Binocular stereo positioning angle compensation method applied to dynamic environment
A binocular stereo and positioning angle technology, which is applied in image analysis, instruments, calculations, etc., can solve the problem of deviation in binocular acquisition of object spatial information, etc.
Active Publication Date: 2019-06-18
HARBIN ENG UNIV
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[0005] In view of the above-mentioned prior art, the technical problem to be solved by the present invention is to provide a binocular stereo positioning angle compensation method in a dynamic environment that can solve the problem of deviation in binocular acquisition of object space information under dynamic conditions and improve the accuracy of 3D reconstruction
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[0031] In order to make the objectives, technical solutions, and advantages of the present invention clearer, the following further describes the present invention in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention.
[0032] The invention discloses a binocular stereo positioning angle compensation method in a dynamic environment. The method includes the following steps:
[0033] S1. Install an inclination sensor (parallel to the baseline) in the binocular device to obtain the rotation angle θ of the device around the Y axis and around the X axis respectively 1 ,θ 2 ;
[0034] S2, using the optical center of the left eye camera in the binocular camera as the origin of the coordinate to establish a spatial camera coordinate system;
[0035] S3, according to the specific structural parameters of the binocular equip...
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The invention discloses a binocular stereo positioning angle compensation method applied to a dynamic environment. The method includes the following steps that: a tilt sensor is installed in a binocular device, the tilt sensor is parallel to a baseline, and the angles theta1 and theta2 of the rotation of the binocular device around a Y axis and an X axis are obtained; a spatial camera coordinate system is established with the optical center of a left-eye camera in the binocular device adopted as a coordinate origin; and the coordinate transformation matrix of the rotation of the binocular device around the Y-axis by theta1 and the coordinate transformation matrix of the rotation of the binocular device around the X-axis by the theta2 are obtained according to the structural parameters of the binocular device; and individual deviations of corresponding directions are obtained according to the two coordinate transformation matrices described in the S3, and a composite transformation matrix is obtained, and angle compensation is performed on coordinates acquired by the binocular device, so that compensated coordinates can be obtained. With the binocular stereo positioning angle compensation method of the invention adopted, the problem of the deviation of the spatial information of an object obtained by a binocular device under a dynamic condition can be solved, and the precision of three-dimensional reconstruction is improved.
Description
Technical field [0001] The invention belongs to the technical field of stereo spatial positioning based on binocular cameras, and specifically relates to a method for calculating binocular stereo positioning angle compensation in a dynamic environment. Background technique [0002] A binocular camera is a device that can provide stereoscopic information. Based on the images obtained by the binocular camera, through the principle of binocular parallax, the three-dimensional position of the object captured by the binocular camera relative to the camera can be calculated. [0003] After the binocular camera is calibrated stereoscopically, according to the internal parameter data (focal length, imaging distance, distortion coefficient) and the relative position relationship of the binocular (rotation matrix and translation vector) obtained after the camera calibration, the left and right views are respectively eliminated distortion and row Align to make the imaging origin coordinates ...
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IPC IPC(8): G01C25/00G06T7/80
Inventor 蔡成涛乔人杰
Owner HARBIN ENG UNIV