The algorithms of stereo matching and parallax calculation are verified by the real image data and the distance information of target is derived by camera calibration . Fourthly the intelligent tear bomb emission systems based on binocular stereo vision principle is designed .

利用实际获取的图像数据进行区域匹配与视差计算的验证，并根据标定获得的双目视觉系统摄像机参数计算得到了目标的距离信息。4.设计了基于双目立体视觉智能化 催泪弹发射系统。

A cluster tear bomb is of many advantages such as rapid fuming speed multi-point fall multiple sources of terminal effects etc.

子母 催泪弹以发烟迅速、多点投放、终点效应多源化等诸多优点，成为新型防暴 弹的重要研究方向。

Police fired tear gas and smoke bomb in the center of Bishkek Tuesday to stop fighting between the president 's supporters and critics .

警察星期二在比什凯克市中心使用 催泪瓦斯和烟雾 弹制止总统的支持者和反对者的冲突。

Based on conventional ballistics theory the mathematical model of the ballistic trajectory which adopts low and high pressure chamber fire mode is established for the small cluster tear bomb .

本文针对小型子母式 催泪弹，采用经典弹道理论建立了高低压室发射方式的 内外弹道数学模型。

This article deals with the important applications of chemical knowledge in military which include explosive smoke bomb pyrotechnical cartridge chemical poison tear bomb lighting bomb and so on .

本文介绍化学知识在军事中的重要应用，包括炸药、烟幕弹、信号弹、化学毒剂、 催泪弹、照明弹等等。

Design of intelligent system of armored car tear bomb emitter based on binocular stereo vision

基于 双目立体视觉的车载发射系统瞄准设计

Armored vehicles are widely used in CAPF and they play an important role in dealing with the emergencies . The tear bomb emission systems of armored vehicles are of vital importance to break up the crowd .

×××装甲车是武警部队处置突发事件中运用最广泛的武器装备，其车载 催泪弹发射系统在驱散闹事人群时起着至关重要的作用。