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Stereoscopic vision algorithm for intersected optical axes

A technology of stereo vision and algorithms, applied in the field of stereo vision algorithms, can solve problems such as the inability to achieve parallel optical axes, and achieve the effect of simplifying calculations

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

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Problems solved by technology

[0004] However, in some special occasions, the two cameras cannot be set with parallel optical axes, but the optical axes intersect at one point. In this case, how to perform depth calculation becomes a topic

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  • Stereoscopic vision algorithm for intersected optical axes

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Embodiment Construction

[0013] The present invention will be further described below in conjunction with the accompanying drawings.

[0014] refer to figure 1 , the stereo vision algorithm of the cross 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 at an angle θ, and intersects at the point C behind the left camera and the right camera, point C to the optical center O L or O R The distance is L.

[0015] Described image processor sets stereo vision algorithm, and described stereo vision algorithm comprises the following steps:

[0016] (1), the image processor synchronously collects the images taken by the ...

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Abstract

The invention discloses a stereoscopic vision algorithm for intersected 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 leftcamera and the right camera; the optical axes of the left camera and the right camera are intersected at an angle theta; and the image processor is provided with the stereoscopic vision algorithm. Thestereoscopic vision algorithm comprises the following steps of: (1) synchronously acquiring environment images shot by the left camera and the right camera by using the image processor, taking a pixel in the image fL(i, j) acquired by the left camera as a reference point, and searching a matching point in the image fR(i, j) acquired by the right camera, wherein X-axis coordinates of the referencepoint and the matching point are xL and xR; (2) calculating a parallax d (i, j)=xL-xR; and (3) calculating the depth h=f*B / (d(i, j)-f*theta).

Description

technical field [0001] The invention relates to a stereo vision algorithm for crossing optical axes, belonging to the field of computer stereo vision. Background technique [0002] Stereoscopic vision is the feeling of observing the scene with both eyes and being able to distinguish the shape of objects near and far. Stereo vision is an important topic in the field of computer vision. Its purpose is to reconstruct the three-dimensional geometric information of the scene and provide rich distance information of scene objects. The research of stereo vision has important application value, and its application includes autonomous navigation system of mobile robot, aviation and remote sensing measurement, industrial automation system, etc. [0003] The current computer 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 sc...

Claims

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Application Information

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