Object-based short range measurement method, device and system, and storage medium

An object-based short range measurement device, comprising:

• a capture unit configured to capture one or more still images or videos of a target object by using a binocular camera having a left-eye camera and a right-eye camera, wherein the two monocular cameras are placed apart from each other in a predetermined distance that is a base line of the binocular camera,
• an identification unit configured to identify the target object from the one or more still images or videos, and acquire border information about an ROI of the target object;
• a constraint point acquisition unit configured to acquire a group of geometric constraint points of the target object with respect to each of the two monocular cameras in accordance with the border information;
• a geometric constraint point provision unit configured to provide a first group of geometric constraint points with respect to the left-eye camera and a second group of geometric constraint points with respect to the right-eye camera;
• a monocular distance estimation unit configured to acquire pixel coordinates of each geometric constraint point and a border pixel size corresponding to the border information, and calculate a monocular distance estimation value of the target object;
• a binocular distance estimation unit configured to acquire an overall disparity by acquiring disparity values of the first group of geometric constraint points and disparity values of the second group of geometric constraint points, calculating an average disparity value to obtain the overall disparity d, and to calculate a binocular distance estimation value of the target object in accordance with the overall disparity d, wherein acquiring the overall disparity of the two groups of geometric constraint points and calculating the binocular distance estimation value of the target object in accordance with the overall disparity d comprises acquiring disparity values of a plurality of geometric constraint points in accordance with the first group of geometric constraint points of the target object to the left-eye camera and the second group of geometric constraint points of the target object to the right-eye camera, calculating an average disparity value of the disparity values, so as to acquire the overall disparity d, and calculating the binocular distance estimation value through an equation Z_b=Bf/d, where Bf represents a product of the base line of the binocular camera and the focal length of the binocular camera, and Z_b represents the binocular distance estimation value of the target object;
• and
• a measurement value acquisition unit configured to calculate an average value of the monocular distance estimation value and the binocular distance estimation value to obtain a final measurement value in accordance with the monocular distance estimation value and the binocular distance estimation value.