Stereo matching and flame space positioning method based on edge features

The invention discloses a stereo matching and flame space positioning method based on edge features. The stereo matching comprises the following steps: S1, determining a matching element, a matching constraint criterion, a similarity measure and a matching strategy; s2, taking pixel points on the edge of the flame as matching elements, and screening out optimal matching points, candidate matching points and mismatching points by utilizing dual-threshold discrimination; optimal matching is considered to be correct matching, and candidate matching is screened in the next step; s3, further searching optimal matching by utilizing a parallax compatibility principle, and eliminating mismatching; and S4, after the unique matching is output, obtaining the sub-pixel parallax according to a binary search method. The flame space positioning comprises the steps of S1, determining the flame target space position and S2, obtaining the coordinates of the flame center based on the camera parameters, and achieving flame targe