To better monitor the state of isolating switches, an efficient binocular vision-based state measurement system is proposed in this article. Two optimal cameras are selected as the vision of our inspection system. Firstly, stereo calibration and distortion rectification are performed on acquired image pair. Secondly, to recover the three-dimensional information of switch, we propose a semi-global stereo matching method by using data- and structure-driven cost volume fusion and then optimizing raw disparity map with weighted- and edge discriminated-smoothness prior. Gradient content is enforced on the weight for suppressing small-weight-accumulation problem in weak-textured regions. Besides, Hough transform with feature constraints is implemented for removing the chaotic lines and extracting center line of the switch arm. Finally, based on the center line and corresponding disparity map of the switch arm, triangulation principle is used for calculating the true angle between the switch arm and insulator such that whether or not the isolating switch is fully closed can be detected. The experimental results demonstrate that the proposed stereo matching method can achieve good performance in Middlebury v.3 data set and switch images, and the system can precisely measure the state of switches.

中文翻译：

---

基于代价融合和平滑先验的立体匹配隔离开关状态测量

为了更好地监测隔离开关的状态，本文提出了一种基于双目视觉的高效状态测量系统。选择了两个最佳相机作为我们检测系统的视觉。首先，对获取的图像对进行立体标定和畸变校正。其次，为了恢复开关的三维信息，我们提出了一种半全局立体匹配方法，通过使用数据和结构驱动的成本体积融合，然后使用加权和边缘区分平滑度先验优化原始视差图。对权重强制执行梯度内容，以抑制弱纹理区域中的小权重累积问题。此外，为了去除混沌线和提取开关臂的中心线，实现了具有特征约束的霍夫变换。最后，根据开关臂的中心线和对应的视差图，利用三角原理计算开关臂与绝缘体的真实夹角，从而检测隔离开关是否完全闭合。实验结果表明，所提出的立体匹配方法可以在 Middlebury v.3 数据集和开关图像中取得良好的性能，并且系统可以精确测量开关的状态。