Moving platform binocular ranging self-calibration method and device

A binocular ranging and self-calibration technology, which is applied to measuring devices, measuring distances, line-of-sight measurements, etc., can solve problems such as cumbersome processes and inability to accurately mark system errors, so as to improve measurement accuracy and facilitate engineering implementation and realization. The effect of self-calibration

Active Publication Date: 2020-06-02
SHANGHAI AEROSPACE CONTROL TECH INST
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  • Claims
  • Application Information

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Problems solved by technology

[0005] The technical problem solved by the present invention is: to overcome the disadvantages of calibration on a dedicated turntable in order to compensate for installation errors in the prior art, but the process is cumbersome, and other system errors cannot be accurately marked, and a dual- Visual range self-calibration method and device

Method used

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  • Moving platform binocular ranging self-calibration method and device
  • Moving platform binocular ranging self-calibration method and device
  • Moving platform binocular ranging self-calibration method and device

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Embodiment 1

[0056] refer to figure 1 , which shows a flow chart of the steps of a self-calibration method for binocular ranging on a moving platform provided by an embodiment of the present invention, as shown in figure 1 As shown, the binocular ranging self-calibration method of the moving platform may specifically include the following steps:

[0057] Step 101: Obtain the coordinates in the target image corresponding to the target to be measured collected by the two image acquisition devices at the acquisition time, and the pose information of the two image acquisition devices when the target image is acquired;

[0058] Step 102: Determine the target position of the target to be measured according to the transmission projection equation set established by the two collected coordinates and the two pose information;

[0059] Step 103: Using the target position and the two pose information as initial values, establish an objective function that minimizes the reprojection error;

[0060] St...

Embodiment 2

[0094] refer to Figure 5 , which shows a schematic structural diagram of a binocular ranging self-calibration device for a moving platform provided by an embodiment of the present invention, as shown in Figure 5 As shown, the binocular ranging self-calibration device of the moving platform can specifically include the following modules:

[0095] The coordinate pose acquisition module 501 is used to acquire the coordinates in the target image corresponding to the target to be measured collected by the two image acquisition devices at the acquisition time, and the pose information of the two image acquisition devices when acquiring the target image;

[0096] A target position determining module 502, configured to determine the target position of the target to be measured according to the transmission projection equation set established by the two collected coordinates and the two pose information;

[0097] An objective function establishment module 503, configured to use the ...

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Abstract

The invention provides a moving platform binocular ranging self-calibration method and device. The method comprises the following steps of acquiring the coordinates in a target image corresponding toa to-be-measured target acquired by two image acquisition devices, and the pose information of the two image acquisition devices; determining the target position of the to-be-measured target accordingto a transmission projection equation set established by the two coordinates and the two pose information; establishing a target function for minimizing a reprojection error; optimizing the pose information and the target positions of the two image acquisition devices to gradually reduce the target function; when the minimized reprojection error is smaller than a preset error threshold, stoppingiteration, and outputting an attitude angle compensation value and a calibrated target position; when a next target image of the to-be-measured target at the next acquisition moment is acquired, calculating the initial values of the two image acquisition devices at the next acquisition moment according to the attitude angle compensation value and the calibrated target position; and repeating the above steps until the ranging of the to-be-measured target is completed. According to the present invention, the measurement precision of a ranging system can be improved.

Description

technical field [0001] The invention relates to the technical field of visual triangulation calibration, in particular to a self-calibration method and device for binocular ranging on a moving platform. Background technique [0002] For application scenarios with high real-time requirements, long-distance targets and possible moving targets, the traditional fixed-platform binocular ranging method is no longer applicable. [0003] The binocular distance measurement method of the moving platform is installed with navigation equipment, which can obtain the poses of the two cameras in real time to obtain the internal and external parameters of the camera. Therefore, it is no longer necessary to obtain the internal and external parameters of the camera through calibration methods like the fixed platform binocular distance measurement system. parameters (the relative poses of the two cameras cannot be changed during the measurement process), the relative poses of the two cameras c...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C3/18G01C25/00G06T7/70G06T7/80
CPCG01C3/18G01C25/00G06T7/70G06T7/80
Inventor 武宏程许东欢朱婧文陈光山吴昊
Owner SHANGHAI AEROSPACE CONTROL TECH INST
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