The Float Six-Free-Parameter Measure Based On Stereo Vision

Movement of floating object's 6-DOF, including pitch,yaw,roll and sway,surge,heave, is an important reference in research of ocean port and ship engineering. The traditional way of measure is to measure the movement with ruler, angle with gyroscope and mark the signal with the light oscillograph. These results are all rely on manual work, and they can't match the requirement of high precision with lots of waste of resources. Untouchable measurement system uses a pair of CCD to capture the graphics, and reconstruct the coordinate with planar photos, and then the 6-DOF of the floating body is decomposed. It causes no effect to the floating object and gains a high precision.In non-contact 6-DOF measuring system, there are two parts of works. One is the research and application of compute vision arithmetic; the other is design of system software. The part of arithmetic mostly involves image pretreatment, the automatic selection of threshold value, extracting object character, calibration, stereo matching, reconstruct, and so on; The part of system software meets project demand, who is based on visual C++6.0, combining Meteor-â…¡/Multi-channel board software development package of Matrox Co. Finally, using actual simulate flat tested the software (mainly arithmetic) and analyzed measure precision of the non-contact 6-DOF system.The paper not only resolves the problem of double CCD asynchronous triggering and synchronous snap, but also in deed realizes real time process at rate of 60f/s and globe gesture measure. At the same time, the system has high precision and meets requirements for the project.