Multi-eye stereo camera shooting method and device

Abstract

The embodiment of the invention discloses a multicast and stereoscopic camera shooting method and a device thereof, belonging to the field of image processing. The method comprises: finding a corresponding point of each pixel point in the image picked up by a first image pickup device in the same image acquired by a second image pickup device which is of the shortest baseline distance to the first image pickup device; according to the corresponding point, predicting the position of the pixel point in the same images acquired by other image pickup devices; according to the predicted position, detecting the corresponding point of the pixel point in the same images acquired by other image pickup devices; calculating the parallax difference between the pixel point and the corresponding pointsin the same image acquired by each image pickup device; and producing a stereoscopic image according to the parallax.

Description

technical field [0001] The invention relates to the field of image processing, in particular to a multi-eye stereo imaging method and device. Background technique [0002] In today's society, cars have become an indispensable means of transportation. While people are enjoying the convenience and speed brought by automobiles, automobile traffic accidents have become an increasingly severe global social problem. The on-board environment perception system uses various sensors to detect information such as the vehicle itself, the surrounding environment, and the driver's state. By comparing with preset standards, it can judge whether the vehicle is in a dangerous state and the degree of danger. etc. to warn the driver. [0003] In the prior art, the camera system for vehicle-mounted stereo environment perception mainly uses a binocular stereo camera to measure information such as three-dimensional space coordinates and obstacle positions. The most simple and commonly used bin...

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Problems solved by technology

[0009] In prior art 1, due to installation requirements, the camera focal length and baseline length of the vehicle-mounted binocular stereo camera are fixed, that is, the relationship between the parallax and the distance Z in the three-dimensional space is fixed, so it is impossible to simultaneously perform distance measurement ( Such as vehicle detection 100 to 200 meters ahead during high-speed driving) and short-range detection (such as obstacle detection 2 meters ahead);

[0010] Although the insensitivity of the horizontal stereo camera system to horizontal feature information (such as the top or bottom of the vehicle) can be avoided in the second prior art, the L-shaped configuration scheme usually cannot be assembled to the front or top of the vehicle, and the second prior art Can't solve the problem of taking both far and near measurements at the same time

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