关键词: 双目视觉, 序列图像, 特征跟踪匹配, 自车速度估计

Abstract: According to the characteristics of low speed and high slip ratio of construction vehicles，a method was proposed based on binocular sequence images in order to quickly detect the relative positions and actual speeds of the vehicles. The vehicle-borne binocular vision sensors were used to collect the image sequences of the surrounding environments continuously. And the distances from the environment feature points to the origins of the camera coordinate systems were calculated through matching the captured each frame binocular images using speeded up robust features(SURF)，so as to achieve vehicle relative locations. Meanwhile, the feature points of two adjacent frames were tracked and matched based on SURF，and the matching feature points were divided into far points and near points according to different depths of the fields . The rotation matrix and translation vector of the coordinate systems in vehicle motions were calculated by using the far points and the near points respectively, and then optimized them by Levenberg-Marquardt method. Finally, the velocities of the vehicles were estimated according to optimized rotational matrices and translation vectors. The results of outdoor simulation test show the effectiveness and feasibility of the proposed method.

Key words: binocular vision, image sequence, feature tracking and matching, ego-velocity estimation