Aiming at the problem that basic Krill Herd (KH) algorithm has poor local search ability and insufficient exploitation capacity on complex function optimization problems, a Krill Herd algorithm based on Dynamic Pressure Control operator (DPCKH) was proposed. A new dynamic pressure control operator was added to the basic krill herd algorithm, which made it more effective on complex function optimization problems. The dynamic pressure control operator quantified the induction effects of several different outstanding individuals on the target individual through Euclidean distance, accelerating the production of new krill individuals near the excellent individuals and improving the local exploration ability of krill individuals. Compared to ACO (Ant Colony Optimization) algorithm, DE algorithm, KH algorithm, KHLD (Krill Herd with Linear Decreasing step) algorithm and PSO (Particle Swarm Optimization) algorithm on 7 benchmark functions, DPCKH algorithm has stronger local exporatioin and exploitation ability.

In binocular stereo vision, the camera needs to be calibrated to obtain its internal and external parameters in 3D measurement or precise positioning of the object.Through the study of the camera model with first-order radial distortion, linear formulas of solving internal and external parameters were constructed based on Radial Alignment Constraint (RAC) calibration method. Inclination angle, rotation angle, pitch angle and main distortion elements of lens were taken into consideration in this algorithm, which modified the defects in the traditional RAC calibration method that it only considers radial distortion and some parameters need priori values. The 3D reconstruction experiment of multi-pose binocular camera was carried out by using the obtained internal and external parameters. The experimental results show that,the reprojection error of this calibration method is distributed in[-0.3,0.3], and the similarity between the measurement trajectory and the actual trajectory is 96%, which has a positive effect on reducing the error rate of binocular stereo vision 3D measurement.