单目视觉障碍物测距精度分析

在单目视觉障碍物测距模型中，分析了可视距离与安装高度和俯视角度的关系，研究了影响测距精度的因素：摄像机的安装高度、俯视角度和障碍物检测的图像位置，建立了误差的数学模型并进行了仿真，定量计算了在一定的条件下引入的误差。根据摄像机的内参数和摄像机视距的影响因素确定了合适的安装参数，在此安装参数下，对摄像机视距随障碍物像素位置的变化及测距精度随影响因素的变化情况进行了仿真，仿真结果有助于选择误差小的区域，从而提高测距的精度。

Accuracy Analysis of monocular vision obstacle ranging

In monocular vision obstacle ranging model,the relationship between the visual distance and camera downward angle,installation height of is analyzed,the factors of camera installation height, downward angle and the obstacle image position which affecting the measurement accuracy are studied,the mathematical models of error are established and simulating, errors are quantitative calculated in certain conditions.According to affecting factors of visual distance and the camera internal parameters,camera installation parameters are determined.Under the installation parameters,camera visual distance changes with obstacle image position and ranging accuracy changes with the influence factors are the simulating. The simulation results are helpful to choose the small error region,so as to improve the ranging accuracy.