Binocular measurement model based on fault slice perspective
Key Laboratory of Modern Agricultural Equipment and Technology, Ministry of Education and Jiangsu Province, Jiangsu University, Zhenjiang, Jiangsu 212013, China)
Abstract：According to geometric analysis of binocular location, a kind of binocular measurement model based on fault slice perspective was presented in this paper. Nonlinear relation between optical parallax of object point and different depth distance was firstly established. Neural network model was established in advance on each slice plane to determine planar X and Y coordinate of object point according to known depth distance. When slice distance was different from modelling depth distance, nearest neighbor rule was adopt to model under proximate distance. The results show that maximum absolute error of model in depth direction is less than 4.5 mm, and those in X and Y directions are less than 2.0 mm. The error of spatial distance with real object point varies from 0.241 6 mm to 4.859 0 mm when 97 fault slice positions change from 223 mm to 1 183 mm. The tests of locating tomato show that the model can meet the requirement for precise locating fruit.
2011, Vol. 32 
