Parallel equipotential detection method and device and automatic driving system
A detection method, equipotential technology, applied in the direction of measuring device, radio wave measuring system, image data processing, etc.
Active Publication Date: 2019-05-31
BEIJING SMARTER EYE TECH CO LTD
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[0004] The present invention proposes a parallel equivalence detection method, device and automatic driving system, which are used to solve the state detection problem of parallel equivalence of binocular cameras in the prior art
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[0019] 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.
[0020] The state of one-to-one correspondence between the left and right camera pixel rows is called a parallel equipotential state. Such as figure 1 As shown, it is expressed as a parallel equipotential state in an ideal state, figure 2 As shown, it is expressed as the situation that the parallel equipotential state is not reached. In the actual use of the binocular camera, due to the limitation of the assembly process and the limitation of the mathematic...
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The invention provides a parallel equipotential detection method, a parallel equipotential detection device and an automatic driving system, which are used for detecting the parallel equipotential state of a binocular camera. The parallel equipotential detection method comprises the following steps: acquiring a left view and a right view of a preset two-dimensional plane calibration plate, and a template library consisting of preset grid graphs on the preset two-dimensional plane calibration plate; sequentially outputting the preset grid graphs from the template library, respectively carryingout template matching with a left view and a right view, and carrying out ID numbering on the corresponding grid graphs on the left view and the right view based on matching positions; Obtaining interior angle points on the left view and the right view based on the ID numbers, and extracting sub-pixel coordinates of the interior angle points; And according to the sub-pixel coordinates, calculatingparallel equipotential errors of the inner corner points corresponding to the left view and the right view one by one. According to the method, parallel matching is carried out on small checks on a preset two-dimensional plane calibration plate, so that parallel equipotential errors of interior angle points in one-to-one correspondence of a left view and a right view are calculated.
Description
technical field [0001] The invention relates to the field of binocular cameras, in particular to a parallel equivalence detection method, device and automatic driving system. Background technique [0002] In the actual use of binocular cameras, it is very important to align the corresponding pixel rows of the left and right cameras (parallel equipotential). A binocular device with a good parallel equivalent effect can provide more accurate binocular images for subsequent processing methods such as stereo matching, 3D reconstruction, and ranging. In the traditional binocular positioning scheme, there is no clear constraint index for whether the binocular camera reaches the parallel equipotential state. [0003] In view of this, the present invention is proposed. Contents of the invention [0004] The present invention proposes a parallel alignment detection method, device and automatic driving system, which are used to solve the state detection problem of parallel alignme...
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IPC IPC(8): G06T7/80G06K9/62G01S11/12
Inventor 姜安刘永才崔峰苏文秀王欣亮
Owner BEIJING SMARTER EYE TECH CO LTD