雙目立體攝像機標定技術(shù)在凹地障礙識別中的應(yīng)用研究.pdf

1、分類號UDC：fIlrrlllrlrllrlll!HIrljlrllllll；rlll[rllll『Y1524436密級：編號：雙目立體攝像機標定技術(shù)在凹地障礙識別中的應(yīng)用研究ANAPPLICATIONFORTHEDEMARCATETECHNOLOGYoFDOUBLEEYESSoLIDVIDICoN學(xué)位授予單位及代碼：量壹堡工厶堂(!!!!!學(xué)科專業(yè)名稱及代碼：封：篡女I筮i主生理迨(豎12Q22研究方向：置篚叢鹽申請學(xué)位級別：亟指導(dǎo)教

2、師：揚堡匿熬攫研究生：蕉堡直論文起止時間：—200711—200812ABSTRACTAlongwiththecomputervisiontechnology’Sdevelopment，thestereoscopicvisionbinocularvisionwidelyisappliedparticularlyindomainsandSOonobjectrecognition，virtualrealityindustryexaminat

3、ion，robotguidanceandaerospaceThecamerademarcationisoneinstereoscopicvisionkeytechnologies，whethertosolvethisquestionseriousinfluencestereoscopicvisiondevelopmenteffectivelyThispaperintroducestheapplicationofbinocularrang

4、inginthemethodofautomaticdrivingpossiblybyequippingcertainvehicleswithapairofcamerastosimulatehumaneyesDuringtheimplementingprocess，Ibuiltacertaincameramodelcorrespondingtoitsphysicalprinciple，inwhichIalsoconsideredradia

5、ldistortionandtangentialdistortionThispaperfocusesonthecomponentsofbinocularstereovision：cameracalibrationandtheepipolarcorrectionwithdeepresumptionAndthenIadoptthetraditionalcalibrationmethodtocalibratethecamerasandcalc

6、ulatedthecorrespondingintrinsicandextrinsicparameters，andalsothetransformationmatrixandrotationmatrixwhichcanbeusedtomappingonecameracoordinatetotheotherFinallyIcorrectedtheepipolarofthestereoimagepairsusingtheparameters

7、calculated，whichcanbeusedtogetthedepthmapRecognizingandlocatingtheinternalcomersofaplanarcheckerboardpatternimageisveryimportantincameracalibrationWhiledoingthecalibration，Iusedanimageofacertainchessboardascalibrationpat