Compound eye binocular vision ranging method based on target motion

The insect (mantis) compound eye realizes the stereo vision by using dynamic difference of the target, which has the characteristics of large field of view, simple calculation and high real-time performance, and is a new direction of the stereo vision research. In order to realize the application of compound eye stereo vision in robot vision navigation, according to the compound eye structure and the information processing mechanism, a target rapid detection and location method based on ring photoelectric sensor was proposed and studied. Firstly, a ring sensor based on 6° angle distribution of 60 photodiodes was built to form an ring bionic compound eye with 360° field of view. Secondly, a rapid detection model of the moving target azimuth based on optical flow principle was established. The Fourier fitting method was adapted to optimize the azimuth detection model, and the simple and rapid detection in the range of the large field of view of the moving target azimuth and the target distance was realized. The experimental results show that: 1) the real-time detection of the target azimuth at the motion velocity of 30 mm/s in the range of 375 mm can be realized, and the measurement error is within 2°; 2) based on the target azimuth detection model, the stereo vision ranging of the binocular array sensor in the range of 300 mm×375 mm field of view overlap with an average measurement error of 10 mm can be realized. The moving target azimuth detection model based on optical flow can be used to realize the dynamic real-time detection of the moving target spatial position, and has broad application prospects in the fields of motion detection and vision navigation.