摘要
为了实现道路划线喷头的自动定位,提出一种基于双目相机深度图的道路边缘测距方法。首先采用张氏标定法进行双目相机参数标定,获得相机的内部参数和外部参数,并对标定纸和标定板的标定结果进行比较;然后采用BM算法计算左右图像匹配点对之间的视差值得到深度图,通过二值化、腐蚀、膨胀和寻找最大色块的方法检测深度图中的道路边缘中心点;最后通过坐标转换得到双目相机与道路边缘的距离。实验证明,该方法能有效检测双目相机与道路边缘之间的横向距离。
In order to realize the automatic positioning of the road-marking machine,a road edge ranging method based on binocular camera and depth map is proposed.Firstly,Zhang’s calibration method is adopted to obtain the internal and external parameters of the camera,and the calibration results of the calibration paper and the calibration board are compared.Then BM algorithm is used to calculate the disparity value between the corresponding matching points in the left and right image pairs to obtain the depth map.Furtherly the center point of the road edge is detected by binarization and fixing the maximum color block.Finally,the distance between the binocular camera and the road edge is obtained by the coordinate conversion.It is proved that the proposed method can effectively detect the lateral distance between the binocular camera and the road edge.
作者
朱春媚
张文康
Zhu Chunmei;Zhang Wenkang(Department of Mechanical and Electrical Engineering,Zhongshan Institute of University of Electronic Science and Technology,Zhongshan 528403,China)
出处
《现代计算机》
2023年第20期69-72,共4页
Modern Computer
基金
中山市社会公益项目(2021B2031)。
关键词
双目相机
道路边缘
测距
binocular camera
road edge
range-measuring
