Laser-assisted visual real-time position measuring device and measuring method thereof

Abstract

The invention relates to a laser-assisted visual real-time position measuring device. The laser-assisted visual real-time position measuring device comprises a measuring base, a camera, a laser rangefinder, an XY galvanometer mechanism and a controller, wherein the measuring base comprises an upper rotating base and a lower fixed base; a rotating shaft extending upwards is arranged in the middleof the lower fixed base; the rotating shaft is driven by a servo motor mounted in the lower fixed base to rotate; the camera, the laser range finder, the XY galvanometer mechanism and the controller are mounted on the upper rotating base; the camera is mounted in the middle of the upper rotating base; the laser range finder and the controller are located on the two sides of the camera respectively; and the XY galvanometer mechanism is mounted above the camera. The invention further relates to a measuring method based on the measuring device. The laser-assisted visual real-time position measuring device and method have the advantages that the distance and angle of a target can be measured and calculated through cooperation of the measuring base, the camera, the laser range finder and the XYgalvanometer mechanism, the structure is simple, cost is low, installation and debugging are easy, and the applicability to the environment is high.

Description

technical field [0001] The present invention relates to a real-time tracking and positioning device, in particular to a laser-assisted vision real-time position measuring device, and also relates to a measuring method based on the above-mentioned measuring device. Background technique [0002] Unmanned driving equipment mostly relies on cameras and lidars to achieve autonomous cruise, mainly using the two-dimensional image analysis capabilities of cameras and the three-dimensional depth perception capabilities of lidars. The field of view of the camera is small, and blind spots are prone to appear when tracking pedestrians and other targets, or it is necessary to design a multi-camera switching tracking program, which is difficult and expensive. At the same time, the camera has a large error in depth information and is easily affected by ambient light; LiDAR is mostly one-dimensional Information, multi-line lidar is expensive and cannot be popularized at present. [0003] F...

AI Technical Summary

Problems solved by technology

The field of view of the camera is small, and blind spots are prone to appear when tracking pedestrians and other targets, or it is necessary to design a multi-camera switching tracking program, which is difficult and expensive. At the same time, the camera has a large error in depth information and is easily affected by ambient light; LiDAR is mostly one-dimensional Information, multi-line lidar is expensive and cannot be popularized at present

[0003] For conventional RGB-D cameras, the accuracy within 5m can be controlled within 10cm, but for unmanned ships and other long-distance tracking, RGB-D cameras cannot obtain relatively accurate distance information, and because it uses infrared structured light ranging Principle, more susceptible to interference from external light sources

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