基于双目标定的渗滤液导排管道堵塞定位研究

Study on Blockage Location of Leachate Drainage Pipeline Based on Binocular Calibration

为得到垃圾填埋场渗滤液导排管道堵塞位置信息,提出基于相机标定的管道内壁堵塞位置检测方法。首先对导排管道堵塞图像进行中值滤波和图像增强处理;其次根据传统相机标定所涉及到的坐标系以及引入的新坐标系之间的关系建立矩阵方程模型,再利用畸变矫正对模型参数进行优化,通过极线矫正和图像匹配获取堵塞目标点在左右图像的像素坐标;最后代入矩阵方程模型求解堵塞位置与相机间距。实验结果表明:实际距离为2~5 m内时测距结果误差≤3.5 cm,满足工程要求。

In order to get the location information of landfill leachate drainage pipeline blockage,a pipeline inner wall blockage location detection method based on camera calibration was proposed in this paper.Firstly,median filtering and image enhancement were applied to the blockage image of the drainage pipeline.Secondly,the matrix equation model was established according to the relationship between the coordinate system involved in the traditional camera calibration and the introduced new coordinate system.Secondly,the model parameters were optimized by distortion correction,and the pixel coordinates of the blockage target point in the left and right images were obtained by epipolar correction and image matching.Finally,the matrix equation model was used to solve the relationship between blocking position and camera spacing.The experimental results show that when the actual distance is within 2~5 m,the ranging error is no more than 3.5 cm,which meets the engineering requirements.