Binocular camera intelligent sensing method and device capable of adaptively adjusting base line
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An adaptive adjustment, binocular camera technology, applied in the field of visual measurement, can solve problems such as uncertainty, reduce depth uncertainty, and ensure performance.
Active Publication Date: 2021-08-13
CHINA-SINGAPORE INT JOINT RES INST
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[0004]
Although there are currently some binocular cameras with variable baselines, they cannot automatically determine the appropriate baseline length according to the distance of the measured object, and adjust the baseline to a suitable position
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Embodiment 1
[0048] Please refer to figure 1 , Embodiment 1 of the present invention provides a binocular camera intelligent perception method for baseline adaptive adjustment, and the method includes the following steps:
[0049] Step S1, detecting the target object from the image, and obtaining the pixel position of the target object.
[0050] Specifically, the step S1 includes the following steps: first, determine the target object category to be focused on by the task, for example: trees, pedestrians, cars, etc.; secondly, the left camera in the binocular camera acquires the original image of the current scene , use the internal parameters of the left camera to perform real-time image preprocessing on the original image, for example: cancel the distortion of the original image and correct the original image; finally, input the processed image into the deep convolutional neural network, and output the result from it can determine the pixel position of the target object.
[0051] Step ...
Embodiment 2
[0070] Please refer to figure 2 , Embodiment 2 of the present invention provides a binocular camera intelligent perception device for baseline adaptive adjustment, and the device includes:
[0071] The image acquisition module 1 is used to acquire the image of the target object and obtain the position of the target object in the image;
[0072] The analysis and calculation module 2 is connected with the image acquisition module 1, and is used to calculate the depth and depth uncertainty of the target object through the binocular depth estimation algorithm according to the currently set baseline B1 and the internal and external parameters of the camera;
[0073] The analysis and comparison module 3 is connected with the analysis and calculation module 2, and is used to judge whether the current depth uncertainty is too large, if it is greater than the expected depth uncertainty, then calculate the expected baseline B2 through the expected depth uncertainty;
[0074] The signa...
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Abstract
The invention discloses an intelligent sensing method and device for a binocular camera capable of adaptively adjusting a baseline, and the method comprises the following steps: detecting a target object from an image, and obtaining the pixel position of the target object; according to the currently set baseline B1 and the internal and external parameters of the camera, calculating the depth and depth uncertainty of the target object through a binocular depth estimation algorithm; judging whether the current depth uncertainty is too large or not: if the current depth uncertainty is larger than the expected depth uncertainty, calculating an expected baseline B2 through the expected depth uncertainty; automatically adjusting the baseline to an expected baseline B2; extracting feature points from the environment through a binocular camera online calibration technology, and performing feature matching in left and right images to obtain new external parameters; according to the new external parameters and the base line B2, recalculating the depth and depth uncertainty of the target object. According to the invention, the base line can be automatically adjusted according to the distance of the measured object, and it is ensured that the depth estimation error meets the expectation.
Description
technical field [0001] The invention relates to the technical field of visual measurement, in particular to a binocular camera intelligent perception method and device for baseline adaptive adjustment. Background technique [0002] At present, in the fields of robotics, unmanned driving, security monitoring, intelligent transportation, etc., in order to enhance the perception of equipment, a variety of sensors are used, such as monocular cameras, binocular cameras, thermal cameras, lidar, etc. Among many sensors, binocular cameras are widely used because they can simultaneously provide images of the environment and dense depth information, and have low cost. [0003] However, most of the existing binocular cameras use a fixed baseline solution, resulting in a large difference in the depth estimation error of far and near objects. Specifically, as the distance of the measured object increases, the error of depth estimation increases rapidly quadratically. Therefore, the bin...
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