Measuring Approach of Projectile Landing Parameters Based on Binocular Vision Model

摘要

The purpose of this study is to find multi-projectiles parameters such as pose, velocity and trajectory in 3D space while projectiles are landing. In this paper, a binocular vision system is presented, which is set up near the landing area to detect the projectiles from the image sequences. It is hard for the gray matching to be carried out because the images in two planes projected by the same areas of a projectile have different gray values. Because of the stereo disparity, the contour line of projectiles’ images simultaneously captured by stereo cameras is not the same lines of the projectiles; thus the contours in two planes can’t be matched directly. Considering the facts mentioned above, a method is proposed in the paper, in which the pitching angles and yaw angles are obtained by calculating the position of the projectiles’ axes. The projectiles’ apex coordinates with subpixel accuracy are obtained and used to calculate the projectiles’ velocities and trajectories. In order to measuring multi-projectiles, the multi-projectiles matching strategies are also studied in the paper. The simulation results show that the algorithms proposed above have advantages of simple structure and high detection accuracy.