A self-calibration method and device for binocular ranging on a moving platform

A binocular distance measurement and self-calibration technology, which is applied in the directions of measuring devices, measuring distance, line-of-sight measurement, etc., can solve problems such as inability to accurately mark system errors and cumbersome processes, so as to facilitate engineering implementation, improve measurement accuracy, and realize The effect of self-calibration
CN111220120BActive Publication Date: 2021-09-07SHANGHAI AEROSPACE CONTROL TECH INST
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
SHANGHAI AEROSPACE CONTROL TECH INST
Publication Date
2021-09-07

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Abstract

The invention provides a binocular ranging self-calibration method and device for a moving platform. The method includes: obtaining the coordinates in the target image corresponding to the target to be measured collected by the two image acquisition devices, and the pose information of the two image acquisition devices; the transmission projection equation established according to the two coordinates and the two pose information group, determine the target position of the target to be measured; establish the objective function that minimizes the reprojection error; optimize the pose information and target position of the two image acquisition devices to gradually reduce the objective function; when the minimum reprojection error is less than the preset error When the threshold is reached, the iteration is stopped, and the attitude angle compensation value and the calibrated target position are output; when the next target image of the side target at the next acquisition time is collected, according to the attitude angle compensation value and the calibrated target position, calculate two The initial value of an image acquisition device at the next acquisition moment; repeat the above steps until the distance measurement of the target to be measured is completed. The invention can improve the measuring precision of the ranging system.
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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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