关键词: 道路与铁道工程；裂缝测量；单摄像机；立体视觉；运动估计

Abstract: In order to improve the flexibility and convenience of the measurement of structure surface cracks, a measurement method based on binocular stereo vision with single moving camera was proposed. Firstly, when the precise internal parameters of the camera were known, the images of the cracks were collected from two perspectives respectively. Then, the motion estimation of the camera was performed according to the acquired images, so as to solve the motion parameters of the two positions before and after the camera. Furtherly, crack edge detection based on Canny algorithm was carried out. Finally, the binocular stereo vision model for crack measurement was established according to the internal parameters of the camera, the motion parameters and the edge information of the crack image. The measurement test results show that within the measuring distance of 2m, the relative measuring error of the crack is less than 5%, which can effectively verify the measuring accuracy of the proposed measuring method.

Key words: road and railway engineering; crack measurement; single camera; stereo vision; motion estimation