Researching | Design of Automatic Tracking System Based on Binocular Vision

Optoelectronic Technology, Volume. 42, Issue 4, 292(2022)

Design of Automatic Tracking System Based on Binocular Vision

Jing SHENG and Liheng WANG

Author Affiliations

School of Electrical and Information Engineering, Wuhan Institute of Technology, Wuhan 430205,CHN

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Figures&Tables (15)

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Figures & Tables(15)

Fig. 1. Overall hardware architecture

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Fig. 2. Flow chart of software design

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Fig. 3. Flow chart of Yolov5 target detection

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Fig. 4. Target recognition diagram

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Fig. 5. Target tracking effect

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Fig. 6. Schematic of binocular vision

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Fig. 7. Flow chart of double target determination

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Fig. 8. Stereoscopic correction diagram

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Fig. 9. Flow chart of stereo matching algorithm

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Fig. 10. Diagram of binocular parallax

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Fig. 11. Azimuth tracking control

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Fig. 12. Schematic of distance tracking control

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Table 1. Internal and external parameters of binocular camera

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Table 1. Internal and external parameters of binocular camera

标定参数

左相机

右相机

内参矩阵

$M_{l}$ ， $M_{r}$

[\begin{matrix} 481.917 177 78 & 0 & 320.333 407 5 \\ 0 & 481.820 47 423 & 203.930 706 12 \\ 0 & 0 & 1 \end{matrix}]

[\begin{matrix} 487.824 089 98 & 0 & 303.363 434 05 \\ 0 & 487.463 760 05 & 226.329 101 41 \\ 0 & 0 & 1 \end{matrix}]

畸变参数

$D_{l}$ ， $D_{r}$

（0.088 545 18 -0.272 952 98 -0.007 838 82 0.010 007 36 0.408 977 63 ）

（0.017 225 96 0.146 513 55 -0.003 273 82 0.001 365 99 -0.349 431 61 ）

Table 2. Stereo calibration parameters

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Table 2. Stereo calibration parameters

旋转矩阵	$[\begin{matrix} 0.994 364 77 & 0.004 801 66 & 0.105 903 99 \\ - 0.002 858 58 & 0.999 824 93 & - 0.018 491 75 \\ - 0.105 974 24 & 0.018 084 81 & 0.994 204 41 \end{matrix}]$
平移矩阵	( $- 4.256 104 3 - 0.049 748 71 0.261 941 99$ )

Table 3. Target measurement results

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Table 3. Target measurement results

点	像素坐标	世界坐标/mm	距离/m
1	（212,230）	（-60.911,8.600,280.234）	0.287
2	（79,406）	（-132.213,105.882,268.84）	0.318
3	（106,412）	（-89.012,82.919,204.12）	0.238
4	（107,436）	（-100.362,105.388,231.24）	0.273

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Jing SHENG, Liheng WANG. Design of Automatic Tracking System Based on Binocular Vision[J]. Optoelectronic Technology, 2022, 42(4): 292

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Paper Information

Category: Research and Trial-manufacture

Received: Jun. 8, 2022

Accepted: --

Published Online: Dec. 23, 2022

The Author Email:

DOI:10.19453/j.cnki.1005-488x.2022.04.008

Topics

laser devices and laser physics

Lasers and Laser Optics

laser manufacturing

Instrumentation, Measurement and Metrology