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Three-dimensional terrain sensing method based on laser dot matrix marking

A technology of three-dimensional topography and laser dot matrix, applied in the direction of optical devices, measuring devices, instruments, etc., can solve the problems of large viewing angle, unstable information transmission, small collection range, etc., to achieve small size, easy to find, accurate high degree of effect

Active Publication Date: 2016-12-07
ZHEJIANG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the collection range is small, and information cannot be transmitted stably in a large space and complex environment; the second type is an image input system, which has a large viewing angle, and the collected environmental information is relatively rich

Method used

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  • Three-dimensional terrain sensing method based on laser dot matrix marking
  • Three-dimensional terrain sensing method based on laser dot matrix marking
  • Three-dimensional terrain sensing method based on laser dot matrix marking

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Embodiment Construction

[0027] The present invention will be described in detail below in conjunction with the embodiments and drawings, but the present invention is not limited thereto.

[0028] Such as figure 1 Shown is the principle of binocular vision ranging. The distance between two parallel cameras is B, the focal length is f, and O3 and O4 are the center points of the camera lenses. The target P is on the photosensitive plane o of the left camera 1 x 1 the y 1 The above image point is P 1 (x 1 ,y 1 ), coordinates (x 1 ,y 1 ) is the xth of the photosensitive array of the left camera 1 column, yth 1 OK; on the photosensitive plane o of the right camera 2 x 2 the y 2 The above image point is P 1 (x 2 ,y 2 ), coordinates (x 2 ,y 2 ) is the xth of the photosensitive array of the right camera 2 column, yth 2 Row.

[0029] Assuming that the distance between each pixel of the camera is d, the parallax D of the object imaged by the two cameras is:

[0030] D ...

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Abstract

The invention discloses a three-dimensional terrain sensing device and method based on laser dot matrix identification. The device is composed of two cameras and two laser array generators. Each laser array generator is composed of a laser unit, a collimator, a Dammann grating and a prism set. The array laser units are placed between the two cameras used for binocular stereoscopic vision detection, laser arrays are generated in a detection region, and then array lighting and sampling of a three-dimensional object are achieved. Compared with the mode that two cameras are directly used for detection and then are matched, more accuracy is achieved, search for image feature points is facilitated, the basic landform can be calculated according to coordinates, and the effect of laser array lighting is beneficial for three-dimensional terrain detection in a dark environment.

Description

technical field [0001] The invention belongs to the field of three-dimensional terrain sensing and detection, and in particular relates to a three-dimensional terrain sensing device and method based on laser dot matrix marking. Background technique [0002] The advantages of machine vision system instruments such as fast, non-contact and high precision have been widely used in many fields. There are two existing sensing technologies: The first type is a sonar input system, which can quickly detect the presence and distance of obstacles. However, the collection range is small, and information cannot be transmitted stably in a large space and complex environment; the second type is the image input system, which has a large viewing angle, and the collected environmental information is relatively rich. Among them, the binocular stereo vision technology restores the three-dimensional information of the object by obtaining two images of the same object from different angles, main...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01B11/24
Inventor 汪凯巍张赛
Owner ZHEJIANG UNIV