关键词: 双目立体视觉, 分级区域匹配, 三维信息获取, 悬停精度

Abstract: In order to evaluate the stability of hovering UAV, this paper designs a system based on binocular stereo vision. Firstly, using the proposed neighborhood gray improved hierarchical matching strategy, it obtains the matching feature points incalibration of video images using camera calibration. Then according to the principle of reconstruction, it calculates 3D coordinate data in the view of the UAV. Finally, the stability degree of the UAV is evaluated by hovering precision measurement function. The experimental results show that the system can effectively match the feature points of the target, calculate the three-dimensional coordinates of the target, and evaluate state of the UAV hovering according to the relative control precision of the floating.

Key words: binocular stereo vision, hierarchical region matching, 3D reconstruction, hovering accuracy