小波变换双目系统标定的研究与实现.pdfVIP

电子发烧友 电子技术论坛 基于小波变换的双目系统标定研究与实现 顾海军，刘静，曹景太，王冬冬 （吉林大学通信工程学院 130012） 摘要：双目标定是双目系统的关键技术，本文对双目系统标定进行理论分析，给出基于变换矩阵的 坐标系变换关系。考虑实际情况，提出基于投影法及小波变换的双目系统标定方法，给出仿真结果 并将算法移植至嵌入式处理平台，在目标发生畸变或目标小于 15 个像素等情况下仍能实时标定。 关键字：变换矩阵；投影法；小波变换；嵌入式处理平台 中图分类号：TP336 文献标识码：A The Study and Implementation of Binocular System Demarcation Based on Wavelet Transform GU Hai-jun ，LIU Jing ，CAO Jing-tai，WANG Dong-dong (College of Communication Engineering,Jilin University,Changchun 130012,China) Abstract ：Binocular demarcation is the key to the binocular system technology. This article did theoretical analysis on the demarcation of the binocular system, and the relations of coordinate system transformation based on the matrix transformation were given out. Considering actual situation, the calibration algorithm in binocular system was carried out on the basis of projection and adaptive wavelet transform. Meanwhile simulation results were got. Then transplante the algorithm into embedded processing platform. It is proved that the algorithm could finish Real-time calibration in the condition that the target or goal aberrations occurred in less than 15 pixels. Key: Transformation matrix; Projection Method; Wavelet Transform; Embedded processing platform 1. 引言 由成像理论可知： 1 1 1 + f m n (1) f m n 其中， 为透镜焦距， 为像距， 为物距。因此，只能确定目标的二维影像，类似人眼的立 体视觉特性，采用双相机可构成立体视觉系统。可以根据目标的影像确定其大小、形状及位置等信 息。因此双目系统广泛应用于双目测距、双目定位、立体视觉及虚拟现实等领域，双目标定是双目 系统的关键技术之一，其实质是确