基于双目立体视觉的目标跟踪方法研究-信息与通信工程专业论文.docxVIP

摘 摘 要 运动目标的检测和跟踪是计算机视觉、智能人机交互等领域最重要的研究方 向之一。传统的运动目标检测方法是基于单目视觉的方法，由于立体视觉可以灵 活的获取景物的三维立体信息，因此相对单目视觉而言有着不可逾越的优势。本 文将双目立体视觉技术运用到运动目标的检测与跟踪中，并对摄像机标定、立体 匹配及视差深度图计算等方面做了研究和探讨。具体工作如下： 1．深入研究了国内外几种常用的摄像机标定方法，在对传统摄像机标定方 法进行分析后，利用Matlab标定工具箱对双目立体摄像机进行标定，并取得了 理想的标定结果。 2．基于双目立体视觉产品Bumblebee，对立体匹配及视差深度图的获取进行 了研究。通过学习系统提供的两个软件开发包：Digiclops SDK和Triclops Stereo Vision SDK，利用双目立体摄像头对场景进行拍摄获取左、右图像对，并设置合 适的匹配约束和校验的参数对立体图像对进行匹配运算，获得符合下一步需求的 视差深度图。 3．将双目立体视觉技术运用到目标检测中，对基于双目立体视觉的目标检 测方法进行了深入研究。由于目标具有不同于背景的深度信息，反映在视差深度’ 图中即有不同于背景的灰度值。因此，本文在获取视差深度图的基础上，利用视 差图中灰度的变化提取并定位运动目标的具体位置，并取得了比较理想的目标检 测结果。 关键词：立体视觉，摄像机标定，立体匹配，视差深度图，目标检测 Study Study on Object Tracking Method Based on Binocular Stereo Vision Tian Hengyan(Information and Communication Engineering) Directed by Prof．Wang Yanjiang Abstract Detecting and tracking of moving objects in image sequence is one of the most important research directions in computer vision and intelligent human-computer interaction．Usually,most moving object detection methods are based on monocular vision．Stereo vision can obtain 3D information under various conditions flexibly, therefore it has unparallel advantages compared with monocular vision．In this thesis， The binocular stereo vision technology is applied to moving objects detection and tracking．Some important topics in stereo vision are studied and discussed，such as camera calibration，stereo matching and disparity image computing．The main work Can be summarized as follows： 1．Several international popular calibration methods are deeply studied．By analyzing traditional calibration methods，we obtained ideal calibration results by using the camera calibration toolbox under Matlab． 2．By studying a binocular stereo vision product Bumblebee with two Software Development Kits provided by the system，Digiclops SDK and Triclops Stereo Vision SDK,we also do some research on stereo matching and disparity image capturing． The binocular stereo camera is used to capture the left and right images，and the appropriate dept