Open AccessResearch on Floating Object Ranging and Positioning Based on UAV Binocular System
Author(s) -
Peng Guo,
Nengwen Zhang,
Bing Jiang,
Fatao Qin,
Zhiheng Zhang
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/2025/1/012066
Subject(s) - computer vision , parallax , ranging , artificial intelligence , computer science , binocular disparity , binocular vision , object (grammar) , global positioning system , stereopsis , position (finance) , camera resectioning , calibration , computer graphics (images) , mathematics , telecommunications , statistics , finance , economics
Aiming at the ranging and positioning problem of floating objects polluted by water surface, the binocular system of UAV is designed to obtain the parallax and distance information of target objects in the scene. Firstly, Zhang Zhengyou calibration method is used to calibrate binocular camera; Secondly, stereo correction is carried out on the image to obtain a standard binocular stereo vision model; Finally, the depth information of the target object is obtained by stereo matching algorithm. The simulation results show that the depth error is less than 5%, and the actual physical coordinate position of the floating object is obtained by combining the GPS information of the UAV itself.