Study On The Motion Parameters Measurement In The Steering Operation Based On The Binocular Vision

The motion parameters of driver's limbs in the process of driving are important contents in the study of ergonomics.At present,although a lot of non-contact measurement system of motion parameters has appeared,but there are many limitations in the specific experimental process,even if the same system in different experimental conditions may be different experimental results.So,in this paper,a binocular vision system was established,which can be used to accurately measure the movement parameters of the arm joints during the steering operation.In this paper,the camera calibration experiment was carried out through the Matlab calibration box,the internal and external parameters of the camera and the position relationship between the left and right cameras were obtained.Then,the detection and tracking of the mark points at joints were carried out.The probability threshold was used to be the comparison objects instead of the global threshold in this thesis.Besides,the correlation between the pixels in its process would be considered too.After testing the mark points,a combination of nonlinear kernel density estimation with CamShift algorithm and Kalman filtering was used to track the moving target.Next,on the basis of marking point recognition and tracking,the contour matching was used to match the markers firstly,and the mark points on the two images taken at the same moment of the camera would be mapped.Because the contour characteristics of markers are similar,after the initial matching,it will be the probability that taking the wrong matching points as the correct matching points.So on the basis of the initial matching,the polar constraint relations would be used for the following matching,which could finding the wrong matching mistakes and obtaining the precise matching point.Finally,according to the stereo matching results and the camera calibration results,the three-dimensional coordinate value of each mark point was reconstructed by the least squares method,the parameters of each motion was simulated,and the experiment was designed to get the system error.So,the feasibility of the binocular vision system was been verified in this paper.