Fish-eye camera stereo vision depth measuring method based on Taylor series model

A Taylor series and fisheye camera technology, applied in the field of computer vision, can solve problems such as difficult compensation, large distortion, and bending of field of view, and achieve the effects of reduced computational complexity, high modeling accuracy, and simple principles

Inactive Publication Date: 2011-04-06
ZHEJIANG UNIV
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Problems solved by technology

But the disadvantage is that there is a large distortion, and its distortion model no longer meets the conditions of perspective projection
With the expansion of

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  • Fish-eye camera stereo vision depth measuring method based on Taylor series model
  • Fish-eye camera stereo vision depth measuring method based on Taylor series model
  • Fish-eye camera stereo vision depth measuring method based on Taylor series model

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[0033] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0034] like figure 1 As shown, the flow chart of the depth calculation of the ultra-wide-angle fisheye camera stereo vision method based on the Taylor series model is given according to the present invention.

[0035] like figure 1 As shown, in step 101, the Taylor series model is used to calibrate the internal and external parameters of the ultra-wide-angle fisheye stereo camera.

[0036] Through the calibration based on the Taylor series model, the internal parameters of the camera that can be obtained are:

[0037] 1) Taylor series coefficient: a 0 , a 1 ,...,a N

[0038] 2) Affine transformation coefficients: c, d, e

[0039] 3) Principal point coordinates: (x c ,y c )

[0040] At the same time, the external parameters of the left and right fisheye stereo cameras are obtained: R l , t l and R r , t r . According to ...

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Abstract

The invention discloses a fish-eye camera stereo vision depth measuring method based on a Taylor series model. Firstly, a fish-eye stereo vision camera is standardized according to the Taylor series model to obtain a mapping relation from a three-dimensional space point to a two-dimensional image point and a position relation between a left fish-eye stereo camera and a right fish-eye stereo camera, namely, the in parameter and the out parameter of the fish-eye stereo vision camera. On that basis, spherical polar line is corrected, so that the same three-dimensional space point is located in the same line on the corrected left image and right image. Finally, a matching relation of corresponding points is obtained on the left image and the right image by stereo matching, and depth information of corresponding three-dimensional space point is calculated. The fish-eye camera stereo vision depth measuring method based on the Taylor series model has the following advantages: a modeling method based on the Taylor series can achieve higher modeling precision for the fish-eye camera, and based on a spherical polar line correction method, computational complexity can be effectively reduced on the condition of guaranteeing correction precision.

Description

technical field [0001] The invention relates to a computer vision method for depth measurement using a fisheye camera, in particular to a fisheye camera stereo vision depth measurement method based on a Taylor series model. Background technique [0002] Compared with the field of view of ordinary cameras, the ultra-wide-angle fisheye camera can obtain a wide range of scene information, and the stereo vision system composed of it can measure the depth of a wide range of scenes, which has attracted widespread attention. Take the application of robot navigation as an example: In 1997, the Jet Propulsion Laboratory (JPL) developed a super-large field of view (horizontal field of view of 140°) binocular stereo vision obstacle detection system for the new generation of Mars rover, which can restore the scene dense depth map. The robots "Spirit" and "Opportunity" that successfully landed on Mars in 2004 also installed a set of stereo vision obstacle avoidance cameras (Hazard Avoid...

Claims

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Application Information

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IPC IPC(8): G06T7/00
Inventor 杜歆王迅
Owner ZHEJIANG UNIV
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