Monocular vision range finding method based on geometric relation

A technology of monocular vision and ranging method, which is applied in the direction of line-of-sight measurement, measuring distance, measuring device, etc. It can solve the problems of low precision, short distance, low divergence, etc., and achieve low hardware requirements and computational complexity The effect of low and simple calculation process

Inactive Publication Date: 2017-02-22
CHENGDU RES INST OF UESTC
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Problems solved by technology

Although the accuracy of laser ranging is high, its directivity is too strong, so the divergence is very low. If it is necessary to solve the problem of multi-target ranging, there are many problems such as excessive resource consumption, low acc...

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  • Monocular vision range finding method based on geometric relation
  • Monocular vision range finding method based on geometric relation
  • Monocular vision range finding method based on geometric relation

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Embodiment Construction

[0024] The devices involved in the monocular ranging technology include but not limited to camera devices, transmission devices, display devices, and processing devices. Among them, the camera device is a monocular camera, which can be a general surveillance camera, which generally has a transmission module and a data line, etc. and a transmission device linked to a processing device. Mainly based on electronic computer equipment, such as PC and so on. Due to the simplicity and practicability of the above-mentioned hardware facilities, it is easy to find hardware equipment or other substitutes for realizing the technology, so the specific structure of the device will not be repeated here.

[0025] The technical solution of the present invention will be further described below in conjunction with the accompanying drawings.

[0026] A kind of monocular vision ranging method based on geometric relationship of the present invention, comprises the following steps:

[0027] S1. Ca...

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Abstract

The invention discloses a monocular vision range finding method based on geometric relation, and the method comprises the following steps: S1, calculating the distance between a section straight line of a target object and a camera lens in a horizontal plane; S2, calculating the distance between a target object and the optical axis of a monocular lens through the triangle similarity principle. According to the projection model of a camera, the method obtains the relation between a road surface coordinate system and an image coordinate system through geometric derivation, is simple in calculation process, is low in calculation complexity, and is lower in requirements for hardware. Meanwhile, the method can reach higher precision, and the error of the method is less than 0.5m. The method can effectively calculate the distance between the front vehicles or other obstacles under the conditions that the hardware configuration condition is very simple and almost no additional load and electric quantity is added, thereby achieving the effective avoidance. The method and device are good in application prospect, such as the technical field of automobile automatic driving or intelligent robot walking.

Description

technical field [0001] The invention belongs to the technical field of monocular data measurement, is mainly applied to the field of autonomous mobile robots and intelligent vehicle visual navigation assistance systems, and in particular relates to a monocular visual ranging method based on geometric relationships. Background technique [0002] Monocular measurement data, that is, use a single camera to shoot a single picture of the front object, and use the camera parameters, the object coordinate points in the picture, the relationship between the image distance and the image size to obtain the object distance. The imaging principle is as follows: figure 1 shown. [0003] In the existing non-contact ranging technology field, the most involved theories and methods are mainly multi-eye (usually binocular) ranging and laser ranging. Although binocular stereo vision has been studied for more than 20 years, its technology has been greatly developed. However, no matter from th...

Claims

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Application Information

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IPC IPC(8): G01S11/12G01C3/10
CPCG01S11/12G01C3/10
Inventor 曹志昊叶茂陆川廖丹张力张明吴涵莹徐邦焱陈雪陈平汤维
Owner CHENGDU RES INST OF UESTC
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