共轴立体视觉深度测量

共轴立体视觉测距是一种深度恢复的新方法，利用光轴处于同一直线的两架相机，从单一角度获取图像信息，将三维空间的深度信息转换成二维空间的缩放视差，从而通过图像旋转与缩放、特征点提取、图像匹配、中心点估计等技术恢复深度信息。该技术具有测量系统体积小、实时性强等特点。介绍了该技术的深度恢复公式和算法，并设计了共轴立体摄影测距传感器，用实景实验和3DSMAX模拟实验对该技术进行了验证。试验结果表明，中长距离深度测量精度优于0．1％。

Depth measurement by co-axial stereo vision

Depth measurement based on co-axial stereo vision is a new method of depth recovery.It may respectively produce images by the two co-axial cameras.The image information is obtained from a single view point.The depth information of the 3-D space is converted into the Zoom parallax of 2-D space.Thereby,The depth information is recovered with the technologies of image rotating/scaling,characteristic point acquisition,image matching and central point estimation,etc.The system with the technologies has the characteristics of small volume and high real-time performance,and is based on imaging model of monocular stereo vision for machine.The principles of co-axial stereo vision are described.The depth recovery formula and algorithm of the system is introduced.The experimental result indicates that relative error is less than 0.1%,covariance for the actual range is 100 m and computational average depth is 99.959 m.