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Design of Tear Bomb Intelligent Casting System Based on Binocular Stereo Vision

Author: SongCunFu
Tutor: WangPing；GaoYingHui
School: National University of Defense Science and Technology
Course: Electronics and Communication Engineering
Keywords: Binocular stereo vision Parallax Target Extraction Three frame difference Stereo matching
CLC: TJ413
Type: Master's thesis
Year: 2011
Downloads: 19
Quote: 0
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Abstract


× × × armored vehicles armed police forces to respond to emergencies, the use of a wide range of weapons and equipment, car tear gas launchers disperse the rioting crowd plays a vital role. However, due to the complex environment, human improper operation factors often not exactly tear gas throwing troublemakers crowd. In this paper, the background of the need for improvement of weapons and equipment systems, the design of the the tear gas the intelligent transmitter operating system based on binocular stereo vision, × × × armored vehicles with automatic identification, precise positioning of the target population's ability, through real-time calculation of emission angle, to ensure that the tear gas throwing accuracy. The main work and research results are as follows: 1. Introduced the basic principle of binocular stereo vision, analysis of the three camera calibration between the coordinate system and the relationship between the parameters, based on linear and nonlinear The model further deduced the relationship between various parameters and the method of derivation. Camera Calibration Kit camera calibration experiment is carried out and the camera parameters. Compared the time frame difference method, secondary complex background frame difference method of moving object extraction method, and propose a target extraction method when one airspace combination. Firstly, in the time domain method to extract the movement area of ??the image frame using three frame difference intersection threshold segmentation method to remove noise, and then in the spatial domain, in order to effectively extract the moving target region, and finally through the fill handle to complete moving target. Simulation results show that the algorithm in a complex context of the moving object extraction. 3. Study area matched binocular camera point matching method of the same name, the parallax of binocular visual system calculated on this basis. Actual acquired image data region matching with the parallax computing the authentication target distance information, and calculated according to the binocular vision system camera parameter calibration obtained. 4. Designed based intelligent tear gas launchers binocular stereo vision system. The seven main part of the image acquisition system, camera calibration, object extraction, stereo matching, depth solving, error analysis, and elevation calculations, to achieve the precise positioning of troublemakers crowd, thereby enhancing the accuracy of throwing tear gas. Analysis of the emission system performance, workflow design a launch system, the establishment of the error model. The experimental results show that, the range error of the system can be up to 2% or less, effectively improved the performance of the existing equipment.

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