Long Distance Binocular Ranging System And Calibration

Compared with other distance measurement methods,the advantages of passive range finding of the binocular range finder decide that it has a good application prospect in the field of military detection.The target of this subject is to measure and locate the dynamic target in 5km,and the distance error is within 1%.In view of this topic,this paper has completed the following research content:This paper based on the requirement analysis and combined with the actual situation,put forward the design scheme of the system parameters,the final selection of the pixel size is 2.2?m,the frame rate of 15 fps and CMOS double black and white camera focal length telephoto lens 600 mm,and set the baseline length is 2m.Then the specific lens parameters and mechanical parameters are designed,and the system is built by processing and purchasing.Finally,the comprehensive analysis of the distance error is carried out,and the main factors that affect the distance error and the allowable range of the parameters error are obtained.Aiming at the error analysis results,this paper first introduces the commonly used master point calibration method,and analyzes the experimental results.It is found that it is not suitable for the main point calibration of the telephoto lens designed in this paper.This paper presents a main point for the telephoto lens calibration algorithm,optical properties for telephoto lens,using the telephoto lens of the collimator to simulate parallel optical imaging,and then extract the partition of the coordinates of the corners on the board,through the high precision three-dimensional turntable and the rotary bracket,the calibration the main point of rotation invariance,the experimental results show that the relative error of the main points of the horizontal and vertical coordinates can be controlled within 1pixel,the error is in the allowable range.Secondly,in order to pursue the requirement of high-precision ranging,this paper calibrated the focal length of lens by collimator method.The calibration error is 0.1mm,and the actual relative error is less than 0.5mm.In this paper,an efficient checkerboard detection algorithm is proposed,and it is proved by experiments that it has high accuracy and good robustness.Then a camera plane calibration optimization method is proposed.By comparing the experimental results of Tsai two step method,Zhang Junyou calibration method,linear calibration method and the calibration optimization method proposed in this paper,we verify the accuracy of the calibration optimization algorithm studied in this paper.This paper has completed the design,construction and calibration of binocular ranging system.Through calibration,the main parameter error is controlled within the allowable error range,which ensures that the ranging accuracy of the system can reach 1%.