基于双目会聚型立体摄像机的目标深度测量

目标物体的三维测量是双目立体视觉的一项重要任务。基于视差的平行摄像机模型是最常见的用于三维重建的双目摄像机模型。一般双目立体摄像机不是严格平行的，所以采用上述方式进行三维重建时需要进行极线校正。提出了一种新的用于三维测量的双目摄像机模型，该模型针对一般常见的非平行的会聚立体摄像机模型。采用该模型进行目标物体的三维测距时，根据摄像机标定得到的相对外参，即可快速得到目标物体的深度信息。同时，本文从分辨率的角度对提出的深度测量方法进行了精度分析。实验结果验证了提出方法的有效性和可靠性。

Object depth measurement based on convergent binocular stereo camera

The object 3D measurement is an important task of the binocular stereo vision.The parallel binocular stereo camera model based on disparity is the most general 3D reconstruction model.Actually,the regular binocular stereo camera is not strictly parallel.Therefore,it is required to carry on a correction based on the epipolar geometry.A new model of the binocular stereo camera for 3D measurement was presented,and the model is suitable for the non-parallel convergent stereo camera.The depth information of the object can be rapidly obtained by the proposed method based on the relative extrinsic parameters from the stereo camera calibration.Furthermore,the accuracy analysis of the proposed depth measurement method from the resolution was discussed.The validity and the reliability are verified by the experimental results.