Optical axis nonlinear binocular range finding method

A binocular distance measurement and non-parallel technology, applied in the field of computer vision, can solve the problems affecting the distance measurement accuracy, the device deviates from the ideal installation position, etc., and achieve the effect of improving the distance measurement accuracy and reducing the distance measurement error

Active Publication Date: 2015-11-25
NANJING UNIV OF SCI & TECH
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Problems solved by technology

However, in the actual installation process, the device will always deviate from the ideal installation position, and the offset will affect the distance measurement accuracy

Method used

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  • Optical axis nonlinear binocular range finding method
  • Optical axis nonlinear binocular range finding method
  • Optical axis nonlinear binocular range finding method

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[0015] The present invention is a non-parallel binocular distance measuring method with optical axes, the basic principle of which is: first build a binocular distance measuring device, and establish a distance measuring formula used in conjunction with the binocular distance measuring device when the optical axes of the left and right cameras are not ideally parallel ; Then calibrate the parameters in the ranging formula to obtain a ranging formula whose unknown quantity only includes the imaging position of the scene object to be measured in the left and right camera images of the binocular ranging device; in practical applications, the directly read scene object to be measured The imaging position data in the left and right camera images are substituted into the calibrated ranging formula to calculate the distance between the scene target to be measured and the reference camera in the binocular ranging device.

[0016] 1. The binocular ranging device is:

[0017] like figu...

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Abstract

The invention provides an optical axis nonlinear binocular range finding method. The method comprises the following steps: at first, establishing a binocular range finding device, establishing a range finding formula, which is matched with the binocular range finding device, when the optical axes of a left camera and a right camera are non-ideally parallel to each other; and calibrating the parameters of the range finding formula to obtain a rang finding formula that only comprises unknown quantities namely the imaging positions of a scene object to be measured in the left camera and right camera of the binocular range finding device. In actual application, the data of imaging positions of a scene object to be measured in the left camera and right camera of the binocular range finding device can be directly read; and then the data can be substituted into the calibrated range finding formula to calculate the distance between the scene object and a reference camera in the binocular range finding device. The provided method is suitable for the binocular stereoscopic vision device, reduces the distance measurement error caused by unparallel optical axes, and improves the ranging accuracy in actual projects.

Description

technical field [0001] The invention belongs to the field of computer vision, and in particular relates to a non-parallel binocular ranging method with optical axes. Background technique [0002] Binocular stereo vision is a computer vision that obtains three-dimensional information of the scene by imitating the characteristics of human binocular vision. The binocular camera obtains scene information from different angles, calculates the distance from the corresponding point to the imaging surface according to the parallax, and obtains depth perception and 3D reconstruction. The camera device collects the three-dimensional information of the target scene, and the spatial three-dimensional target scene is optically transformed by the camera lens system and projected on two two-dimensional imaging planes. This process is the camera imaging model. [0003] The binocular distance measuring device calculates the distance between the corresponding actual object and the shooting c...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C3/32
CPCG01C3/32
Inventor 张毅柏连发吴磊万一龙韩静岳江陈钱顾国华
Owner NANJING UNIV OF SCI & TECH
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