Non-horizontal target measurement method based on monocular vision

摘要

With the development of computer vision technology, target measurement methods have been widely used in robot automatic obstacle avoidance, vehicle-assisted driving and other systems. There are many target measurement technologies available, but most of them are based on binocular or trinocular vision, or based on monocular vision with other auxiliary equipment, or based on monocular vision to measure horizontal target. The first two technologies achieve precise positioning by increasing the amount of data and sacrificing processing speed, while the third only studies the measurement method of the horizontal target. To address the complexity of the multi-equipment measurement methods and the limitation of the monocular measurement methods for horizontal target, this paper proposes a novel monocular vision measurement method for the non-horizontal target. According to the principle of camera imaging, internal and external parameters of the camera and analogue-to-digital conversion principle, the imaging relationship model for measuring the relative height and target distance of non-horizontal target is deduced, and the solvability of the model is demonstrated by mathematics. The experimental results verify the correctness and feasibility of this method.