Binocular vision camera hardware system, and three-dimensional scene reconstruction system and method

Abstract

The invention discloses a binocular vision camera hardware system, and a three-dimensional scene reconstruction system and method. The three-dimensional scene reconstruction system comprises an ECU, the binocular vision camera hardware system and a GPS module; when the ECU determines that the distance between a vehicle and the front turning position reaches the preset distance according to navigation information sent back by the GPS module, the ECU controls binocular vision cameras to synchronously rotate in a reciprocating mode in the preset rotating range to collect image data in a 180-degree view field in front of the vehicle, and conducts three-dimensional scene reconstruction on the image data collected by the left camera and the right camera in the 180-degree view field in front of the vehicle on the basis of a motion recovery structure principle and an instantaneous positioning and map construction principle, and thus a three-dimensional scene reconstruction image in the 180-degree view angle in front of the vehicle is obtained. Only one set of binocular vision camera with the one-dimensional rotating function is adopted to realize image collecting in the 180-degree view angle in front of the vehicle, and thus the hardware cost for three-dimensional scene reconstruction is reduced.

Description

technical field [0001] The present invention relates to the technical field of three-dimensional scene reconstruction, and more specifically, relates to a binocular vision camera hardware system, a three-dimensional scene reconstruction system and a method. Background technique [0002] Self-driving cars, also known as unmanned cars, computer-driven cars, or wheeled mobile robots, are smart cars that realize unmanned driving through computer systems. With the continuous development of autonomous driving technology, the requirements for autonomous vehicles to perceive the surrounding environment are getting higher and higher. [0003] At present, self-driving cars mainly realize the automatic turning function of the vehicle based on the reconstructed 3D scene of the current environment. There are many technologies for realizing 3D scene reconstruction, such as high-precision RTK (Real-time kinematic, real-time Laser radar technology or machine vision technology. Considering...

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Problems solved by technology

[0005] In view of this, the present invention discloses a binocular vision camera hardware system, a three-dimensional scene reconstruction system and a method to solve the traditional solution, when collecting images within the 180° viewing angle range in front of the vehicle, it is necessary to configure multiple sets of dual-vision cameras for the vehicle. The problem of increased hardware cost for 3D scene reconstruction

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