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Laser & Optoelectronics Progress, Volume. 56, Issue 11, 111503(2019)

Binocular Ranging Method Using Stereo Matching Based on Improved Census Transform

Dahua Li1,2, Hongyu Shen1,2、*, Xiao Yu1,2, Qiang Gao1,2, and Hongwei Wang1,2
Author Affiliations
  • 1 School of Electrical and Electronic Engineering, Tianjin University of Technology, Tianjin 300384, China
  • 2 Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems, Tianjin 300384, China;
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    AbstractGet PDF(in Chinese)
    Figures&Tables (7)
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    References (28)
    Cited By (6)
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    Figures & Tables(7)
    Geometric structure of epipolar-line

    Fig. 1. Geometric structure of epipolar-line

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    Geometric structure of epipolar-lines for parallel correction

    Fig. 2. Geometric structure of epipolar-lines for parallel correction

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    Camera calibration principle

    Fig. 3. Camera calibration principle

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    Schematic of hardware system. (a) Side view; (b) top view

    Fig. 4. Schematic of hardware system. (a) Side view; (b) top view

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    Stereo correction results

    Fig. 5. Stereo correction results

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    Disparity map for stereo matching after row correction. (a) Original image of left camera; (b) disparity map obtained by Census transform; (c) disparity map obtained by improved Census transform

    Fig. 6. Disparity map for stereo matching after row correction. (a) Original image of left camera; (b) disparity map obtained by Census transform; (c) disparity map obtained by improved Census transform

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    • Table 1. Comparison of errors between original Census transform and improved Census transform

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      Table 1. Comparison of errors between original Census transform and improved Census transform

      Actualdistance /mmMeasured distance byimproved Census /mmError for improvedCensus /%Census measuringdistance error /%Accuracyimprovement /%
      400400.840.212.262.05
      500502.650.533.883.35
      600604.980.834.954.12
      700707.141.026.965.94
      800809.521.198.317.12
      900914.041.5610.789.22
      10001019.71.9713.3111.34
      20002064.23.2122.3119.10
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    Dahua Li, Hongyu Shen, Xiao Yu, Qiang Gao, Hongwei Wang. Binocular Ranging Method Using Stereo Matching Based on Improved Census Transform[J]. Laser & Optoelectronics Progress, 2019, 56(11): 111503

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    Paper Information

    Category: Machine Vision

    Received: Nov. 22, 2018

    Accepted: Jan. 7, 2019

    Published Online: Jun. 13, 2019

    The Author Email: Shen Hongyu (1161508014@qq.com)

    DOI:10.3788/LOP56.111503

    Topics

    laser devices and laser physics
    Lasers and Laser Optics
    Laser physics
    laser manufacturing
    Instrumentation, Measurement and Metrology