Binocular Ranging Method Based on Improved ORB-RANSAC

Chunjian Hua; Rui Pan; Ying Chen

doi:10.3788/LOP202158.2215002

Journals >Laser & Optoelectronics Progress >Volume 58 >Issue 22 >Page 2215002 > Article

Laser & Optoelectronics Progress
Vol. 58, Issue 22, 2215002 (2021)

Binocular Ranging Method Based on Improved ORB-RANSAC

Chunjian Hua^1、2、*, Rui Pan^1、2, and Ying Chen³

Author Affiliations

¹School of Mechanical Engineering, Jiangnan University, Wuxi, Jiangsu 214122, China

²Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment & Technology, Wuxi, Jiangsu 214122, China;

³School of Internet of Things Engineering, Jiangnan University, Wuxi, Jiangsu 214122, China

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DOI: 10.3788/LOP202158.2215002 Cite this Article Set citation alerts

Chunjian Hua, Rui Pan, Ying Chen. Binocular Ranging Method Based on Improved ORB-RANSAC[J]. Laser & Optoelectronics Progress, 2021, 58(22): 2215002 Copy Citation Text

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Fig. 1. Structure of the epipolar constraint. (a) Convergent structure; (b) parallel structure

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Fig. 2. Results of the epipolar correction. (a) Original image; (b) corrected image

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Fig. 3. Structure of k-dimensional tree

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Fig. 4. Flow chart of the improve RANSAC method

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Fig. 5. Feature matching results of different methods. (a) ORB; (b) ORB-RANSAC; (c) our method

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Parameter	Left camera	Right camera
Internal parameter	$[\begin{array}{l} 2178.27 & 0 & 610.96 \\ 0 & 2175.49 & 506.77 \\ 0 & 0 & 1 \end{array}]$	$[\begin{array}{l} 2181.22 & 0 & 640.74 \\ 0 & 2186.80 & 546.99 \\ 0 & 0 & 1 \end{array}]$
Distortion	$[\begin{array}{l} - 0.134 & 0.821 & 0.002 & 0.0009 & - 4.576 \end{array}]$	$[\begin{array}{l} - 0.219 & 1.475 & 0.004 & 0.007 & - 6.443 \end{array}]$
Rotation matrix	$[\begin{array}{l} 0.9976 & - 0.0084 & - 0.0687 \\ 0.0014 & 0.9949 & - 0.1007 \\ 0.0692 & 0.1003 & 0.9925 \end{array}]$
Translation matrix	${[\begin{array}{l} - 187.6791 & 1.3603 & - 12.5848 \end{array}]}^{T}$

Table 1. Binocular calibration results

Image	Original number	After epipolar constraint	After order constraint	After RANSAC
Vehicle	232	217	189	169
Human	193	181	145	126

Table 2. Screening results of matching points in each step of our method

Method	Matched pair	Correct match	Correct rate /%	Time /ms
ORB	232	185	79.7	70.2
ORB-RANSAC	189	184	97.3	77.8
Ours	169	167	98.8	76.3

Table 3. Matching results of different methods on vehicle obstacle images

Method	Matched pair	Correct match	Correct rate /%	Time /ms
ORB	193	159	82.4	69.6
ORB-RANSAC	140	137	97.8	72.2
Ours	126	124	98.4	71.2

Table 4. Matching results of different methods on passerby obstacle images

Number	Left image coordinate	Right image coordinate	Actual coordinates /m
1	(296.507, 321.013)	(296.285, 300.480)	(2.2855, 1.9014, -25.3138)
2	(300.761, 261.101)	(300.409, 240.930)	(2.2877, 2.4962, -25.7667)
3	(296.948, 368.129)	(296.460, 347.887)	(2.3194, 1.4921, -25.6768)
4	(216.032, 719.462)	(216.366, 701.969)	(3.5133, -2.0448, -29.7122)
5	(250.254, 641.423)	(250.399, 624.064)	(3.2014,-1.2149, -29.9411)
6	(320.500, 732.100)	(315.594, 714.438)	(2.4056, -2.1744, 29.5954)

Table 5. Sub-pixel coordinate experiment

Ref. [17]	Actual distance /m	Measuring distance /m	Error /m	Relative error /%	Time /s
1	5	4.808	0.192	3.84	0.10825
2	10	9.689	0.311	3.11	0.11358
3	15	16.085	1.015	6.76	0.10433
4	20	21.226	1.226	6.13	0.10957
Average	-	-	0.686	4.96	0.10893

Table 6. Ranging results of Ref. [17]

Ref. [18]	Actual distance /m	Measuring distance /m	Error /m	Relative error/%	Time /s
1	5	4.786	0.214	4.28	0.08125
2	10	9.568	0.432	4.32	0.08756
3	15	16.124	1.124	7.49	0.07812
4	20	21.626	1.626	8.13	0.07628
Average	-	-	0.849	6.06	0.08080

Table 7. Ranging results of Ref. [18]

Ours	Actual distance /m	Measuring distance /m	Error /m	Relative error /%	Time /s
1	5	4.874	0.126	2.52	0.09097
2	10	9.781	0.219	2.19	0.09228
3	15	15.659	0.659	4.39	0.08814
4	20	20.998	0.998	4.99	0.08557
Average	-	-	0.5005	3.52	0.08924

Table 8. Ranging results of our method

Chunjian Hua, Rui Pan, Ying Chen. Binocular Ranging Method Based on Improved ORB-RANSAC[J]. Laser & Optoelectronics Progress, 2021, 58(22): 2215002

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