Non-horizontal binocular vision ranging method based on pixels

In a conventional stereo vision ranging system, two detectors placed horizontally calculate the distance between the target and the detector based on the triangular similarity principle, parallax and focal length. In general, the order of magnitude between the distance detected and the focal length varies widely. If there is an error in the parallax information, the calculated actual distance will be significantly different from the calculated distance. This paper proposes a new distance measuring principle that uses the vertical distance difference between two lenses placed along the shooting direction to eliminate errors caused by focal length. Finally, the distance between the target and the detector is calculated by the target image and the number of pixels occupied by the target.