Monocular vision system for distance measurement based on feature points

HAN Yan-xiang; ZHANG Zhi-sheng; DAI Min

doi:10.3788/OPE.20111905.1110

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Monocular vision system for distance measurement based on feature points

Article | 更新时间：2020-08-12

- Monocular vision system for distance measurement based on feature points
- Optics and Precision Engineering Vol. 19, Issue 5, Pages: 1110-1117(2011)
- 作者机构：
  
  东南大学机械工程学院,江苏南京,210096
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20111905.1110
  CLC： TP242.6
- Received：07 July 2010，
  
  Revised：27 October 2010，
  
  Published Online：26 May 2011，
  
  Published：26 May 2011
- 稿件说明：
移动端阅览
韩延祥, 张志胜, 戴敏. 基于特征点的单目视觉测量方法[J]. 光学精密工程, 2011,19(5): 1110-1117

HAN Yan-xiang, ZHANG Zhi-sheng, DAI Min. Monocular vision system for distance measurement based on feature points[J]. Editorial Office of Optics and Precision Engineering, 2011,19(5): 1110-1117
韩延祥, 张志胜, 戴敏. 基于特征点的单目视觉测量方法[J]. 光学精密工程, 2011,19(5): 1110-1117 DOI： 10.3788/OPE.20111905.1110.

HAN Yan-xiang, ZHANG Zhi-sheng, DAI Min. Monocular vision system for distance measurement based on feature points[J]. Editorial Office of Optics and Precision Engineering, 2011,19(5): 1110-1117 DOI： 10.3788/OPE.20111905.1110.

摘要

在目标识别、抓取和视觉蔽障的背景下

提出了一种基于特征点的单目视觉测量方法以克服特征点的匹配和单特征点提取误差对测量结果的影响。介绍了基于特征点的单目视觉测距基理。首先利用小孔成像原理

得出成像点与目标点的映射关系;然后通过对目标物和目标图像的分析

得出目标物与目标图像面积的映射关系

建立了视觉测量的直线测距模型;最后通过提取目标图像的特征点

将光心与目标物的距离关系转化为光心与特征点的距离关系。对提出的测距原理进行了实验验证

针对测量误差随距离增加而变大的现象分析了误差产生的原因

并对得到的实验数据进行了修正

修正后的误差最高为1.68%。与文献[12]得到的误差率6.72%相比

有效提高了测量精度

验证了提出方法的可行性和有效性。

Abstract

To alleviate the effect of matching of corresponding feature points and extraction error of single feature point

a method by using a single camera as monocular measurement is presented based on image processing. Firstly

this paper sets up the mapping relationship between image point and target point

and establishes pinhole imaging model. Secondly

it describes the mapping relationship between object area and image area of object by using image analysis

and establishes the model of distance measurement in optical direction. Then

the principle of distance measurement between optical center and feature point is proposed after image processing and feature point extracting are carried out. At last

the paper starts out verification experiments and analyzes the cause that error increases with further distance. After analyzing the data of experiment

the conclusion that error is related with the optical axis deviation is made. Sequentially

with the maximum relative error 1.68% of revised data

there is a remarkable improvement which proves the feasibility and the effectiveness of the proposed principle.

关键词

Keywords

references

叶海加,陈罡,刑渊. 双目CCD结构光三维测量系统中的立体匹配[J]. 光学精密工程,2004,12(1):71-75. YE H J, CHEN G, XING Y. Stereo matching in 3D measurement system using double CCD structured light[J]. Opt. Precision Eng., 2004,12(1):71-75.(in Chinese)[2] 张业鹏,何涛,文昌俊,等. 机器视觉在工业测量中的应用与研究[J]. 光学精密工程,2001,9(4):324-328. ZHANG Y P, HE T, WEN CH J, et al.. Applications of machine vision in industry inspection and its research [J]. Opt. Precision Eng., 2001,9(4):324-328. (in Chinese)[3] Naoki YAMAGUTI, Shunichiro OE, Kenji TERADA. Method of distance measurement by using monocular camera .SICE '97. Proceedings of the 36th SICE Annual Conference. International Session Papers,1997:1255-1260.[4] Naoki YAMAGUTI, Shunichiro OE, Kenji TERADA. A Distance Measurement Method available to Texture Surface by Using Complex-Log Mapping .Industrial Electronics, Control and Instrumentation, 1997. IECON 97. 23rd International Conference, 2006:1142-1147.[5] 石春琴,张丽艳,韦虎,等. 随机模式投影双目测量系统中的单目测量[J]. 光学精密工程,2010,18(1):257-264. (in Chinese) SHI CH Q, ZHANG L Y, WEI H, et al.. Monocular measurement in binocular measurement system with instantaneous random illumination[J]. Opt. Precision Eng., 2010,18(1):257-264.[6] SAXENA A,CHUNG SH,NG A. Learning depth from single monocular images[J]. Advances in Neural Information Processing Systems, 2006.[7] Eric Krotkov. Mobile robot localization using a single image . Robotics and Automation, 1989. Proceedings, 1989 IEEE International Conference, 1989, 2:978-983.[8] Nguyen Xuna Dao, Bum-Jae You, Sang-Rok Oh. Visual navigation using a single camera . Computer Vision, 1995. Proceedings, Fifth International Conference, 1995:645-652.[9] PENG G,HUANG X H, GAO J, et al.. Vision based intelligent control for mobile robot . Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress, 2006,2:9124-9128.[10] 马颂德,张正友. 计算机视觉-计算理论与算法基础[M]. 北京:科学出版社,1997. MA S D, ZHANG ZH Y. Computer Vision-The Theory of Computation and Basis of Algorithm [M]. Beijing: Science Press,1997. (in Chinese)[11] 徐德,谭民,李原.机器人视觉测量与控制[M]. 背景:国防工业出版社,2008. XU D, TAN M, LI Y. Visual Measurement and Control for Robots [M]. Beijing: National Defense Industry Press, 2008. (in Chinese)

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