An experimental-based method and system for determining a scale relationship of parameters of a binocular camera

Abstract

The application provides a kind of binocular camera parameter proportion relationship determination method and system based on experiment, by building a small-scale simulation experiment platform of power transmission line three-dimensional information based on binocular camera, the three-dimensional information of simulated conductor is obtained in the simulation experiment platform, then the installation distance and the installation angle of binocular camera are changed, the corresponding three-dimensional information measurement error is analyzed, the corresponding camera parameter setting model is established, the proportion relationship between binocular camera installation parameters and actual scene channel width is determined according to the model, so that the installation position of binocular camera in actual scene and parameter setting data are obtained by substituting related data.The application builds a simulation experiment platform, uses the proportion relationship between the installation distance and the installation angle change of binocular camera and the corresponding measurement error to determine the internal and external parameter setting of binocular camera in actual scene, solves the problem of inconvenient binocular camera parameter setting in actual scene.

Description

Technical Field

[0001] This invention belongs to the field of camera parameter setting technology, specifically relating to an experimental method and system for determining the proportional relationship of binocular camera parameters. Background Technology

[0002] In today's complex environments, intelligent monitoring of power transmission line operation and maintenance is becoming increasingly important. Traditional power transmission line maintenance requires manual line inspection, which is time-consuming and labor-intensive. With the continuous expansion of urban construction and the increasing demand for electricity from social production and people's lives, higher requirements are being placed on the operational stability of power transmission and distribution systems. The construction of smart grids is a crucial part of modernization and has practical significance for rapid and stable economic development. The superior performance of distribution automation systems is key to promoting the automation and intelligence of distribution network operations.

[0003] For intelligent monitoring of power transmission lines, monocular, binocular, and even multi-view cameras are increasingly being used to acquire real-time status information. Binocular cameras can acquire three-dimensional information of power transmission lines and have relatively lower hardware costs compared to multi-view cameras, while also eliminating the need for large databases compared to monocular cameras. However, determining the parameters of binocular cameras to meet the monitoring requirements of power transmission lines in complex environments such as those crossing waterways remains a challenge. Summary of the Invention

[0004] In view of this, the present invention provides an experimental method and system for determining the proportional relationship of binocular camera parameters, aiming to solve the problem of difficulty in determining the parameters of power transmission lines when using binocular cameras in complex environments such as crossing waterways.

[0005] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0006] In a first aspect, the present invention provides an experimentally based method for determining the proportional relationship of parameters of a binocular camera, comprising:

[0007] A small-scale simulation experimental platform for three-dimensional information of power transmission lines based on a binocular camera was constructed. The small-scale simulation experimental platform includes at least a binocular camera, a simulated conductor, and a simulated river.

[0008] In a small-scale simulation experimental platform, a binocular vision algorithm is used to acquire the three-dimensional information of feature points on a simulated conductor and to reconstruct the simulated conductor in three dimensions.

[0009] Based on the three-dimensional information of feature points on the simulated traverse, the influence of the distance between the binocular camera and the simulated traverse and the intrinsic and extrinsic parameters of the binocular camera on the measurement error of the three-dimensional information of feature points on the simulated traverse is analyzed, and a camera parameter setting model is established.

[0010] Based on the camera parameter setting model, the proportional relationship of measurement error between the binocular camera parameters and the three-dimensional information of the simulated conductor feature points is determined. Based on the proportional relationship, the relationship between the installation position and parameter settings of the binocular camera relative to the power transmission line in the actual scene is determined.

[0011] Furthermore, a small-scale simulation experimental platform for three-dimensional information of power transmission lines based on a binocular camera was constructed, specifically including:

[0012] Simulated power transmission lines crossing waterways in real-world scenarios are simulated using simulated conductors and simulated waterways, and the width of the simulated waterway is set.

[0013] A binocular stereo vision system with parallel optical axes was constructed using two identical cameras. The two cameras were mounted on the same base. The installation height, distance from the simulated guide wire, focal length, baseline distance, and resolution parameters of the binocular cameras were set, and the angle between the baseline of the binocular cameras and the horizontal direction along the simulated river channel was controlled to be θ°.

[0014] Furthermore, the specific process for establishing the camera parameter setting model is as follows:

[0015] The initial values ​​of the installation distance between the binocular camera and the simulated guide wire, the intrinsic and extrinsic parameters of the binocular camera, and the three-dimensional information of the feature points on the simulated guide wire are determined based on the initial settings of the small-scale simulation experimental platform.

[0016] By changing the installation distance between the binocular camera and the simulated traverse, as well as the angle between the baseline of the binocular camera and the horizontal direction along the simulated river channel, the changes in the three-dimensional information measurement error of the corresponding feature points on the simulated traverse were obtained.

[0017] Based on the changes in measurement error, the following models are established for setting the parameters of the first camera based on the installation distance:

[0018]

[0019] In the formula, ΔZ is the distance between the binocular camera and the tower on the opposite bank of the simulated river in the small test platform, B is the baseline distance, f is the focal length of the binocular camera, d is the size of the phase element, and Z is the distance between the binocular camera and the tower on the opposite bank of the river in the actual environment.

[0020] The parameter setting model for the second camera based on the included angle is as follows:

[0021]

[0022] In the formula, θ is the angle between the baseline of the binocular camera and the horizontal direction along the simulated river channel, w is the width of the simulated river channel, and l is the vertical distance between the binocular camera and the simulated guide wire.

[0023] Furthermore, based on proportional relationships, the installation position and parameter settings of the binocular camera relative to the power transmission line in the actual scene are determined, specifically including:

[0024] The maximum installation distance is determined based on the change in measurement error when the installation distance changes and the set error limit. The actual installation distance and internal and external parameters of the binocular camera are determined based on the ratio between the maximum installation distance and the width of the simulated river channel and the width of the waterway in the actual scene.

[0025] Based on the parameter setting model of the second camera, by substituting the actual installation distance and the width of the waterway in the actual scene, the actual installation angle of the binocular camera relative to the power transmission line is obtained.

[0026] Furthermore, in a small-scale simulation experimental platform, a binocular vision algorithm is used to acquire the three-dimensional information of feature points on the simulated guide wire, and the simulated guide wire is reconstructed in three dimensions, specifically including:

[0027] The chessboard calibration board image was obtained by using Zhang Zhengyou's calibration algorithm in MATLAB, and then the intrinsic and extrinsic parameters of the binocular camera were obtained.

[0028] The Bouguet stereo correction algorithm is used to correct the alignment of feature point rows of simulated wires in the left and right images of the binocular camera;

[0029] Based on the corrected left and right images of the simulated traverse, the SAD stereo matching algorithm is used to match feature points and obtain the corresponding disparity map, thereby realizing the three-dimensional reconstruction of the simulated traverse.

[0030] Secondly, the present invention provides an experimental system for determining the parameter ratio of a binocular camera, comprising:

[0031] The simulation platform construction unit is used to build a small-scale simulation experimental platform for the three-dimensional information of power transmission lines based on a binocular camera. The small-scale simulation experimental platform includes at least a binocular camera, a simulated conductor, and a simulated river.

[0032] The three-dimensional information acquisition unit is used to acquire the three-dimensional information of feature points on the simulated conductor in a small-scale simulation experimental platform using a binocular vision algorithm, and to perform three-dimensional reconstruction of the simulated conductor.

[0033] The model building unit is used to analyze the influence of the distance between the binocular camera and the simulated traverse and the intrinsic and extrinsic parameters of the binocular camera on the measurement error of the three-dimensional information of the feature points on the simulated traverse based on the three-dimensional information of the feature points on the simulated traverse, and to build a camera parameter setting model.

[0034] The parameter setting unit is used to determine the proportional relationship of measurement error between the binocular camera parameters and the three-dimensional information of the simulated conductor feature points based on the camera parameter setting model, and to determine the relationship between the installation position and parameter settings of the binocular camera relative to the power transmission line in the actual scene based on the proportional relationship.

[0035] Furthermore, in the simulation platform construction unit, a small-scale simulation experimental platform for the three-dimensional information of power transmission lines based on a binocular camera is built, specifically including:

[0036] Simulated power transmission lines crossing waterways in real-world scenarios are simulated using simulated conductors and simulated waterways, and the width of the simulated waterway is set.

[0037] A binocular stereo vision system with parallel optical axes was constructed using two identical cameras. The two cameras were mounted on the same base. The installation height, distance from the simulated guide wire, focal length, baseline distance, and resolution parameters of the binocular cameras were set, and the angle between the baseline of the binocular cameras and the horizontal direction along the simulated river channel was controlled to be θ°.

[0038] Furthermore, in the model building unit, the specific process of building the camera parameter setting model is as follows:

[0039] Based on the initial settings of the small-scale simulation experimental platform, determine the initial values ​​of the installation distance between the binocular camera and the simulated guide wire, the intrinsic and extrinsic parameters of the binocular camera, and the three-dimensional information of the feature points on the simulated guide wire;

[0040] By changing the installation distance between the binocular camera and the simulated traverse, as well as the angle between the baseline of the binocular camera and the horizontal direction along the simulated river channel, the changes in the three-dimensional information measurement error of the corresponding feature points on the simulated traverse were obtained.

[0041] Based on the changes in measurement error, the following models are established for setting the parameters of the first camera based on the installation distance:

[0042]

[0043] In the formula, ΔZ is the distance between the binocular camera and the tower on the opposite bank of the simulated river in the small test platform, B is the baseline distance, f is the focal length of the binocular camera, d is the size of the phase element, and Z is the distance between the binocular camera and the tower on the opposite bank of the river in the actual environment.

[0044] The parameter setting model for the second camera based on the included angle is as follows:

[0045]

[0046] In the formula, θ is the angle between the baseline of the binocular camera and the horizontal direction along the simulated river channel, w is the width of the simulated river channel, and l is the vertical distance between the binocular camera and the simulated guide wire.

[0047] Furthermore, in the parameter setting unit, the relationship between the installation position of the binocular camera relative to the power transmission line and the parameter settings in the actual scene is determined based on the proportional relationship, specifically including:

[0048] The maximum installation distance is determined based on the change in measurement error when the installation distance changes and the set error limit. The actual installation distance and internal and external parameters of the binocular camera are determined based on the ratio between the maximum installation distance and the width of the simulated river channel and the width of the waterway in the actual scene.

[0049] Based on the parameter setting model of the second camera, by substituting the actual installation distance and the width of the waterway in the actual scene, the actual installation angle of the binocular camera relative to the power transmission line is obtained.

[0050] Furthermore, in the 3D information acquisition unit, a binocular vision algorithm is used in a small-scale simulation experimental platform to acquire the 3D information of feature points on the simulated guide wire, and the simulated guide wire is reconstructed in 3D. Specifically, this includes:

[0051] The chessboard calibration board image was obtained by using Zhang Zhengyou's calibration algorithm in MATLAB, and then the intrinsic and extrinsic parameters of the binocular camera were obtained.

[0052] The Bouguet stereo correction algorithm is used to correct the alignment of feature point rows of simulated wires in the left and right images of the binocular camera;

[0053] Based on the corrected left and right images of the simulated traverse, the SAD stereo matching algorithm is used to match feature points and obtain the corresponding disparity map, thereby realizing the three-dimensional reconstruction of the simulated traverse.

[0054] In summary, this invention provides an experimental method and system for determining the proportional relationship of binocular camera parameters. It involves constructing a small-scale simulation experimental platform based on the three-dimensional information of a power transmission line using a binocular camera. Within this platform, the three-dimensional information of the simulated conductor is acquired. Then, the installation distance and angle of the binocular camera are varied. Based on the measurement errors of the corresponding three-dimensional information, a corresponding camera parameter setting model is established. This model determines the proportional relationship between the binocular camera installation parameters and the channel width in the actual scene. Substituting relevant data, the installation position and parameter settings of the binocular camera in the actual scene are obtained. This invention, by constructing a simulation experimental platform and utilizing the proportional relationship between the changes in the binocular camera installation distance and angle and the corresponding measurement errors, determines the internal and external parameter settings of the binocular camera in the actual scene, thus solving the problem of inconvenient parameter setting for binocular cameras in real-world scenarios. Attached Figure Description

[0055] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0056] Figure 1 A flowchart illustrating an experimental method for determining the proportional relationship of binocular camera parameters, provided in an embodiment of the present invention;

[0057] Figure 2 This is a schematic diagram of the arrangement of binocular cameras in a real-world scenario provided by an embodiment of the present invention;

[0058] Figure 3 This is a schematic diagram of the positional relationship between the binocular camera and the power transmission line from a top-down perspective, provided in an embodiment of the present invention. Detailed Implementation

[0059] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0060] In today's complex environments, intelligent monitoring of power transmission line operation and maintenance is becoming increasingly important. Traditional power transmission line maintenance requires manual line inspection, which is time-consuming and labor-intensive. With the continuous expansion of urban construction and the increasing demand for electricity from social production and people's lives, higher requirements are being placed on the operational stability of power transmission and distribution systems. The construction of smart grids is a crucial part of modernization and has practical significance for rapid and stable economic development. The superior performance of distribution automation systems is key to promoting the automation and intelligence of distribution network operations.

[0061] For intelligent monitoring of power transmission lines, monocular, binocular, and even multi-view cameras are increasingly being used to acquire real-time status information. Binocular cameras can acquire three-dimensional information of power transmission lines and have relatively lower hardware costs compared to multi-view cameras, while also eliminating the need for large databases compared to monocular cameras. However, determining the parameters of binocular cameras to meet the monitoring requirements of power transmission lines in complex environments such as those crossing waterways remains a challenge.

[0062] Based on this, the present invention provides an experimental method and system for determining the proportional relationship of binocular camera parameters, aiming to solve the problem of difficulty in determining the parameters of power transmission lines when using binocular cameras in complex environments such as crossing waterways.

[0063] The following is a detailed description of an embodiment of the experimental method for determining the proportional relationship of binocular camera parameters according to the present invention.

[0064] Please see Figure 1 This embodiment provides an experimental method for determining the proportional relationship of parameters of a binocular camera, including:

[0065] S100: Build a small-scale simulation experimental platform for the three-dimensional information of power transmission lines based on a binocular camera. The small-scale simulation experimental platform shall include at least a binocular camera, a simulated conductor, and a simulated river.

[0066] In an optional embodiment, building a small-scale simulation experimental platform for the three-dimensional information of power transmission lines based on binocular cameras includes simulating a power transmission line crossing a waterway in a real-world scenario using simulated conductors and simulated waterways, and setting the width of the simulated waterway; constructing a binocular stereo vision system with parallel optical axes using two identical cameras, with the two cameras mounted on the same base, and setting the installation height, installation distance from the simulated conductors, focal length, baseline distance, and resolution parameters of the binocular cameras, and controlling the angle between the baseline of the binocular cameras and the horizontal direction along the simulated waterway to be θ°.

[0067] Figure 2 This is a schematic diagram of the arrangement of a binocular camera in a real-world scenario. The length of the power transmission line crossing the waterway is 500m. The remaining steps in this embodiment are described using the scenario shown in the diagram as an example.

[0068] A simulation platform was built based on this actual scenario. The distance between the binocular camera and the tower was set to 1m, and the height of the binocular camera above the ground was 0.6m. The binocular camera had a focal length f of 4mm, a baseline distance B of 120mm, and a resolution of 640*480. The angle between the binocular camera baseline and the horizontal direction along the river was controlled to θ°. Simulated power lines were used to simulate the power lines over the river, and the width w of the simulated river was 1m. The installation positional relationship between the binocular camera and the power lines is as follows. Figure 3 .

[0069] S200: In a small-scale simulation experimental platform, a binocular vision algorithm is used to acquire the three-dimensional information of feature points on a simulated conductor and to reconstruct the simulated conductor in three dimensions.

[0070] Obtaining 3D information through binocular vision algorithms involves first using the Zhang Zhengyou calibration algorithm built into MATLAB to acquire the intrinsic and extrinsic parameters of the binocular camera by obtaining a chessboard calibration board image; then, based on the obtained binocular camera intrinsic and extrinsic parameters, using the Bouguet stereo correction algorithm to ensure the alignment of feature point rows of the transmission line on the left and right images; finally, using the SAD stereo matching algorithm on the corrected left and right images of the transmission line to achieve rapid matching of feature points in the transmission line images, thereby obtaining the corresponding disparity map and realizing the 3D reconstruction of the transmission line.

[0071] S300: Based on the three-dimensional information of feature points on the simulated traverse, analyze the influence of the distance between the binocular camera and the simulated traverse and the intrinsic and extrinsic parameters of the binocular camera on the measurement error of the three-dimensional information of feature points on the simulated traverse, and establish a camera parameter setting model.

[0072] It should be noted that the intrinsic parameters include the focal lengths of the left and right cameras, the pixel size, the distortion parameters of the left and right cameras, and the pixel coordinates of the image center point. The extrinsic parameters include the translation matrix and the rotation matrix, which represent the positional relationship between the left and right cameras.

[0073] The analysis aimed to control the measurement error within 10%. To analyze the impact of different distances between the binocular camera and the power line along the horizontal direction of the river on the measurement of the power line's three-dimensional information, a study was conducted on the influence of five different distances between the binocular camera and the power line along the horizontal direction of the river on the measurement of the shortest distance between dangerous vessels and the power line, and the corresponding influence patterns were summarized. The analysis determined that when the binocular camera is 1m away from the power line along the horizontal direction of the river, the measurement error is within 10%.

[0074] This study analyzes the impact of different viewing angles of a binocular camera on the shortest distance measurement between dangerous vessels and power transmission lines. The river width is 1m (w). The distance between the binocular camera and the power pole is 1m. When the angle between the binocular camera baseline and the river channel is θ°, the influence of five different binocular camera positions and viewing angles on the shortest distance measurement is investigated, and the corresponding influence patterns are summarized.

[0075] The simulated river width is 1m, while the actual river width is within the range of 500m. Using 500m as the actual river width, the simulated river is scaled to the experimental model at a ratio of 1:500. Firstly, based on the analysis of the impact of different distances between the binocular camera and the power line along the horizontal direction of the river on the measurement of the power line's 3D information, it is known that theoretically, the distance in the Z-direction (the Z-direction is the direction the binocular camera points towards the tower on the opposite bank of the river, i.e., the distance between the binocular camera and tower 2; this setting aims to obtain more image perspectives) has a significant impact on the measurement error along the Z-axis. Further analysis of the relative error in the Z-direction is possible, yielding the following formula:

[0076]

[0077] In the formula, ΔZ is the distance between the binocular camera and the tower on the opposite bank of the simulated river in the small test platform, B is the baseline distance (i.e., the distance between the left and right cameras), f is the focal length of the binocular camera, d is the size of the pixel (inversely proportional to the camera resolution), and Z is the distance between the binocular camera and the tower on the opposite bank of the river in the actual environment.

[0078] As can be seen from the formula, the measurement error of the shortest distance obtained through the small experimental platform is 10%. It is known that the focal length f of the binocular camera used in the small experimental platform is 4mm, the baseline distance B is 120mm, the resolution of the binocular camera is 300,000 pixels (pixel size p is 4.9 μm * 4.9 μm), the distance between the binocular camera and the tower is 1m, the width of the river channel is 1m, and Z is the distance of the power transmission line measured by the binocular camera.

[0079] In a real-world scenario, assuming the binocular camera is 500m from the tower and the river is 500m wide, the distance Z from the binocular camera to the power line is also increased by a factor of 500. To ensure that the relative error of Z is also within 10%, the baseline distance B is increased by a factor of 10 (1.2m), the focal length f is increased by a factor of 10 (40mm), and the binocular camera resolution is increased by a factor of 25 (7.5 million pixels), with the pixel size p increased by a factor of 0.2. Theoretically, the shortest distance measurement error of the binocular camera within 500m of the tower can be within 10%.

[0080] Based on the positional relationship between the binocular camera and the river channel, the appropriate angle θ can be determined when the baseline of the binocular camera is perpendicular to the line connecting the tower and the binocular camera, as shown in the following formula:

[0081]

[0082] In the formula, θ is the angle between the baseline of the binocular camera and the horizontal direction along the simulated river channel, w is the width of the simulated river channel, and l is the vertical distance between the binocular camera and the simulated guide wire (which can be considered as the distance between the binocular camera and the tower on the same side of the river channel, i.e., the distance between the binocular camera and tower 1).

[0083] A binocular camera is installed at a point 500m on the left side of a tower along the river, denoted as l. To ensure the binocular camera captures complete images of boats and power lines in the river, the river width is 500m, denoted as w. From the above formula, it can be deduced that a 45° angle between the binocular camera and the horizontal direction of the river allows for the acquisition of more image information of dangerous boats and power lines.

[0084] S400: Based on the camera parameter setting model, determine the proportional relationship of measurement error between the binocular camera parameters and the three-dimensional information of the simulated conductor feature points, and determine the relationship between the installation position and parameter settings of the binocular camera relative to the power transmission line in the actual scene based on the proportional relationship.

[0085] The above method theoretically allows for the effective determination of the proportional relationship between the binocular camera parameters and the 3D information measurement error of the power transmission line feature points. It also provides guidance on setting, installing, and arranging the binocular camera parameters in practical scenarios. The actual binocular camera's installation distance along the horizontal direction of the river is determined based on the power transmission line length (or waterway width) in the actual scenario. The installation angle of the binocular camera is then determined based on this installation distance and the actual waterway width.

[0086] This embodiment provides an experimental method for determining the proportional relationship of binocular camera parameters. A small-scale simulation experimental platform based on the three-dimensional information of a power transmission line using a binocular camera is constructed. The three-dimensional information of the simulated power line is acquired within this platform. Then, the installation distance and angle of the binocular camera are varied. Based on the measurement error of the corresponding three-dimensional information, a corresponding camera parameter setting model is established. This model determines the proportional relationship between the binocular camera installation parameters and the channel width in the actual scene. Substituting relevant data, the installation position and parameter settings of the binocular camera in the actual scene are obtained. This invention, by constructing a simulation experimental platform and utilizing the proportional relationship between the changes in the binocular camera installation distance and angle and the corresponding measurement error, determines the internal and external parameter settings of the binocular camera in the actual scene, solving the problem of inconvenient parameter setting of binocular cameras in real-world scenarios.

[0087] The above is a detailed description of an embodiment of an experimental method for determining the proportional relationship of binocular camera parameters according to the present invention. The following will provide a detailed description of an embodiment of an experimental system for determining the proportional relationship of binocular camera parameters according to the present invention.

[0088] This embodiment provides an experimental system for determining the proportional relationship of parameters of a binocular camera, including: a simulation platform construction unit, a three-dimensional information acquisition unit, a model building unit, and a parameter setting unit.

[0089] In this embodiment, the simulation platform construction unit is used to build a small-scale simulation experimental platform for three-dimensional information of power transmission lines based on a binocular camera. The small-scale simulation experimental platform includes at least a binocular camera, a simulated conductor, and a simulated river.

[0090] Specifically, a small-scale simulation experimental platform for the three-dimensional information of power transmission lines based on binocular cameras was built. This included simulating a power transmission line crossing a waterway in a real-world scenario using simulated conductors and a simulated river, and setting the width of the simulated river. A binocular stereo vision system with parallel optical axes was constructed using two identical cameras. The two cameras were mounted on the same base, and the installation height, distance from the simulated conductor, focal length, baseline distance, and resolution parameters of the binocular cameras were set. The angle between the baseline of the binocular cameras and the horizontal direction along the simulated river was controlled to be θ°.

[0091] In this embodiment, the three-dimensional information acquisition unit is used to acquire the three-dimensional information of feature points on the simulated conductor using a binocular vision algorithm in a small-scale simulation experimental platform, and to perform three-dimensional reconstruction of the simulated conductor.

[0092] Specifically, the simulation conductor is reconstructed in three dimensions, including:

[0093] The chessboard calibration board image was obtained by using Zhang Zhengyou's calibration algorithm in MATLAB, and then the intrinsic and extrinsic parameters of the binocular camera were obtained.

[0094] The Bouguet stereo correction algorithm is used to correct the alignment of feature point rows of simulated wires in the left and right images of the binocular camera;

[0095] Based on the corrected left and right images of the simulated traverse, the SAD stereo matching algorithm is used to match feature points and obtain the corresponding disparity map, thereby realizing the three-dimensional reconstruction of the simulated traverse.

[0096] In this embodiment, the model building unit is used to analyze the influence of the distance between the binocular camera and the simulated traverse and the intrinsic and extrinsic parameters of the binocular camera on the measurement error of the three-dimensional information of the feature points on the simulated traverse based on the three-dimensional information of the feature points on the simulated traverse, and to build a camera parameter setting model.

[0097] Specifically, the process of establishing the camera parameter setting model is as follows:

[0098] The initial values ​​of the installation distance between the binocular camera and the simulated guide wire, the intrinsic and extrinsic parameters of the binocular camera, and the three-dimensional information of the feature points on the simulated guide wire are determined based on the initial settings of the small-scale simulation experimental platform.

[0099] By changing the installation distance between the binocular camera and the simulated traverse, as well as the angle between the baseline of the binocular camera and the horizontal direction along the simulated river channel, the changes in the three-dimensional information measurement error of the corresponding feature points on the simulated traverse were obtained.

[0100] Based on the changes in measurement error, the following models are established for setting the parameters of the first camera based on the installation distance:

[0101]

[0102] In the formula, ΔZ is the distance between the binocular camera and the tower on the opposite bank of the simulated river in the small test platform, B is the baseline distance, f is the focal length of the binocular camera, d is the size of the phase element, and Z is the distance between the binocular camera and the tower on the opposite bank of the river in the actual environment.

[0103] The parameter setting model for the second camera based on the included angle is as follows:

[0104]

[0105] In the formula, θ is the angle between the baseline of the binocular camera and the horizontal direction along the simulated river channel, w is the width of the simulated river channel, and l is the vertical distance between the binocular camera and the simulated guide wire.

[0106] In this embodiment, the parameter setting unit is used to determine the proportional relationship of the measurement error between the binocular camera parameters and the three-dimensional information of the simulated conductor feature points according to the camera parameter setting model, and to determine the relationship between the installation position of the binocular camera relative to the power transmission line and the parameter setting in the actual scene according to the proportional relationship.

[0107] Specifically, the installation position and parameter settings of the stereo camera relative to the power transmission line in the actual scene are determined based on proportional relationships, including:

[0108] The maximum installation distance is determined based on the change in measurement error when the installation distance changes and the set error limit. The actual installation distance and internal and external parameters of the binocular camera are determined based on the ratio between the maximum installation distance and the width of the simulated river channel and the width of the waterway in the actual scene.

[0109] Based on the parameter setting model of the second camera, by substituting the actual installation distance and the width of the waterway in the actual scene, the actual installation angle of the binocular camera relative to the power transmission line is obtained.

[0110] It should be noted that the proportional relationship determination system provided in this embodiment is used to implement the proportional relationship determination method of the aforementioned embodiment. The specific settings of each unit are based on the complete implementation of the method, and will not be repeated here.

[0111] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for determining the proportional relationship of parameters of a binocular camera based on experiments, characterized in that, include: A small-scale simulation experimental platform for three-dimensional information of power transmission lines based on a binocular camera is constructed. The small-scale simulation experimental platform includes at least a binocular camera, a simulated conductor, and a simulated river. In the small-scale simulation experimental platform, a binocular vision algorithm is used to acquire the three-dimensional information of feature points on the simulated conductor, and the simulated conductor is reconstructed in three dimensions. Based on the three-dimensional information of the feature points on the simulated traverse, the influence of the distance between the binocular camera and the simulated traverse and the intrinsic and extrinsic parameters of the binocular camera on the measurement error of the three-dimensional information of the feature points on the simulated traverse is analyzed, and a camera parameter setting model is established. Based on the camera parameter setting model, the proportional relationship of the measurement error between the binocular camera parameters and the three-dimensional information of the simulated conductor feature points is determined, and the relationship between the installation position and parameter settings of the binocular camera relative to the power transmission line in the actual scene is determined based on the proportional relationship.

2. The method for determining the proportional relationship of binocular camera parameters based on experiments according to claim 1, characterized in that, A small-scale simulation experimental platform for the three-dimensional information of power transmission lines based on a binocular camera was built, specifically including: The simulated conductor and the simulated river channel are used to simulate a cross-waterway power transmission line in a real-world scenario, and the width of the simulated river channel is set. A binocular stereo vision system with parallel optical axes is constructed using two identical cameras. The two cameras are mounted on the same base. The installation height, distance from the simulated guide wire, focal length, baseline distance, and resolution parameters of the binocular cameras are set, and the angle between the baseline of the binocular cameras and the horizontal direction along the simulated river channel is controlled to be θ°.

3. The method for determining the proportional relationship of binocular camera parameters based on experiments according to claim 2, characterized in that, The specific process for establishing the camera parameter setting model is as follows: The initial values ​​of the installation distance between the binocular camera and the simulated guide wire, the intrinsic and extrinsic parameters of the binocular camera, and the three-dimensional information of the feature points on the simulated guide wire are determined based on the initial settings of the small-scale simulation experimental platform. By changing the installation distance between the binocular camera and the simulated traverse, and the angle between the baseline of the binocular camera and the horizontal direction along the simulated river channel, the changes in the three-dimensional information measurement error of the corresponding feature points on the simulated traverse are obtained. Based on the changes in the measurement error, the following models are established for setting the first camera parameters based on the installation distance: ； In the formula, Let B be the distance between the binocular camera and the tower on the opposite bank of the simulated river in the small experimental platform, f be the focal length of the binocular camera, and d be the size of the phase element. This refers to the distance between the binocular camera and the tower on the opposite bank of the river in a real-world environment. The parameter setting model for the second camera based on the included angle is as follows: ； In the formula, The angle between the baseline of the binocular camera and the horizontal direction along the simulated river channel. The width of the simulated river channel, The distance between the binocular camera and the simulated wire is the vertical distance.

4. The method for determining the proportional relationship of binocular camera parameters based on experiments according to claim 3, characterized in that, The relationship between the installation position and parameter settings of the binocular camera relative to the power transmission line in the actual scene is determined based on the aforementioned proportional relationship, specifically including: The maximum value of the installation distance is determined based on the change of the measurement error when the installation distance changes and the set error limit. The actual installation distance of the binocular camera and the internal and external parameters are determined based on the ratio between the maximum installation distance and the width of the simulated river channel and the width of the waterway in the actual scene. Based on the second camera parameter setting model, by substituting the actual installation distance and the width of the waterway in the actual scene, the actual installation angle of the binocular camera relative to the power transmission line is obtained.

5. The method for determining the proportional relationship of binocular camera parameters based on experiments according to claim 1, characterized in that, In the small-scale simulation experimental platform, a binocular vision algorithm is used to acquire the three-dimensional information of feature points on the simulated guide wire, and the simulated guide wire is reconstructed in three dimensions, specifically including: The chessboard calibration board image is obtained by using Zhang Zhengyou's calibration algorithm in MATLAB, and then the intrinsic and extrinsic parameters of the binocular camera are obtained. The Bouguet stereo correction algorithm is used to correct the alignment of the feature point rows of the simulated guide wires in the left and right images of the binocular camera; Based on the corrected left and right images of the simulated conductor, the SAD stereo matching algorithm is used to match feature points and obtain the corresponding disparity map, thereby realizing the three-dimensional reconstruction of the simulated conductor.

6. A system for determining the proportional relationship of parameters of a binocular camera based on experiments, characterized in that, include: The simulation platform construction unit is used to build a small-scale simulation experimental platform for the three-dimensional information of a power transmission line based on a binocular camera. The small-scale simulation experimental platform includes at least a binocular camera, a simulated conductor, and a simulated river. A three-dimensional information acquisition unit is used to acquire the three-dimensional information of feature points on the simulated conductor using a binocular vision algorithm in the small-scale simulation experimental platform, and to perform three-dimensional reconstruction of the simulated conductor. The model building unit is used to analyze the influence of the distance between the binocular camera and the simulated traverse and the intrinsic and extrinsic parameters of the binocular camera on the measurement error of the three-dimensional information of the feature points on the simulated traverse based on the three-dimensional information of the feature points on the simulated traverse, and to build a camera parameter setting model. The parameter setting unit is used to determine the proportional relationship of the measurement error between the binocular camera parameters and the three-dimensional information of the simulated conductor feature points according to the camera parameter setting model, and to determine the relationship between the installation position and parameter setting of the binocular camera relative to the power transmission line in the actual scene according to the proportional relationship.

7. The experimental-based system for determining the proportional relationship of binocular camera parameters according to claim 6, characterized in that, In the simulation platform construction unit, a small-scale simulation experimental platform for the three-dimensional information of power transmission lines based on a binocular camera is constructed, specifically including: The simulated conductor and the simulated river channel are used to simulate a cross-waterway power transmission line in a real-world scenario, and the width of the simulated river channel is set. A binocular stereo vision system with parallel optical axes is constructed using two identical cameras. The two cameras are mounted on the same base. The installation height, distance from the simulated guide wire, focal length, baseline distance, and resolution parameters of the binocular cameras are set, and the angle between the baseline of the binocular cameras and the horizontal direction along the simulated river channel is controlled to be θ°.

8. The experimental-based system for determining the proportional relationship of binocular camera parameters according to claim 7, characterized in that, The specific process of establishing the camera parameter setting model in the model building unit is as follows: The initial values ​​of the installation distance between the binocular camera and the simulated guide wire, the intrinsic and extrinsic parameters of the binocular camera, and the three-dimensional information of the feature points on the simulated guide wire are determined based on the initial settings of the small-scale simulation experimental platform. By changing the installation distance between the binocular camera and the simulated traverse, and the angle between the baseline of the binocular camera and the horizontal direction along the simulated river channel, the changes in the three-dimensional information measurement error of the corresponding feature points on the simulated traverse are obtained. Based on the changes in the measurement error, the following models are established for setting the first camera parameters based on the installation distance: ； In the formula, Let B be the distance between the binocular camera and the tower on the opposite bank of the simulated river in the small experimental platform, f be the focal length of the binocular camera, and d be the size of the phase element. This refers to the distance between the binocular camera and the tower on the opposite bank of the river in a real-world environment. The parameter setting model for the second camera based on the included angle is as follows: ； In the formula, The angle between the baseline of the binocular camera and the horizontal direction along the simulated river channel. The width of the simulated river channel, The distance between the binocular camera and the simulated wire is the vertical distance.

9. The experimental-based system for determining the proportional relationship of binocular camera parameters according to claim 8, characterized in that, In the parameter setting unit, the relationship between the installation position of the binocular camera relative to the power transmission line and the parameter settings in the actual scene is determined according to the proportional relationship, specifically including: The maximum value of the installation distance is determined based on the change of the measurement error when the installation distance changes and the set error limit. The actual installation distance of the binocular camera and the internal and external parameters are determined based on the ratio between the maximum installation distance and the width of the simulated river channel and the width of the waterway in the actual scene. Based on the second camera parameter setting model, by substituting the actual installation distance and the width of the waterway in the actual scene, the actual installation angle of the binocular camera relative to the power transmission line is obtained.

10. The experimental-based binocular camera parameter ratio determination system according to claim 6, characterized in that, In the three-dimensional information acquisition unit, the three-dimensional information of feature points on the simulated guide wire is acquired using a binocular vision algorithm in the small-scale simulation experimental platform, and the simulated guide wire is reconstructed in three dimensions. Specifically, this includes: The chessboard calibration board image is obtained by using Zhang Zhengyou's calibration algorithm in MATLAB, and then the intrinsic and extrinsic parameters of the binocular camera are obtained. The Bouguet stereo correction algorithm is used to correct the alignment of the feature point rows of the simulated guide wires in the left and right images of the binocular camera; Based on the corrected left and right images of the simulated conductor, the SAD stereo matching algorithm is used to match feature points and obtain the corresponding disparity map, thereby realizing the three-dimensional reconstruction of the simulated conductor.

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