【作者】 吴亚鹏；

【导师】 潘建寿；

【作者基本信息】 西北大学 ， 信号与信息处理， 2008， 硕士

【摘要】 应用双目视觉技术对运动目标进行跟踪,并对其深度和运动信息进行测量是当前计算机视觉研究的热点问题,在军用和民用领域内有着广泛而实际的应用。本文基于双目视觉,以获得目标质心的三维坐标、深度和运动速度为主要目的,研究了运动目标检测与跟踪、双目立体视觉标定、组建双目立体视觉运动目标跟踪与测量实验系统三方面的内容。在运动目标检测与跟踪方面:重点研究了融合运动目标位置预测的MeanShift算法,并根据Bhattacharyya系数值对目标被遮挡的情况进行了判断;使用本文算法针对目标非匀速运动和发生遮挡的情况进行了计算机仿真实验,在算法运行效率和跟踪稳定性方面获得了预期的效果。在双目立体视觉标定方面:制作了圆靶标定板并提取了靶面特征点的图像坐标,在分析“TSAI”标定算法的基础上分别完成了左右摄像机的标定;阐述了双目视觉下的空间点三维坐标的提取算法;运用VC++6.0开发了双目立体视觉标定系统,通过测量空间点深度信息和空间物体尺寸大小,验证了系统结果。在组建双目立体视觉运动目标跟踪与测量实验系统方面:采用代价函数对左右视场下的运动目标进行立体匹配;分析了运动目标深度和速度的测量方法;运用VC++6.0将双目立体视觉标定、运动目标检测与跟踪和目标质心提取三部分内容进行系统的结合,设计了双目立体视觉运动目标跟踪与测量实验系统,使用该系统实现了提取运动目标质心的三维坐标及其深度和速度的测量。更多还原

【Abstract】 The application of binocular vision techniques for tracking the moving object, and measuring its depth information and movement information is the hot research in computer vision, which used widely in civilian and military. Based on binocular vision, for the purpose to obtain the 3D coordinate, depth information and velocity of the object, this paper mainly discussed the following questions: moving object detecting and tracking, binocular stereo vision calibration, the construction of binocular stereo vision moving object tracking and measuring experimental system :On moving object detecting and tracking: it mainly researched the combination algorithm of the position-forecasting of moving object in the Mean Shift, using Bhattacharyya coefficients to forecast the occlusion. Then, the simulation is performed when the object is in Non-uniform linear motion and when occlusion happens, which achieved predicted results in running efficiency and tracking stability.On binocular stereo vision calibration: First, the calibrating board with circles target is made and the coordinate in image of feature Points in it are extracted. Left and right cameras are calibrated by using "TSAI" calibration algorithm. Second, the extraction algorithm of 3D coordinate of spatial points under binocular vision is discussed. Then, a binocular stereo vision calibration system is built by using VC++6.0 and the calibration experiment is carried on. Experimental results are validated by measuring the depth information and the size of spatial object.On construction of binocular stereo vision moving object tracking and measuring experimental system: First, the moving object under bi-side visions are matched by using cost function and the measurement of depth information and velocity are analyzed. Second, using VC++6.0, combined the parts discussed above and an experimental system for binocular stereo vision moving object tracking and measuring is designed. Then, the centroid of the moving object is extracted, and the depth information and velocity are measured by using the system.更多还原