive-han-dling robot could measure the distance for static explosive in complex situations,the system possesses stable operation and accurate results.