Automatic exposure adjusting method for binocular camera of fire-fighting robot

Abstract

The invention relates to an automatic exposure adjusting method for a binocular camera of a fire-fighting robot. The automatic exposure adjusting method is suitable for being used in underground extreme environments. The method comprises the steps: shooting and acquiring multi-sample image data of the binocular camera in the complex scene in an extreme environment according to a mode that the exposure time is gradually increased from small to large according to the fixed exposure gain and the exposure gain is gradually increased from small to large according to the fixed exposure time; in consideration of a special structure of a binocular camera and information overlapping of a binocular imaging system, carrying out the effective mutual information entropy analysis on multi-sample image data of the binocular camera, and carrying out the disparity map quality analysis on binocular image stereo matching by using a disparity map quality analysis factor; determining an image brightness target of automatic exposure adjustment of a binocular vision system of the fire-fighting robot; performing automatic exposure control on the camera according to the variable step exposure adjustment time obtained by comparing the calculated brightness information of the current frame image with the target brightness information. The device is simple in structure, effective in using method, high in practicability and convenient to transplant and expand.

Description

technical field [0001] The invention relates to an automatic exposure adjustment method of a binocular camera, and is especially suitable for an automatic exposure adjustment method of a fire robot binocular camera used on a disaster relief robot. Background technique [0002] The core and key of the firefighting robot fire rescue is to use the binocular vision system to capture the fire scene environment to obtain the binocular image, and then transmit the binocular image back to the computing device through the image transmission protocol to perform stereo matching on the fire scene, and calculate the fire source After the fire robot recognizes and calculates the position of the flame, it controls the fire monitor to strike the fire point in the fire field precisely. It can be seen that the quality of the binocular imaging of the binocular vision system of the fire robot directly affects the accuracy of the fire strike. At this stage, the exposure adjustment method of the...

AI Technical Summary

Problems solved by technology

At this stage, the exposure adjustment method of the binocular vision system of the fire fighting robot mainly relies on the traditional manual adjustment method or the automatic exposure adjustment function of the camera. In the exposure environment, there are problems such as inappropriate binocular image brightness adjustment, poor stereo matching effect, low camera exposure adjustment efficiency, and inability to adapt to complex fire environments.

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