High-Accuracy Recognition and Localization of Moving Targets in an Indoor Environment Using Binocular Stereo Vision
High-Accuracy Recognition and Localization of Moving Targets in an Indoor Environment Using Binocular Stereo Vision
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DOI：
10.3390/ijgi10040234
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发表时间：
2021-04-01
影响因子：
3.4
通讯作者：
We, Xuchen
中科院分区：
文献类型：
--
作者：
Ding, Jing;Yan, Zhigang;We, Xuchen
为了实现室内运动目标的有效定位，提出了一种基于双目立体视觉的运动目标定位方法。提出了一种融合位移金字塔Horn-Schunck（HS）光流、Delaunay三角剖分和大津阈值分割的运动目标识别提取算法，称为大津Delaunay HS（O-DHS）方法。此外，提出了一种基于深度匹配和立体视觉的立体匹配算法，以获得密集的立体匹配点对，称为立体深度匹配（S-DM）。利用运动目标区域和立体深度匹配点对提取运动目标的立体匹配点对，然后根据双目视觉的平行结构原理重建运动目标区域内点的三维坐标。最后利用质心法对运动目标进行定位。实验结果表明，该方法能较好地抵抗图像噪声和重复纹理，能有效地检测和分离运动目标，对重复纹理区域的立体图像点匹配更加准确和稳定。该方法能有效提高三维运动目标坐标的有效性、准确性和鲁棒性。
To obtain effective indoor moving target localization, a reliable and stable moving target localization method based on binocular stereo vision is proposed in this paper. A moving target recognition extraction algorithm, which integrates displacement pyramid Horn-Schunck (HS) optical flow, Delaunay triangulation and Otsu threshold segmentation, is presented to separate a moving target from a complex background, called the Otsu Delaunay HS (O-DHS) method. Additionally, a stereo matching algorithm based on deep matching and stereo vision is presented to obtain dense stereo matching points pairs, called stereo deep matching (S-DM). The stereo matching point pairs of the moving target were extracted with the moving target area and stereo deep matching point pairs, then the three dimensional coordinates of the points in the moving target area were reconstructed according to the principle of binocular vision's parallel structure. Finally, the moving target was located by the centroid method. The experimental results showed that this method can better resist image noise and repeated texture, can effectively detect and separate moving targets, and can match stereo image points in repeated textured areas more accurately and stability. This method can effectively improve the effectiveness, accuracy and robustness of three-dimensional moving target coordinates.