Design And Implementation Of Ship Distance Measurement System Based On Binocular Stereo Vision

In recent years,the development of computer vision technology has promoted the development of ship intelligence,and ship autonomous navigation,safety obstacle avoidance,safety monitoring has become an important research direction of ship intelligence development.As one of the key technologies of computer vision,binocular stereo measurement technology provides a new research idea for the development of ship intelligence.The binocular stereo measurement can capture the same object by two cameras at the same time.Binocular stereo measurement system has the advantages of simple structure,low price,high precision and more intuitive visual effect,which can be widely used in the development and research of ship intelligence.The main contents of this paper are as follows:Firstly,in this paper,aiming at the problem of optimization of structural parameters of binocular stereo measurement system,the structure parameter model of binocular stereoscopic measurement system is constructed and the error transfer function of the system parameter is established.A binocular stereoscopic measurement system is built through the simulation analysis and design calculation of the system structure parameters.Secondly,in this paper,aiming at the problem of increasing cumulative error and low accuracy when using Matlab calibration toolbox to calibrate binocular stereo measurement system,the corner extraction algorithm of checkerboard image is improved,and the checkerboard image is calibrated by coarse detection of corner,subpixel refinement and internal and external parameter calculation,so as to avoid manual corner selection and improve the precision of corner coordinatesThirdly,in this paper,the effects of checkerboard image calibration amount and checkerboard image proportion on the calibration accuracy of binocular stereo measurement system is studied,a large number of calibration experiments were designed for statistical analysis and compared with the calibration accuracy of Matlab calibration toolbox,so as to verify the calibration effect of the improved calibration algorithm.Fourly,in this paper,aiming at the problem that the ship target is not prominent and the noise interference exists in the complex background of water bank and sky,the weighted least square filter is used to filter the ship image.Fifthly,in this paper,the ship distance measurement experiment of binocular stereo measurement system is carried out,and the matching and parallax calculation are carried out by using Bouguet stereo correction algorithm and SGBM stereo matching algorithm,and the ship distance measurement value is obtained.The measurement accuracy of the binocular stereo measurement system is verified by comparing the modified measurement value with the real value after the difference decomposition calculation of GPS equipment.