Binocular camera system and binocular camera space calibration method

Abstract

The invention provides a binocular camera system and a binocular camera space calibration method, and solves the problems of poor imaging quality and no depth information in the prior art. The binocular camera system is sequentially cascaded with a camera module, a correction module, a calibration module and a storage module; the camera module comprises an event camera and a common CMOS camera which are connected in parallel. The space calibration method comprises the steps that a camera module acquires an address-event data stream, an image and shooting time; the correction module performs distortion and epipolar correction on the data stream and the image; the calibration module calibrates the spatial positions of the corrected data stream and the image; and the storage module stores the corrected data streams, images and corresponding relations thereof in a persistent memory in a homography matrix set. A spectroscope is not needed, and poor imaging caused by the spectroscope is avoided. The system has parallax, and the spatial depth information can be recovered through the parallax. The system is used in the fields of high-frame-rate and high-resolution data reconstruction, high-speed moving target identification and tracking and the like.

Description

technical field [0001] The invention belongs to the technical field of computer vision, and relates to the structure and spatial calibration of a binocular camera, in particular to a binocular camera system and a binocular camera space calibration method, which are used to reconstruct image data with high temporal resolution and high spatial resolution. Improve the accuracy of high-speed moving target recognition and tracking, and can also be used for spatial calibration of binocular camera systems including event cameras and ordinary CMOS cameras. Background technique [0002] The binocular camera system can obtain the distance between the object and the camera through the parallax of the two cameras, and is widely used in the fields of robotics and SLAM. However, there are many defects in the binocular camera system using a common CMOS camera. When the relative motion between the binocular camera system and the target is too fast, serious image blurring will occur, making ...

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Problems solved by technology

[0005] The application publication number is CN108038888A, titled "Hybrid Camera System and Its Spatial Calibration Method and Device", which discloses a hybrid camera system and its spatial calibration method. This camera and its spatial calibration method use an event camera, a common CMOS camera and a beam splitter A binocular camera system is formed to achieve spatial calibration by minimizing the spatial projection error. Its shortcoming is that the spatial position between the event camera and the ordinary CMOS camera is roughly calibrated by using a spectroscopic sheet, resulting in that each of the two cameras can only receive insufficient 50% of the light reduces the image quality; the use of a beam splitter results in no parallax between the two cameras and the loss of spatial depth information

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