【作者】 王海彬；

【导师】 赵祥模；

【作者基本信息】 长安大学 ， 智能交通与信息系统工程， 2011， 硕士

【摘要】 应用双目视觉技术对目标进行三维测量以及动态跟踪定位是当今计算机视觉领域的研究热点,它已经广泛应用于军事视觉制导、机器人视觉导航、交通管理以及工业检测等领域。由于受环境、设备等的影响,如何提高测量精度,并且能够在多介质情况下对多目标进行正确的动态跟踪识别成为实际应用中面临的难点问题。论文以双目视觉技术为基础,设计开发了多介质空间运动目标跟踪定位系统。论文首先以张正友摄像机标定原理为基础,设计了新型的标定板及配套的标定板检测算法,将检测精度提高到亚像素级别,进而提高了标定精度；其次,在运动目标的检测与跟踪方面,论文重点解决了传统的Mean-Shift算法容易产生的跟踪丢失问题,结合Kalman算法,研究了融合运动目标位置预测的跟踪算法,有效提高了多目标动态跟踪识别的准确度；最后,论文依据光线在临界面的折射原理,结合空间几何理论,研究了多介质情况下目标的视觉测量理论,建立了数学模型并对其进行了测试。实验数据表明,本系统测量精度较高,稳定性好,能够实现在多介质情况下对多目标进行实时的动态跟踪及定位,满足实际工程的要求,具有很好的应用和推广价值。更多还原

【Abstract】 The application of binocular vision techniques on three-dimensional measurement and the moving object tracking and locating is a hot research topic in computer vision, which has been used widely in the military vision-guided, robot visual navigation, traffic management and industrial inspection and other fields. Due to the impact of environment and equipment, how to improve the measuring accuracy, track and identify dynamic objects correctly in multi-media is a difficult problem for practical applications at present.Based on the principle of binocular vision, a system for tracking and locating moving objects in multi-media space is designed in the paper. Firstly, the calibration board and corresponding detection algorithm is designed based on Zhang Zhengyou binocular camera calibration principle, which improves detection accuracy up to sub-pixel level, thus the accuracy of calibration is improved; On moving objects detecting and tracking, since Mean-Shift algorithm doesn’t contain object’s motion information in the process of object tracking, it easily fails to track the objects, an improved algorithm combined with Kalman filtering is proposed in the paper, which improves the accuracy of detecting and tracking moving objects effectively; Then, Combined the refraction theory of light in the critical surface with the spatial geometry theory, the principle of visual measurement in multi-media is researched, and a mathematical model is constructed and tested in the paper.Finally, the whole system is set up and tested, experiment result shows that this system is precise and stable, and it can realize tracking and extracting 3D coordinates of moving objects in multi-media, meet practical requirements, and it is worthy for using and promoting.更多还原