Single camera based omnibearing stereo vision system

A stereo vision, all-round technology, applied in stereo photography, optics, instruments, etc., can solve the problems of high altitude, adverse effects of small/micro UAV flight stability, etc., achieve accurate depth calculation, ensure performance, reduce high effect

Inactive Publication Date: 2011-05-11
肖继忠 +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, since the perspective camera is located at a certain distance below the mirror surface, the height of the entire system is still relatively large, which will have an adverse effect on the flight stability of small / micro UAVs

Method used

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  • Single camera based omnibearing stereo vision system
  • Single camera based omnibearing stereo vision system
  • Single camera based omnibearing stereo vision system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0039] according to figure 1 The basic structure of 1a and 2 are both hyperboloids in this implementation example, the two are placed opposite and connected to the top plate and the bottom plate respectively, 1b is a circular plane mirror, and its radius depends on the position combined with 1a. 1a and 2 have the same caliber and the central axes of 1 and 2 coincide. 3 is a perspective camera, its circuit board is fixed inside the mirror 2 by screws 5, and the main optical axis of the camera coincides with the main axes of all the mirrors. 4 is the transparent cylinder that glass, crystal, Acrylic (acrylic) or other macromolecular transparent materials are made, and internal diameter is slightly larger than the caliber of 1a and 2, so that install.

[0040] In the vertical direction, the relative positional relationship of the above-mentioned components must meet the following principles: the optical center of the camera 3 coincides with the far focus of the single imaging mi...

Embodiment 2

[0047] like image 3 As shown, the difference from Embodiment 1 is that the upper mirror surface of this example adopts a combination of an ellipsoidal surface and a plane mirror.

Embodiment 3

[0049] like Figure 4 As shown, the difference from Embodiment 1 is that the upper mirror surface of this example adopts a combination of an ellipsoid and a hyperboloid.

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Abstract

The invention discloses a new single camera based omnibearing stereo vision system. The system is characterized in that the system comprises a transparent cylinder, upper and lower reflecting mirror surfaces in specific shapes and a perspective camera, wherein an upside mirror surface is a combined mirror surface of two of a hyperboloid, an ellipsoid, a paraboloid and a plane mirror; a downside mirror surface is a hyperboloid or a paraboloid; the perspective camera is installed inside the downside mirror surface; the main optical axis of the perspective camera is coaxial with the principal axis of the upper and lower reflecting mirror surfaces and the lens of the perspective camera is slightly smaller than the aperture at the top of the downside mirror surface; one part of the combined mirror surface forms images independently and the other part of the combined mirror surface forms a foldback system with the downside mirror surface; and two images of an object are formed on a camera and the corresponding image points are on the rays with the centers of the images as the circle centers. The system has the following advantages: the system is compact in structure and is light and small; the horizontal 360-degree and vertically bidirectionally-angled three-dimensional viewing field can be formed; and the stereo vision information is convenient to obtain by adopting the depth recovery algorithm.

Description

technical field [0001] The invention belongs to a robot visual sensor device, which is used for obtaining panoramic visual information of ground robots, unmanned aerial vehicles, automatic weeding machines or other intelligent systems, and can calculate distance information in three-dimensional space through depth recovery algorithms, specifically A compact omnidirectional stereo vision system. Background technique [0002] The vision system can quickly acquire images of the surrounding environment through imaging hardware devices, analyze the surface features of the target in the image and calculate the depth data of the target through the software module, which has great application potential. Therefore, in ground robots, unmanned aerial vehicles, and other intelligent systems, the vision system has become an important means for tasks such as perceiving the environment, assisting target recognition, and path planning. Both traditional perspective projection cameras and om...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G03B35/00G02B27/22G02B17/08
Inventor 郭玲肖继忠
Owner 肖继忠
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