Abstract：In order to improve accuracy of downthehole (DTH) drill position, binocular stereo vision was adopted to obtain a 3D location measurement of holes marker for DTH position. A pair of stereo images with holes marker were obtained by stereo cameras to be segmented by fuzzy thresholding method based on trapezoidal membership functions. The holes marker centroid was extracted by image invariant moment principle. The holes marker 3D locations were obtained by triangulation principle. On DTH testbed, the autonomous position experiments were implemented based on binocular stereo vision system. The experiment results show that the holes marker can be efficiently segmented by fuzzy thresholding method based on trapezoidal membership functions with position error less than 25 mm.
2015, Vol. 36 
