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1、ABSTRACTABSTRACTAfterseveraldecadesofdevelopment,computervisionhasbecomeanimportantresearchareaofcomputerscience.Binocularstereovisionasanimportantbranchofcomputervisionhasbeenthefocusofthestudyandhotspots.Binocularstereovisiondirectlysimulatetheprocessofhumanvision,anditcanbeflexibleinava
2、rietyofconditionstomeasurethree-dimensionalinformation,andbinocularstereovisiontechnologyhastheadvantagesofgettingdepthinformationfromtwo-dimensionalimagesofobjectsfromimagesobtained,whichhasaveryimportantsignificanceonwhetheritisfromtheperspectiveofvisualphysiologyorspecificengineeringapp
3、lications.BasedonthecomputervisiontheoryofMarr,thepapermakesaresearchontheprocessofachievingfunctionalmodules,whichhas3-Dscenes,imagingmodel,imagingtransformation,cameracalibration,imagefeatureselection,imagefeaturematching,three-dimensionalreconstruction.UsingtheopensourceOpenCVlibraryand
4、IPLlibrarydevelopedbyIntelandVC++6.0,thepaperimplementsthecontentsoffunctionmodules.Inthispaper,wechoosepinholeimagingdistortionmodel,whichhasseveralimagingmajortransformations:theworldcoordinatesystemtothecameracoordinatesystem,thecameracoordinatesystemtotheimagingplanecoordinatesystem,th
5、eimagingplanecoordinatestothecomputerdigitalimagecoordinate.Incameracalibration,thetraditionalradialalignmentconstraint(RAC)ofthetwo-stepmethodisused.Underthepinholeimagingwithdistortionmodelandinaccordancewiththeradialdistortionofrestrictiveconditions,thiscalibrationmethodcalculatestheint
6、ernalparametermatrixofthecamera,whichmainlyusesadistortionoftheinitialvalueanditerative.Harriscorneroftheimageisselectedasthecharacteristicoftheimage.Firstly,thecornersarematchedinitiallybasedontherelevantgrayofthecorners;then,wemaygetthecornerssetthatmaybematched,andcalculatetheepipolarge
7、ometryandthefundamentalmatrix,through8-pointalgorithm,RANSACalgorithmandLMEDSalgorithm;secondly,wescreenoutthewrongorambiguousmatchpointsandgetamorerobustmatchingpointsset,andthenusetherobustmatchingpointstoprecisecalculateoftheepipolargeometryandfundamentalma
