Real time Object Distance Measurement System with tracking based on Stereo Vision

There are many approach of measuring the distance of the object the most commonly used approaches are LASER range finder, Ultrasonic measurement etc. These approaches provide good accuracy but it needs human assistance and many times it is not possible in application like industrial automation. By using the stereo vision approach for the distance measurement we can make it automatic and determine the object distance as well as object geometry. The model of stereo camera imaging is established using traditional camera calibration method. The internal and external distortion parameters of cameras are calculated and optimized. Then the suitable algorithm for matching the left and right image is developed to calculate the disparity on MATLAB. After that the desired object from the disparity map is extracted and the distance of the object is calculated using the epipolar- triangulation method.