基于平行双目视觉的道路边坡落石投影面积测量系统.pdfVIP

重庆大学硕士学位论文 中文摘要 摘 要 我国西部地区地形复杂，容易发生道路边坡落石灾害侵占道路，阻塞交通。为 了保障交通通行，需要及时对道路侵害程度进行评估，向有关部门汇报。本文提出 了一套基于平行双目视觉的道路边坡落石投影面积测量系统方案，采用基于视差 图的投影面积计算法对边坡落石投影面积进行非接触式测量，并研制了一套基于 平行双目视觉的边坡落石投影面积测量硬件系统，根据测量出的落石投影面积大 小实现对道路侵害程度的评估。本文的主要内容如下： ① 采集标定板图片对双目摄像机进行标定，根据获取的摄像机内外参数完成 图像校正、SGBM 立体匹配，得出较为完整的精度较高的视差图，为后续面积计算 奠定基础。 ② 提出基于视差图分割的投影面积计算方法实现道路边坡落石投影面积的 计算，实验证明该算法能实现对边坡落石投影面积较为准确的计算，测试精度满足 工程要求，适用于边坡环境中。 ③ 研制了一套基于平行双目视觉的道路边坡落石投影面积测量系统，包括硬 件系统和软件架构。在室内环境和实际道路边坡落石环境的多个场景下进行投影 面积计算实验，实验结果满足预期要求。 实验证明本系统的测试精度满足要求，实现了对道路边坡落石投影面积的测 量，从而评估道路侵害程度，具有一定的工程意义。 关键词：道路边坡；平行双目视觉；视差图；投影面积测量 I 重庆大学硕士学位论文 英文摘要 Abstract The terrain in western China is complex, and it is prone to rockfalls on roadside slopes, which leads to encroachment on roads and traffic congestion. In order to ensure the smoothness of traffic, it is necessary to assess the extent of road infringement in a timely manner and report to relevant departments. In this paper, a set of slope falling rock projection area measurement system based on parallel binocular vision is proposed. The scheme uses the projected area calculation method based on the parallax map to make non-contact measurement of the rockfall projection area of the slope. At the same time, this paper develops a set of hardware system for measuring the rockfall projection area of road slope based on parallel binocular vision. According to the measured area of rockfall projection, the degree of damage to the road can be evaluated. The main contents of this paper are as follows: ① Firstly, the binocular camera is calibrated, and the image correction and SGBM stereo matching are completed according to the acquired internal and e