Electrification and Driver Assist Technology in the ZF Innovation Tractor

Binocular camera calibration and stereo correction based on Halcon calibration method

“…Therefore, the rotation translation vector (R, T) is introduced, and the conversion relationship between the world coordinate system and the camera coordinate system is obtained as shown in equation (3).…”

“…In recent years, with the continuous breakthrough of computer level, machine vision technology has been applied in many fields such as medical equipment, visual navigation and unmanned driving.Among them, binocular vision is a very important research content, at present, in the world all the company universities have great research efforts, and has achieved very good results..For example, in the early 21st century, researchers at the University of Tokyo in Japan applied a binocular camera in the robot trajectory planning, using the visual system to detect the set motion paths in real time, find the obstacles in the tracks, and realize the function of effective obstacle avoidance [3].Japanese company designed the "EyeSight" car safety coordination system, the rearview mirror position installed two cameras, using the recognition algorithm developed, complete the real-time recognition of vehicles, pedestrians or obstacles, implements the vehicle before the collision warning function, the algorithm has been in practical application in subaru car [6].Ma Chaoyang [5] from University of Shanghai for Science and Technology studied the automatic grasping of stacked spheres, the median filtering of collected images,the hove transformation is used to detect the circle, and then the spatial coordinates corresponding to the center point of the circle are then solved out by the different plane line, with an error of only 1%.Zhou Jiayue [7] from Beijing University of Aeronautics and Astronautics A three-dimensional retinal vascular reconstruction system based on binocular vision was constructed,the system first uses image segmentation to segment the retinal vessels from the image, and then obtains the parallax map through stereo matching to complete the three-dimensional reconstruction, and finally obtains the depth information of the retinal vessels.In the binocular vision system, the calibration and correction of the binocular camera is the premise of studying the binocular vision, and its calibration method and image correction method play a very important role in the study of the binocular vision system.…”