Construction method of distance measurement model, distance measurement method and device and automatic driving system

A construction method and model technology, applied in the field of binocular cameras, to achieve the effect of precise distance measurement

Active Publication Date: 2019-05-28
BEIJING SMARTER EYE TECH CO LTD
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Problems solved by technology

[0007] The present invention proposes a method for constructing a ranging model, a ranging method, a device, and an automatic driving system,...

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  • Construction method of distance measurement model, distance measurement method and device and automatic driving system
  • Construction method of distance measurement model, distance measurement method and device and automatic driving system
  • Construction method of distance measurement model, distance measurement method and device and automatic driving system

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[0035] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0036] First, explain the proper and confusing nouns:

[0037] Parallax value (indicated by D in this paper): the difference between the coordinates of the target point in the left camera minus the coordinates of the right camera, and the product of the pixel size, which may be positive, 0 or negative.

[0038] Parallax distance value (represented by d in this paper): take the absolute value of the above parallax value, which is a non-negative number.

[0039...

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Abstract

The invention provides a construction method of a distance measurement model, a distance measurement method and device and an automatic driving system, which are applied to a binocular camera with symmetrical and inclined optical axes, and the construction method comprises the following steps of: obtaining a tangent function formula of alpha and beta based on a baseline distance B of the binocularcamera, a measured distance Z, a distance Z0 from an optical axis intersection point of the binocular camera to an X-axis and a tangent function. Alpha is an included angle between a left camera or aright camera of the binocular camera and a Y axis, and beta is an included angle between a connecting line from a measured point W to a left camera optical center or a right camera optical center ofthe binocular camera and the Y axis; according to the invention, according to the actual relationship between the intersection point of optical axis of binocular camera and a measured point, the tangent function formulas of alpha and beta are used to calculate a ranging model of the binocular camera with symmetrical and inclined optical axes. According to the invention, each parameter in the distance measurement model is acquired during calibration of the binocular camera through the construction of the distance measurement model of the binocular camera with symmetrical and inclined optical axes, so that the binocular camera can rapidly and accurately measure the distance in the later using process.

Description

technical field [0001] The invention relates to the field of binocular cameras, in particular to a method for constructing a ranging model of a binocular camera with a symmetrically inclined optical axis, a ranging method, a device, and an automatic driving system. Background technique [0002] A binocular camera in the usual sense consists of two parallel and equipotential cameras, the left and right, and their optical axes are completely parallel. Two cameras image the same target; calculate the "parallax value" of the target imaged by the two cameras; calculate the actual distance between the binocular camera and the target through the geometric relationship of similar triangles. [0003] [0004] The ideal binocular camera ranging method is shown in Equation 1. Among them, d is the parallax distance value of the same target point in the left and right images, B is the baseline distance of the binocular camera, f is the focal length, and Z is the measured distance of ...

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Application Information

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IPC IPC(8): G01C3/00
Inventor 孟然夏艳秋柴华赖海峰程立王哲庞尊莹李飞
Owner BEIJING SMARTER EYE TECH CO LTD
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