雙目視覺系統(tǒng)標(biāo)定與匹配的研究與實現(xiàn).pdf

1、哈爾濱工程大學(xué)碩士學(xué)位論文雙目視覺系統(tǒng)標(biāo)定與匹配的研究與實現(xiàn)姓名：荊麗秋申請學(xué)位級別：碩士專業(yè)：精密儀器及機(jī)械指導(dǎo)教師：吳簡彤20090301ABSTRACTWiththedevelopmentoftherobottechniqueandthevisiontechnique，applicationoftherobotisgettingmoreandmorewidelyComputervisionsystemiSallimportantc

2、omponentinarobotEightypercentsofhumanmessagescomefromeyes。Machinevisionrobotwiththeoutsideworldasawindow，getthethreedimensionworldscenery，suchasthegesture，shape，movementanddepthinformation。Thenputthosemessagestothecomput

3、er(robot’Sbrain)，themessagesareprocessedandtreatedtofinishoperatingtherobotbycomputerThispaperisabouttheresearchofbinocularvisioncameracalibrationandstereomatchingFirst，twodimensiondigitalimagegrabbing，basicprincipleofCC

4、Dcameraandvideoacquisitioncard，hardwareconnectionofCCDcameraandvideoacquisitioncardAndsoftwaredesignofimagegrabbingareintroducedThebinocularstereovisioniSthemethodthatobservethesamescenerybetweentwodifferentangle，inorder

5、togetthepicturesonthedifferentvisualangleBytheimagegeometrytheorycalculatepixel’Swarpontwolmages，finallvgetthethreedimensionalinformationoftheenvironmentSecond，也eanicleresearchcontentsareincludingcaptureofimages，cameraca

6、libration，featuredetectionandstereomatchingThepaperjustfinishawholerobotbinocularstereovisionsystemaccordingtothissequenceInthecameracalibrationonthebasisofsometypicalcameracalibrationmethods，adoptRACc鋤eracalibrationmeth

7、odstereomatchingisthatsearchtheimagingpositionofthesametargetpointintwodifferentimages，choosingthematchcharactercorlfirmthematchrule，realizethematcharithmeticiSthemostimportantstepmthecarryoutofstereomatchinginthestereom