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Stereoscopic vision algorithm for inward intersection of optical axes

A technology of stereo vision and algorithms, applied in the field of stereo vision algorithms, can solve the problems of indivisibility, weak distance resolution of distant objects, etc., and achieve the effect of simplifying calculations

Inactive Publication Date: 2020-08-11
HANGZHOU JINGYI INTELLIGENT SCI & TECH
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  • Application Information

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Problems solved by technology

[0003] However, there is a drawback in the stereo vision system with parallel optical axes, the distance resolution ability for distant objects is weak
Because the imaging positions of distant objects on the left and right cameras are the same or only slightly different, the result of this calculation is a very large value that cannot even be divided

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  • Stereoscopic vision algorithm for inward intersection of optical axes

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Embodiment Construction

[0012] The present invention will be further described below in conjunction with the accompanying drawings.

[0013] refer to figure 1 , the stereo vision algorithm of crossing in the optical axis, including the left camera and the right camera, the optical center of the left camera is O L , the optical center of the right camera is O R , the left camera and the right camera have the same parameters, the focal length is f, the optical center distance is B, and an image processor connected with the left camera and the right camera is also included, and the left camera and the right camera are The optical axis intersects inward at an angle θ, and intersects at the point C in front of the left camera and the right camera, point C to the optical center O L or O R The distance is L.

[0014] Described image processor sets stereo vision algorithm, and described stereo vision algorithm comprises the following steps:

[0015] (1), the image processor synchronously collects the im...

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Abstract

The invention discloses a stereoscopic vision algorithm for inward intersection of optical axes. The stereoscopic vision algorithm comprises a left camera and a right camera, wherein the left camera and the right camera have the same parameters, the focal length is f, and the optical center distance is B; the stereoscopic vision algorithm further comprises an image processor which is connected with the left camera and the right camera; the optical axes of the left camera and the right camera are inwards intersected at an angle theta; and the image processor is provided with an inward intersection stereoscopic vision algorithm. The inward intersection stereoscopic vision algorithm comprises the following steps of: (1) synchronously acquiring images fL(i, j) and fR(i, j) shot by the left camera and the right camera by using the image processor, and carrying out image matching, wherein X-axis coordinates of matching points are xL and xR respectively; (2) calculating a parallax d (i, j)=xL-xR; and (3) calculating the depth h=f*B / (f*theta-d(i, j)).

Description

technical field [0001] The invention relates to a stereo vision algorithm for intersecting optical axes, which belongs to the field of computer stereo vision. Background technique [0002] Stereo vision is an important topic in the field of computer vision, which simulates the feeling of observing the scene with two eyes and distinguishing the shape of the object. Stereo vision is to use two cameras with the same parameters and parallel optical axes to collect two images synchronously for matching, so as to obtain parallax, and then calculate the depth information of the scene. The stereoscopic vision system with parallel optical axes is similar to the vision of most animals. Based on the parallax data, the depth can be obtained by combining the focal length and the distance between optical centers. The measurement is accurate and the calculation is simple. [0003] However, there is a drawback in the stereo vision system with parallel optical axes, that is, the distance re...

Claims

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Application Information

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IPC IPC(8): G06K9/00G06K9/62H04N13/128H04N13/239H04N13/296
CPCH04N13/239H04N13/128H04N13/296G06V20/10G06F18/22
Inventor 刘瑜
Owner HANGZHOU JINGYI INTELLIGENT SCI & TECH