Method and device for determining height and pitch angle of stereo camera

Abstract

The invention discloses a method and a device for determining the height and pitch angle of a stereo camera. The method comprises the steps of: using internal and external parameters, which are obtained by pre-calibration, of the stereo camera to carry out epipolar correction on a first image and a second image in an image pair shot by the stereo camera; determining a corresponding relation between parallax and vertical coordinates of an image coordinate system; according to the corresponding relation between the parallax and the vertical coordinates of the image coordinate system and a triangle method three-dimensional reconstruction principle, determining projection equations of camera optical axes on a reference surface; and according to the projection equations of the camera optical axes on the reference surface and triangle relations among the camera optical axes, determining the height and the pitch angle of the stereo camera relative to the reference surface. The method provided by the invention has the advantages that auxiliary tools such as a calibration board and a calibration block are not needed, the requirements on environment are low, the method is easy to realize, and the universality is high; in addition, there is no need to move a calibration object to obtain a plurality of groups of images, the height and the pitch angle of the stereo camera relative to the reference surface can be determined by only one group of image pair, and the efficiency is high.

Description

technical field [0001] The invention relates to the field of stereo vision, in particular to a method and device for determining the height and pitch angle of a stereo camera. Background technique [0002] The stereo camera can obtain the three-dimensional information of the observed target. In the three-dimensional space, many problems that are difficult to deal with on the two-dimensional image can be solved more easily, such as the accurate positioning of the target, the actual size, distance, speed, etc. Stereo camera is a main strategy to realize stereo vision system, and has important application value and development potential in security fields such as intelligent transportation and smart city. The three-dimensional image reconstructed by the stereo camera is generally reflected in the camera coordinate system established with a certain camera optical center of the stereo camera as the origin. In some practical applications, it is necessary to obtain the relative po...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a method and device for determining the height and pitch angle of a stereo camera, so as to solve the problem of low processing efficiency due to the need for calibration objects in the prior art

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