Researching | Binocular Ranging Method Based on Improved ORB-RANSAC

Laser & Optoelectronics Progress, Volume. 58, Issue 22, 2215002(2021)

Binocular Ranging Method Based on Improved ORB-RANSAC

Chunjian Hua^1,2、*, Rui Pan^1,2, and Ying Chen³

Author Affiliations

¹School of Mechanical Engineering, Jiangnan University, Wuxi, Jiangsu 214122, China

²Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment & Technology, Wuxi, Jiangsu 214122, China;

³School of Internet of Things Engineering, Jiangnan University, Wuxi, Jiangsu 214122, China

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Figures&Tables (13)

References (18)

Paper Information

Figures & Tables(13)

Fig. 1. Structure of the epipolar constraint. (a) Convergent structure; (b) parallel structure

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Fig. 2. Results of the epipolar correction. (a) Original image; (b) corrected image

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Fig. 3. Structure of k-dimensional tree

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Fig. 4. Flow chart of the improve RANSAC method

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Fig. 5. Feature matching results of different methods. (a) ORB; (b) ORB-RANSAC; (c) our method

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Table 1. Binocular calibration results

Table 1. Binocular calibration results

Parameter	Left camera	Right camera
Internal parameter	$[\begin{array}{l} 2178.27 & 0 & 610.96 \\ 0 & 2175.49 & 506.77 \\ 0 & 0 & 1 \end{array}]$	$[\begin{array}{l} 2181.22 & 0 & 640.74 \\ 0 & 2186.80 & 546.99 \\ 0 & 0 & 1 \end{array}]$
Distortion	$[\begin{array}{l} - 0.134 & 0.821 & 0.002 & 0.0009 & - 4.576 \end{array}]$	$[\begin{array}{l} - 0.219 & 1.475 & 0.004 & 0.007 & - 6.443 \end{array}]$
Rotation matrix	$[\begin{array}{l} 0.9976 & - 0.0084 & - 0.0687 \\ 0.0014 & 0.9949 & - 0.1007 \\ 0.0692 & 0.1003 & 0.9925 \end{array}]$
Translation matrix	${[\begin{array}{l} - 187.6791 & 1.3603 & - 12.5848 \end{array}]}^{T}$

Table 2. Screening results of matching points in each step of our method
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Table 2. Screening results of matching points in each step of our method
Image Original number After epipolar constraint After order constraint After RANSAC
Vehicle 232 217 189 169
Human 193 181 145 126

Table 3. Matching results of different methods on vehicle obstacle images
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Table 3. Matching results of different methods on vehicle obstacle images
Method Matched pair Correct match Correct rate /% Time /ms
ORB 232 185 79.7 70.2
ORB-RANSAC 189 184 97.3 77.8
Ours 169 167 98.8 76.3

Table 4. Matching results of different methods on passerby obstacle images
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Table 4. Matching results of different methods on passerby obstacle images
Method Matched pair Correct match Correct rate /% Time /ms
ORB 193 159 82.4 69.6
ORB-RANSAC 140 137 97.8 72.2
Ours 126 124 98.4 71.2

Table 5. Sub-pixel coordinate experiment

Table 5. Sub-pixel coordinate experiment

Number	Left image coordinate	Right image coordinate	Actual coordinates /m
1	(296.507, 321.013)	(296.285, 300.480)	(2.2855, 1.9014, -25.3138)
2	(300.761, 261.101)	(300.409, 240.930)	(2.2877, 2.4962, -25.7667)
3	(296.948, 368.129)	(296.460, 347.887)	(2.3194, 1.4921, -25.6768)
4	(216.032, 719.462)	(216.366, 701.969)	(3.5133, -2.0448, -29.7122)
5	(250.254, 641.423)	(250.399, 624.064)	(3.2014,-1.2149, -29.9411)
6	(320.500, 732.100)	(315.594, 714.438)	(2.4056, -2.1744, 29.5954)

Table 6. Ranging results of Ref. [17]

Table 6. Ranging results of Ref. [17]

Ref. [17]	Actual distance /m	Measuring distance /m	Error /m	Relative error /%	Time /s
1	5	4.808	0.192	3.84	0.10825
2	10	9.689	0.311	3.11	0.11358
3	15	16.085	1.015	6.76	0.10433
4	20	21.226	1.226	6.13	0.10957
Average	-	-	0.686	4.96	0.10893

Table 7. Ranging results of Ref. [18]

Table 7. Ranging results of Ref. [18]

Ref. [18]	Actual distance /m	Measuring distance /m	Error /m	Relative error/%	Time /s
1	5	4.786	0.214	4.28	0.08125
2	10	9.568	0.432	4.32	0.08756
3	15	16.124	1.124	7.49	0.07812
4	20	21.626	1.626	8.13	0.07628
Average	-	-	0.849	6.06	0.08080

Table 8. Ranging results of our method
View table
Table 8. Ranging results of our method
Ours Actual distance /m Measuring distance /m Error /m Relative error /% Time /s
1 5 4.874 0.126 2.52 0.09097
2 10 9.781 0.219 2.19 0.09228
3 15 15.659 0.659 4.39 0.08814
4 20 20.998 0.998 4.99 0.08557
Average - - 0.5005 3.52 0.08924

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Chunjian Hua, Rui Pan, Ying Chen. Binocular Ranging Method Based on Improved ORB-RANSAC[J]. Laser & Optoelectronics Progress, 2021, 58(22): 2215002

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Paper Information

Category: Machine Vision

Received: Dec. 8, 2020

Accepted: Jan. 21, 2021

Published Online: Nov. 5, 2021

The Author Email: Chunjian Hua (cjhua@jiangnan.edu.cn)

DOI:10.3788/LOP202158.2215002

Topics

laser devices and laser physics

Lasers and Laser Optics

laser manufacturing

Instrumentation, Measurement and Metrology