Vehicle-mounted stereo vision camera and imaging method based on binocular camera and laser radar

Abstract

The present invention discloses a vehicle-mounted stereoscopic vision camera and imaging method based on binocular camera and laser radar, belonging to the field of binocular camera technology, wherein the vehicle-mounted stereoscopic vision camera comprises a camera body, a visible light laser receiving common optical path lens, a visible light receiving device and a laser emitting device are arranged inside the camera body, a laser receiver is arranged between the visible light laser receiving common optical path lens and the laser emitting device, the visible light laser receiving common optical path lens comprises lens one, a beam splitter, and a visible light receiver, the laser emitting device comprises a laser emitter, a collimator, a diffraction mirror, and a lens two, and the visible light receiving device comprises a visible light receiver and a lens three. The present invention adopts the above-mentioned vehicle-mounted stereoscopic vision camera and imaging method based on binocular camera and laser radar, which can image the depth of the scene and solve the problem of poor imaging in weak texture or repeated texture areas and occluded areas in the scene.

Description

Technical Field

[0001] The present invention relates to the technical field of binocular cameras, and in particular to a vehicle-mounted stereoscopic vision camera and an imaging method based on a binocular camera and a laser radar. Background Art

[0002] Depth cameras based on binocular stereo vision are similar to human eyes. Unlike depth cameras based on TOF and structured light principles, they do not actively project light sources to the outside, but rely entirely on two pictures (color RGB or grayscale images) taken to calculate depth. Therefore, they are sometimes also called passive binocular depth cameras.

[0003] Binocular stereo vision imitates the human visual system to perceive the environment in three dimensions. It obtains the parallax of the two images by stereo matching the corrected left and right images, and then calculates the depth of the scene based on the principle of triangulation. It has been a hot research topic in the field of computer vision in recent decades and has made a series of progress. Traditional stereo matching methods use manually designed features for stereo matching. Studies have shown that such methods perform poorly for weak texture or repeated texture areas and occluded areas. Using visible light to collect information in similar cameras or using lidar to collect information cannot obtain a depth image of the scene, resulting in poor imaging. Summary of the invention

[0004] The purpose of the present invention is to provide a vehicle-mounted stereo vision camera and imaging method based on a binocular camera and a laser radar to solve the problem of poor imaging in weak texture or repeated texture areas and occluded areas in a scene.

[0005] To achieve the above-mentioned objectives, the present invention provides a vehicle-mounted stereo vision camera based on a binocular camera and a laser radar, comprising a camera body, wherein a visible light laser receiving common light path lens, a visible light receiving device and a laser emitting device are arranged inside the camera body, the visible light laser receiving common light path lens and the visible light receiving device are respectively arranged on both sides of the laser emitting device, a laser receiver is arranged between the visible light laser receiving common light path lens and the laser emitting device, the visible light laser receiving common light path lens comprises a lens one, a beam splitter, and a visible light receiver, the laser emitting device comprises a laser emitter, a collimator, a diffraction mirror, and a lens two, the visible light receiving device comprises a visible light receiver and a lens three, the visible light receiver comprises a lens group, a lens seat, and a lens barrel, the lens group comprises a plurality of lenses, the lenses are respectively arranged on different lens seats, and the lens seat is arranged in the lens barrel.

[0006] Preferably, the visible light receiver in the visible light laser receiving common light path lens is arranged below the beam splitter, and the beam splitter is arranged below the lens one.

[0007] Preferably, the visible light receiver in the visible light receiving device is arranged below the lens three.

[0008] Preferably, the diffraction mirror is arranged below the second lens, and the collimator and the laser emitter are arranged below the diffraction mirror.

[0009] Preferably, the laser receiver is arranged on the right side of the beam splitter.

[0010] Preferably, lens one, lens two and lens three are all connected to the camera body via a lens mount.

[0011] The present invention also provides an imaging method of a vehicle-mounted stereo vision camera based on a binocular camera and a laser radar, comprising the following steps:

[0012] Step 1: The visible light on the right side of the camera body enters the visible light receiver in the visible light laser receiving common optical path lens, processes the visible light, and collects external information;

[0013] Step 2: The laser emitter in the middle part of the camera body emits laser light, which passes through the collimator and reaches the diffraction mirror to diffract and expand the laser range, and then passes through the second lens to emit the laser light to the outside world;

[0014] Step 3: The laser emitted from the middle part of the camera body is refracted back to the left side of the camera body by an external object. The visible light and the laser share a common optical path and are split by a beam splitter. The light is split into a visible light receiver in a lens that receives a common optical path between the laser receiver and the visible light laser receiver to collect external information.

[0015] Step 4: Finally, the overall information is summarized and processed to obtain the depth image of the scene.

[0016] The present invention has the following beneficial effects:

[0017] When the camera of the present invention collects information and obtains images, the left side of the camera performs common optical path processing of visible light and laser. The light path enters the camera from the outside and passes through the lens to the beam splitter. The beam splitter performs beam splitting. The visible light passes through the beam splitter and enters the visible light receiving device. The laser is refracted by the beam splitter and enters the laser receiving device. Finally, the information is summarized to obtain a depth image of the scene, thereby solving the problem of poor performance in areas with weak textures or repeated textures and occluded areas.

[0018] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A cross-sectional view of an embodiment of a vehicle-mounted stereo vision camera based on a binocular camera and a laser radar according to the present invention;

[0020] Figure 2 It is a schematic diagram of the structure of a common optical path lens for receiving visible light lasers in an embodiment of a vehicle-mounted stereo vision camera based on a binocular camera and a laser radar according to the present invention;

[0021] Figure 3 It is a schematic diagram of the structure of the visible light receiver on the left side of an embodiment of a vehicle-mounted stereo vision camera based on a binocular camera and a laser radar according to the present invention;

[0022] Figure 4 A schematic diagram of the structure of a laser receiver of an embodiment of a vehicle-mounted stereo vision camera based on a binocular camera and a laser radar according to the present invention;

[0023] Figure 5 It is a schematic diagram of the visible light receiver structure on the right side of an embodiment of a vehicle-mounted stereo vision camera based on a binocular camera and a laser radar according to the present invention.

[0024] 1. Camera body; 2. Lens 1; 3. Beam splitter; 4. Visible light receiver; 5. Laser receiver; 6. Lens 2; 7. Diffraction mirror; 8. Collimator; 9. Laser transmitter; 10. Lens 3; 11. Diffraction mirror holder; 12. Diffraction lens barrel; 13. Collimator housing; 14. Lens group; 15. Lens barrel. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical scheme and advantages disclosed in the embodiments of the present invention clearer, the embodiments of the present invention are further described in detail in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the embodiments of the present invention and are not intended to limit the embodiments of the present invention. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions.

[0026] It should be noted that the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or server that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or inherent to these processes, methods, products or devices.

[0027] Like reference numerals and letters denote similar items in the following drawings, and thus, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0028] In the description of the present invention, it should be noted that the terms "upper", "lower", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are directions or positional relationships in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0029] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "setting", "installation" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0030] like Figure 1 As shown, the vehicle-mounted stereoscopic vision camera based on a binocular camera and a laser radar described in the present invention includes a camera body 1, and a visible light laser receiving common optical path lens, a visible light receiving device and a laser emitting device are arranged inside the camera body 1.

[0031] like Figure 2 As shown, the visible light laser receiving common optical path lens on the left side includes lens 1 2, beam splitter 3, visible light receiver 4 and laser receiver 5. The visible light receiver 4 in the visible light laser receiving common optical path lens is arranged below the beam splitter 3, the beam splitter 3 is arranged below the lens 1 2, and the laser receiver 5 is arranged on the right side of the beam splitter 3. The lens 1 2 is connected to the camera body 1 through a lens mount.

[0032] The laser emitting device in the middle includes a laser emitter 9, a collimator 8, a diffraction mirror 7, and a lens 2 6. The diffraction mirror 7 is arranged below the lens 2 6, and the collimator 8 and the laser emitter 9 are arranged below the diffraction mirror 7. The lens 2 6 is connected to the camera body 1 through a lens holder, and the diffraction mirror 7 is connected to the camera body 1 through a diffraction mirror holder 11. The lens holder and the diffraction mirror holder 11 are fixed in the diffraction lens barrel 12, the collimator 8 is fixed in the collimator housing 13, the laser emitter 9 is connected to the collimator housing 13, and the diffraction lens barrel 12 and the collimator housing 13 are fixed in the camera body 1.

[0033] The visible light receiving device on the right side includes a visible light receiver 4 and a lens three 10. The visible light receiver 4 in the visible light receiving device is arranged below the lens three 10. The visible light laser receiving common optical path lens and the visible light receiving device are respectively arranged on both sides of the laser emitting device. The visible light receiver 4 includes a lens group 14, a lens seat, and a lens barrel 15. The lens group 14 includes a plurality of lenses, which are respectively arranged on different lens seats, and the lens seat is arranged in the lens barrel 15.

[0034] The imaging method of a vehicle-mounted stereo vision camera based on a binocular camera and a laser radar described in the present invention comprises the following steps:

[0035] Step 1: The visible light on the right side of the camera body 1 enters the visible light receiver 4 in the visible light laser receiving common optical path lens, processes the visible light, and collects external information.

[0036] Step 2: The laser emitter 9 in the middle part of the camera body 1 emits laser light, which passes through the collimator 8 and reaches the diffraction mirror 7 to diffract and expand the laser range, and then passes through the lens 2 6 to emit the laser light to the outside.

[0037] Step three, the laser emitted from the middle part of the camera body 1 is refracted back to the left side of the camera body 1 by external objects, and the visible light and the laser light are split by the beam splitter 3, and the light is split into the laser receiver and the visible light laser receiving lens in the common optical path to collect external information.

[0038] Step 4: Finally, the overall information is summarized and processed to obtain the depth image of the scene.

[0039] Therefore, the present invention adopts the above-mentioned vehicle-mounted stereo vision camera and imaging method based on binocular camera and laser radar, which can obtain scene depth image and solve the problem of poor imaging of weak texture or repeated texture areas and occluded areas in the scene.

[0040] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. A vehicle-mounted stereo vision camera based on a binocular camera and a laser radar, characterized in that: The invention comprises a camera body, wherein a visible light laser receiving common optical path lens, a visible light receiving device and a laser emitting device are arranged inside the camera body, the visible light laser receiving common optical path lens and the visible light receiving device are respectively arranged on both sides of the laser emitting device, a laser receiver is arranged between the visible light laser receiving common optical path lens and the laser emitting device, the visible light laser receiving common optical path lens comprises a lens 1, a beam splitter, and a visible light receiver, the laser emitting device comprises a laser emitter, a collimator, a diffraction mirror, and a lens 2, and the laser emitter is a laser radar; the visible light receiving device comprises a visible light receiver and a lens 3, the visible light receiver comprises a lens group, a lens seat, and a lens barrel, the lens group comprises a plurality of lenses, the lenses are respectively arranged on different lens seats, and the lens seat is arranged in the lens barrel; The visible light receiver in the common optical path lens for receiving visible light laser is arranged below the beam splitter, and the beam splitter is arranged below the lens one; the visible light receiver in the visible light receiving device is arranged below the lens three; the diffraction mirror is arranged below the lens two, the collimator and the laser transmitter are arranged below the diffraction mirror, and the diffraction mirror is connected to the camera body through the diffraction mirror seat; the lens seat and the diffraction mirror seat are fixed in the diffraction lens barrel, the collimator is fixed in the collimator housing, the laser transmitter is connected to the collimator housing, and the diffraction lens barrel and the collimator housing are fixed in the camera body; the laser receiver is arranged on the right side of the beam splitter; the lens one, the lens two, and the lens three are all connected to the camera body through the lens seat; The imaging method of the vehicle-mounted stereo vision camera based on a binocular camera and a laser radar comprises the following steps: Step 1: The visible light on the left side of the camera body enters the visible light receiver in the visible light laser receiving common optical path lens, processes the visible light, and collects external information; Step 2: The laser emitter in the middle part of the camera body emits laser light, which passes through the collimator and reaches the diffraction mirror to diffract and expand the laser range, and then passes through the second lens to emit the laser light to the outside world; Step 3: The laser emitted from the middle part of the camera body is refracted back to the left side of the camera body by an external object. The visible light and the laser share a common optical path and are split by a beam splitter. The light is split into a visible light receiver in a lens that receives a common optical path between the laser receiver and the visible light laser receiver to collect external information. Step 4: Finally, the overall information is summarized and processed to obtain the depth image of the scene.

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