Method for constructing distance measurement model, distance measurement method, device and automatic driving system

Abstract

The invention provides a distance measurement model construction method, a distance measurement method, a device and an automatic driving system, which are applied to a binocular camera with a symmetrically inclined optical axis. The construction method includes: based on the baseline distance B of the binocular camera, the measured Distance Z, the distance Z from the intersection of the optical axes of the binocular camera to the X axis 0 And the tangent function to get the tangent function formula of α and β. Wherein, α is the angle formed by the left or right camera of the binocular camera and the Y axis, and β is the line connecting the measured point W to the optical center of the left camera or the optical center of the right camera of the binocular camera and the Y axis The included angle; according to the actual relationship between the intersection point of the optical axis of the binocular camera and the measured point, the tangent function formula of α and β deduces the ranging model of the binocular camera whose optical axis is symmetrically inclined. The present invention constructs the ranging model of the binocular camera whose optical axis is inclined symmetrically, and obtains various parameters in the ranging model when the binocular camera is calibrated, so that the binocular camera can quickly and accurately measure the distance in the subsequent use 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 ...

AI Technical Summary

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, which are used to solve the problem of building a ranging model for a binocular camera with a symmetrically inclined optical axis in the prior art

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