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A straight line trajectory fast calculation method free of binocular synchronization

A fast calculation and straight line technology, applied in the field of stereo vision, can solve the problems of feature point matching and calculation difficulties, and achieve the effect of solving the difficulty of binocular synchronization in calculation trajectories

Active Publication Date: 2019-01-29
HARBIN ENG UNIV
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Problems solved by technology

When the target is moving at high speed, it is difficult to calculate the matching of feature points in the traditional binocular ranging method

Method used

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  • A straight line trajectory fast calculation method free of binocular synchronization
  • A straight line trajectory fast calculation method free of binocular synchronization
  • A straight line trajectory fast calculation method free of binocular synchronization

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Embodiment Construction

[0019] The present invention will be further described below in conjunction with accompanying drawing:

[0020] A fast calculation method for a straight line trajectory without binocular synchronization, comprising the following steps:

[0021] S1. The binocular camera shoots the target image moving in a straight line, establishes the image pixel coordinate system and obtains the pixel coordinates of the target point in the left-eye and right-eye images respectively;

[0022] S2, using the optical center of the left eye camera in the binocular camera as the origin Oc to establish a space camera coordinate system, establish the Xc axis and the Yc axis according to the image physical coordinate system of the imaging plane, and establish the Zc axis according to the camera central axis;

[0023] S3, using the imaging plane as the plane under the camera coordinate system in three-dimensional space, accordingly converting the two-dimensional point of the target in the image physica...

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Abstract

The invention belongs to the technical field of stereoscopic vision based on a binocular camera, in particular to a straight line trajectory fast calculation method free of binocular synchronization.The method comprises the following steps: a binocular camera shoots a target object which moves in a straight line, left and right cameras obtain images respectively, pixel coordinates of the target object in the images are obtained, a space camera coordinate system is established with the optical center of a left eye or a right eye camera in the binocular camera as an origin, and two-dimensionalpoints in the images are converted into three-dimensional points in the space; In the camera coordinate system, the coordinates of the target points are extracted from any two images of the left-eye camera respectively, and the plane equation I is determined with the left eye center, and the coordinates of the target points are extracted from any two images of the right-eye camera respectively, and the plane equation II is determined with the right eye center, and the linear motion trajectory can be determined by intersecting the two planes. This method does not need binocular image feature point matching to calculate the linear motion trajectory, which reduces the complexity of trajectory calculation and solves the difficulty of feature point matching in the traditional binocular distancemeasurement method under high-speed camera.

Description

technical field [0001] The invention belongs to the technical field of stereo vision based on a binocular camera, and in particular relates to a method for measuring a linear motion track by a binocular camera. Background technique [0002] A binocular camera is a device that can provide stereoscopic vision information. Based on the images obtained by the binocular camera, the three-dimensional space position of the object captured by the binocular camera relative to the camera can be calculated through the principle of binocular parallax. [0003] The principle of pinhole imaging is the straight line propagation of light, and the principle of camera imaging is the refraction of light, but both of them get inverted and reduced real images. The lens imaging model is applied to the camera. When the object distance is greater than or equal to 2 times the focal length, the image distance is within 1 times the focal length and 2 times the focal length. When the object distance i...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/73G06T7/80
CPCG06T2207/10012G06T2207/30241G06T7/73G06T7/85
Inventor 蔡成涛王峰乔人杰孟海洋王博宇
Owner HARBIN ENG UNIV
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