scholarly journals High-Accuracy Recognition and Localization of Moving Targets in an Indoor Environment Using Binocular Stereo Vision

2021 ◽  
Vol 10 (4) ◽  
pp. 234
Author(s):  
Jing Ding ◽  
Zhigang Yan ◽  
Xuchen We
Keyword(s):  
Stereo Vision ◽  
Stereo Matching ◽  
Three Dimensional ◽  
Target Localization ◽  
Parallel Structure ◽  
Moving Target ◽  
Target Area ◽  
Moving Targets ◽  
Binocular Stereo Vision ◽  
Binocular Stereo

To obtain effective indoor moving target localization, a reliable and stable moving target localization method based on binocular stereo vision is proposed in this paper. A moving target recognition extraction algorithm, which integrates displacement pyramid Horn–Schunck (HS) optical flow, Delaunay triangulation and Otsu threshold segmentation, is presented to separate a moving target from a complex background, called the Otsu Delaunay HS (O-DHS) method. Additionally, a stereo matching algorithm based on deep matching and stereo vision is presented to obtain dense stereo matching points pairs, called stereo deep matching (S-DM). The stereo matching point pairs of the moving target were extracted with the moving target area and stereo deep matching point pairs, then the three dimensional coordinates of the points in the moving target area were reconstructed according to the principle of binocular vision’s parallel structure. Finally, the moving target was located by the centroid method. The experimental results showed that this method can better resist image noise and repeated texture, can effectively detect and separate moving targets, and can match stereo image points in repeated textured areas more accurately and stability. This method can effectively improve the effectiveness, accuracy and robustness of three-dimensional moving target coordinates.

Object Tracking and Positioning Based on Stereo Vision

2013 ◽  
Vol 303-306 ◽  
pp. 313-317 ◽  
Author(s):  
Zhong Wei Zhou ◽  
Min Xu ◽  
Wei Fu ◽  
Ji Zeng Zhao
Keyword(s):  
Object Tracking ◽  
Real Time ◽  
Stereo Vision ◽  
Stereo Matching ◽  
Three Dimensional ◽  
Spatial Location ◽  
Binocular Stereo Vision ◽  
Camshift Algorithm ◽  
Spatial Location Information ◽  
Binocular Stereo

The goal of this paper is to present a method for object tracking and positioning based on stereo vision in real time. The method effectively combined stereo matching algorithm with object tracking algorithm, and calculated the spatial location information of the object by using binocular stereo vision while the object is being tracked. The stereo matching used dynamic programming, image pyramids and control points modification algorithm, and the object tracking mainly utilized CamShift algorithm in this paper. The experimental results have confirmed that the proposed method realized real-time tracking for moving object, accurate calculating for the object three-dimensional coordinates, which meet the applied needs of servo follow-up system.

Baggage Specification Detection Based on the Binocular Vision

2013 ◽  
Vol 278-280 ◽  
pp. 861-865
Author(s):  
Qing Ji Gao ◽  
Lu Yang
Keyword(s):  
Stereo Vision ◽  
Stereo Matching ◽  
Three Dimensional ◽  
Detection Algorithm ◽  
Epipolar Constraint ◽  
Middle Point ◽  
Vision Measurement ◽  
Binocular Stereo Vision ◽  
Binocular Stereo ◽  
Stereo Vision Measurement

To the baggage specification automatically detection problem of self-service bag drop system, a baggage size detection algorithm based on stereo vision is proposed. The algorithm is based on binocular stereo vision measurement principle. Firstly, the canny edges of baggage image are extracted as the feature points. With the disparity gradient constraint and epipolar constraint, Stereo matching algorithm based on edge features is proposed, meanwhile, the two images play a symmetric role to ensure the reliability of matching in the matching process. The coordinates of the three dimensional points are derived with approximation of the middle point of the common perpendicular line in different planes. Experimental results show that the proposed algorithm can detect the baggage specification with appropriate accuracy.

Spatial Point Reconstruction Based on Binocular Stereo Vision

2014 ◽  
Vol 962-965 ◽  
pp. 2809-2813 ◽  
Author(s):  
Jie Yu ◽  
Yu Min Ge ◽  
Bao Shu Li ◽  
Shang Chen
Keyword(s):  
Stereo Vision ◽  
Stereo Matching ◽  
Three Dimensional ◽  
Robot Vision ◽  
Spatial Location ◽  
It Use ◽  
Spatial Point ◽  
Binocular Stereo Vision ◽  
Spatial Location Information ◽  
Binocular Stereo

Binocular stereo vision is an important branch of robot vision technology, it use two cameras in different position or a camera which can be move or rotate to shoot the same scene images, by calculating the parallax of spatial point in two images, get the spatial location information. There is a study based on the binocular stereo vision for three-dimensional spatial reconstruction, in view of the problem of vision image acquisition, camera calibration,stereo matching and 3d reconstruction in the binocular stereo application technology.

scholarly journals A Real-Time Range Finding System with Binocular Stereo Vision

10.5772/50921 ◽  
2012 ◽  
Vol 9 (1) ◽  
pp. 26 ◽  
Author(s):  
Xiao-Bo Lai ◽  
Hai-Shun Wang ◽  
Yue-Hong Xu
Keyword(s):  
Real Time ◽  
Stereo Vision ◽  
Stereo Matching ◽  
Single Point ◽  
Time Range ◽  
Real Time Control ◽  
Matching Algorithm ◽  
Range Finding ◽  
Binocular Stereo Vision ◽  
Binocular Stereo

To acquire range information for mobile robots, a TMS320DM642 DSP-based range finding system with binocular stereo vision is proposed. Firstly, paired images of the target are captured and a Gaussian filter, as well as improved Sobel kernels, are achieved. Secondly, a feature-based local stereo matching algorithm is performed so that the space location of the target can be determined. Finally, in order to improve the reliability and robustness of the stereo matching algorithm under complex conditions, the confidence filter and the left-right consistency filter are investigated to eliminate the mismatching points. In addition, the range finding algorithm is implemented in the DSP/BIOS operating system to gain real-time control. Experimental results show that the average accuracy of range finding is more than 99% for measuring single-point distances equal to 120cm in the simple scenario and the algorithm takes about 39ms for ranging a time in a complex scenario. The effectivity, as well as the feasibility, of the proposed range finding system are verified.

The Technology of Circular Parts Precise Measurement Based on Binocular Calibration

2013 ◽  
Vol 333-335 ◽  
pp. 199-206
Author(s):  
Chuan Wang ◽  
Jie Yang ◽  
Yan Wei Zhou
Keyword(s):  
Stereo Vision ◽  
Image Matching ◽  
Precise Measurement ◽  
Three Dimensional ◽  
Epipolar Constraint ◽  
Binocular Stereo Vision ◽  
Binocular Stereo ◽  
Analytic Expression ◽  
Lm Algorithm ◽  
Calibration Plane

A method of measuring the radius of circular parts by binocular stereo vision technology is proposed. First of all the interior and exterior parameters of cameras are acquired by the camera calibration technology. Then the epipolar constraint can be calculated which contains the calibrated information. The image matching which uses the epipolar constraint is done to find the matching points. The three dimensional (3D) coordinates of edges points are reconstructed through trigonometry reconstruction. At last the analytic expression of the plane in which the circle lies and the circles radius are calculated in two steps by Levenberg-Marquardt (LM) algorithm. The proposed method does not require the prior knowledge of position between the measuring plane and the calibration plane which monocular measurement needs. Experimental results show that the measurement has high precision.

scholarly journals Three-dimensional mechanical parts reconstruction technology based on two-dimensional image

2020 ◽  
Vol 17 (2) ◽  
pp. 172988142091000
Author(s):  
Jiaofei Huo ◽  
Xiaomo Yu
Keyword(s):  
Image Processing ◽  
Stereo Vision ◽  
Stereo Matching ◽  
Vision System ◽  
Three Dimensional ◽  
Three Dimensional Reconstruction ◽  
Stereo Vision System ◽  
Binocular Stereo Vision ◽  
Extraction Algorithm ◽  
Dimensional Reconstruction

With the development of computer technology and three-dimensional reconstruction technology, three-dimensional reconstruction based on visual images has become one of the research hotspots in computer graphics. Three-dimensional reconstruction based on visual image can be divided into three-dimensional reconstruction based on single photo and video. As an indirect three-dimensional modeling technology, this method is widely used in the fields of film and television production, cultural relics restoration, mechanical manufacturing, and medical health. This article studies and designs a stereo vision system based on two-dimensional image modeling technology. The system can be divided into image processing, camera calibration, stereo matching, three-dimensional point reconstruction, and model reconstruction. In the part of image processing, common image processing methods, feature point extraction algorithm, and edge extraction algorithm are studied. On this basis, interactive local corner extraction algorithm and interactive local edge detection algorithm are proposed. It is found that the Harris algorithm can effectively remove the features of less information and easy to generate clustering phenomenon. At the same time, the method of limit constraints is used to match the feature points extracted from the image. This method has high matching accuracy and short time. The experimental research has achieved good matching results. Using the platform of binocular stereo vision system, each step in the process of three-dimensional reconstruction has achieved high accuracy, thus achieving the three-dimensional reconstruction of the target object. Finally, based on the research of three-dimensional reconstruction of mechanical parts and the designed binocular stereo vision system platform, the experimental results of edge detection, camera calibration, stereo matching, and three-dimensional model reconstruction in the process of three-dimensional reconstruction are obtained, and the full text is summarized, analyzed, and prospected.

Measurement Error Correction of y Coordinate in Three Dimensional Localization of Tomatoes Using Binocular Stereo Vision

2014 ◽  
Vol 610 ◽  
pp. 209-215 ◽  
Author(s):  
Rong Xiang ◽  
Huan Yu Jiang ◽  
Yi Bin Ying
Keyword(s):  
Linear Regression ◽  
Measurement Errors ◽  
Regression Models ◽  
Stereo Matching ◽  
Three Dimensional ◽  
Linear Regression Models ◽  
Matching Methods ◽  
Binocular Stereo Vision ◽  
Binocular Stereo ◽  
Binary Linear Regression

Accuracy three dimensional coordinates of fruits and vegetables are very important to harvesting robots to harvest fruits and vegetables correctly. To decrease the measurement errors of the y coordinates of tomatoes, we analyzed the measurement errors of y coordinate acquired using binocular stereo vision based on three stereo matching methods. These three stereo matching methods were centroid-based, area-based, and combination stereo matching methods. After stereo matching, the three dimensional coordinates of tomatoes could be acquired based on the triangle ranging principle. Tests of 225 pairs of stereo images of three plastic balls used as normal balls acquired at the distances from 300 to 1000 mm showed that the ranges of the measurement errors of y coordinate acquired based on three stereo matching methods changed with the image acquisition distances obviously. Moreover, the measurement errors of y coordinate appeared linear decreasing trends approximately. Therefore, binary linear regression models were set up to reduce the ranges of the measurement errors of y coordinate of three balls. These models were used as correction models of the measurement values of y coordinate and were helpful to reduce the measurement errors of y coordinate. However, there were owe correction and overcorrection conditions when the image acquisition distances were smaller and larger than 750 mm separately. Then, the correction models based on piecewise binary linear regression were used to solve this problem. The ranges of the measurement errors of y coordinate were reduced further. Tests of 225 pairs of stereo images of three tomatoes acquired at the distances from 300 to 1000 mm showed that the ranges of the measurement errors of y coordinate acquired based on three stereo matching methods were separately from [-20.9, -6.6], [-19.9, -3.44], [-19.9, -3.48] mm to [-6.84, -0.06], [-5.84, -0.82], [-5.85, -0.83] mm after the correction using the piecewise binary linear regression models. It proved that the piecewise binary linear regression models were helpful to reduce the measurement errors of y coordinate in three dimensional localization of tomatoes using binocular stereo vision.

scholarly journals Multivisual Animation Character 3D Model Design Method Based on VR Technology

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-12
Author(s):  
Leiming Li ◽  
Wenyao Zhu ◽  
Hongwei Hu
Keyword(s):  
Virtual Reality ◽  
Computer Graphics ◽  
Stereo Vision ◽  
3D Model ◽  
Three Dimensional ◽  
Geometric Transformation ◽  
3D Graphics ◽  
Binocular Stereo Vision ◽  
Binocular Stereo ◽  
Rendering Pipeline

For VR systems, one of its core parts is to present people with a real and immersive 3D simulation environment. This paper uses real-time computer graphics technology, three-dimensional modeling technology, and binocular stereo vision technology to study the multivisual animation character objects in virtual reality technology; designs a binocular stereo vision animation system; designs and produces a three-dimensional model; and develops a virtual multivisual animation scene application. The main research content and work performed in the text include the research of the basic graphics rendering pipeline process and the analysis and research of each stage of the rendering pipeline. It mainly analyzes the 3D graphics algorithm used in the three-dimensional geometric transformation of computer graphics and studies the basic texture technology, basic lighting model, and other image output processes used in the fragment processing stage. Combined with the development needs of the subject, the principles of 3D animation rendering production software and 3D graphics modeling are studied, and the solid 3D model displayed in the virtual reality scene is designed and produced. This article also reflects the application of virtual reality in multivisual animation character design from the side, so it has realistic value and application prospects.

scholarly journals AN AUTOMATIC 3D RECONSTRUCTION METHOD BASED ON MULTI-VIEW STEREO VISION FOR THE MOGAO GROTTOES

2015 ◽  
Vol XL-4/W5 ◽  
pp. 171-176 ◽  
Author(s):  
J. Xiong ◽  
S. Zhong ◽  
L. Zheng
Keyword(s):  
3D Reconstruction ◽  
Stereo Vision ◽  
Measurement System ◽  
Stereo Matching ◽  
Three Dimensional ◽  
Texture Mapping ◽  
Reconstruction Method ◽  
Epipolar Constraint ◽  
Mogao Grottoes ◽  
Binocular Stereo

This paper presents an automatic three-dimensional reconstruction method based on multi-view stereo vision for the Mogao Grottoes. 3D digitization technique has been used in cultural heritage conservation and replication over the past decade, especially the methods based on binocular stereo vision. However, mismatched points are inevitable in traditional binocular stereo matching due to repeatable or similar features of binocular images. In order to reduce the probability of mismatching greatly and improve the measure precision, a portable four-camera photographic measurement system is used for 3D modelling of a scene. Four cameras of the measurement system form six binocular systems with baselines of different lengths to add extra matching constraints and offer multiple measurements. Matching error based on epipolar constraint is introduced to remove the mismatched points. Finally, an accurate point cloud can be generated by multi-images matching and sub-pixel interpolation. Delaunay triangulation and texture mapping are performed to obtain the 3D model of a scene. The method has been tested on 3D reconstruction several scenes of the Mogao Grottoes and good results verify the effectiveness of the method.

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