A navigation camera calibration test device for binocular vision fusion

Abstract

The application discloses a kind of navigation camera calibration test devices of binocular system visual fusion, comprising: single machine calibration system, for realizing single machine internal parameter calibration, single machine installation relationship calibration and the evaluation of single machine 3D point recovery precision;Scene digital simulation system is connected with the navigation camera to be calibrated, for realizing the electric simulation excitation test of ground;Lunar terrain simulation system, which simulates typical lunar terrain, is used for single machine functional test on the typical lunar terrain, the calibration test device provided by the application guarantees the ground development and research of fusion active light and passive light system navigation camera, function verification, performance evaluation, semi-physical simulation and single machine long-term test product development process, to ensure that single machine can be fully verified on the ground.

Description

Technical Field

[0001] This invention relates to the field of lunar autonomous driving navigation camera testing technology, specifically to a navigation camera calibration and testing device with dual-system visual fusion. Background Technology

[0002] When autonomously navigating on the lunar surface, it needs to use navigation cameras to obtain various navigation information, including odometer information, information on craters, slopes and obstacles in the direction of travel, and three-dimensional map information of the environment.

[0003] The existing technology lacks a calibration and testing device for navigation cameras used in lunar autonomous driving, which makes it impossible to conduct simulation tests during the development of navigation camera products, and impossible to complete the calibration test and functional verification of navigation cameras based on simulated terrain. Summary of the Invention

[0004] The purpose of this invention is to provide a dual-system visual fusion navigation camera calibration and testing device. This method aims to solve the problems in the prior art where there is a lack of calibration and testing devices for navigation cameras used in lunar autonomous driving, making it impossible to conduct simulation tests during the development of navigation camera products, and impossible to complete the calibration tests and functional verification of navigation cameras based on simulated terrain.

[0005] To achieve the above objectives, the present invention provides a dual-system visual fusion navigation camera calibration and testing device, comprising:

[0006] A single-machine calibration system is used to calibrate the intrinsic parameters of a single machine, calibrate the installation relationship of a single machine, and evaluate the accuracy of 3D point recovery of a single machine.

[0007] A scene digital simulation system, which is connected to the navigation camera to be calibrated, is used to realize the electrical simulation excitation test on the ground;

[0008] The lunar terrain simulation system simulates typical lunar terrain and is used for stand-alone functional testing on said typical lunar terrain.

[0009] Preferably, the single-machine calibration system includes: a static calibration field, a calibration camera, a theodolite, a total station, and a three-dimensional laser reconstruction radar.

[0010] The static calibration field, the calibration camera, the theodolite, and the total station are used for single-machine calibration based on photogrammetry principles. The control field is used to calibrate the intrinsic parameters of the single machine and the installation relationship of the single machine. The accuracy of the single machine 3D point recovery is evaluated using a moving cooperative target.

[0011] The three-dimensional laser reconstruction radar is used to acquire simulated terrain point clouds and to acquire point cloud data using the navigation camera to be calibrated. The point cloud data of the same target are compared and the point cloud reconstruction performance of the navigation camera to be calibrated is evaluated.

[0012] Preferably, the scene digital simulation system includes:

[0013] The digital simulation module simulates different model scenarios and obtains collected data.

[0014] An analog data transceiver device, connected to the digital simulation module, is used to receive the data collected by the digital simulation module and send the solution data from the standalone unit.

[0015] The test module, which is connected to the analog data transceiver, is used to receive the calculated data and perform ground-based electrical simulation excitation tests based on the calculated data.

[0016] Preferably, the simulation of different model scenarios to obtain the collected data specifically includes: setting latitude, longitude, attitude and time data in the simulation, completing the topographic map of the preset area of ​​the navigation camera to be calibrated under specific lighting conditions, and simulating the grayscale image and depth image collected by the navigation camera to be calibrated based on the topographic map and the attitude of the navigation camera to be calibrated. The grayscale image and the depth image are the collected data.

[0017] Preferably, the analog data transceiver is used to receive the collected data from the digital simulation module and send the solution data of the stand-alone unit. Specifically, the analog data transceiver is used to receive the collected data and send the collected data to the navigation camera to be calibrated for stand-alone functional system testing. The stand-alone functional system test obtains solution data, and the stand-alone unit sends the solution data to the analog data transceiver.

[0018] Preferably, the analog data transceiver includes: an analog data acquisition box, which is connected to the satellite port of the stand-alone unit, and the calculated data is sent to the analog data acquisition box through the satellite port.

[0019] Preferably, the lunar terrain simulation system includes:

[0020] A data acquisition device used to acquire data from a lunar surface topography simulation system;

[0021] Lunar terrain model;

[0022] A mobile trolley, mounted on the lunar terrain model, is used to carry several navigation cameras to be calibrated;

[0023] A solar simulator, which is set on one side of the mobile vehicle, is used to simulate the sun's lighting conditions.

[0024] Preferably, the mobile trolley is equipped with a movable mast, and a navigation camera to be calibrated is located at the end of the mast.

[0025] Preferably, the mobile trolley is driven by an electric motor.

[0026] Preferably, the lunar terrain simulation system controls the movement trajectory of the mobile trolley and the movable mast.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] This invention, through the provided calibration and testing device, ensures the product development process of ground-based research and development, functional verification, performance evaluation, semi-physical simulation, and long-term single-unit testing of navigation cameras that integrate active and passive light systems, and ensures that the single unit can be fully verified on the ground. Attached Figure Description

[0029] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the description will be briefly introduced below. Obviously, the drawings described below are one embodiment of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort:

[0030] Figure 1 This is an architectural diagram of a navigation camera calibration and testing device with dual-system visual fusion provided in an embodiment of the present invention;

[0031] Figure 2 This is a schematic diagram of the calibration field for the camera's intrinsic parameters and installation relationship, provided in an embodiment of the present invention.

[0032] Figure 3 This is a schematic diagram illustrating the accuracy evaluation of terrain reconstruction point clouds according to an embodiment of the present invention;

[0033] Figure 4 A scene digital simulation system provided in an embodiment of the present invention;

[0034] Figure 5 This is a schematic diagram of a terrain simulation system provided in an embodiment of the present invention. Detailed Implementation

[0035] The following is in conjunction with the appendix Figure 1-5The present invention provides a detailed description of a dual-system visual fusion navigation camera calibration and testing device. The advantages and features of the invention will become clearer from the following description. It should be noted that the accompanying drawings are in a very simplified form and use non-precise proportions, used only to facilitate and clarify the explanation of the embodiments of the invention. Please refer to the accompanying drawings to make the objectives, features, and advantages of the invention more apparent and understandable. It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings are only for illustrative purposes and to enable those skilled in the art to understand and read the invention. They are not intended to limit the implementation conditions of the invention and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to the size, without affecting the effects and objectives of the invention, should still fall within the scope of the technical content disclosed in the invention.

[0036] Given the lack of calibration and testing equipment for navigation cameras used in lunar autonomous driving in the existing technology, it is impossible to conduct simulation tests during the development of navigation camera products, and it is impossible to complete the calibration tests and functional verification of navigation cameras based on simulated terrain.

[0037] refer to Figure 1 As shown, this embodiment provides a dual-system vision fusion navigation camera calibration and testing device, including: a single-machine calibration system, which is used to calibrate the single-machine intrinsic parameters, calibrate the single-machine installation relationship, and evaluate the single-machine 3D point recovery accuracy; a scene digital simulation system, which is connected to the navigation camera to be calibrated and is used to perform ground electrical simulation excitation testing; and a lunar terrain simulation system, which simulates typical lunar terrain and is used to perform single-machine functional testing on the typical lunar terrain.

[0038] refer to Figure 2 As shown, the single-machine calibration system includes: a static calibration field, a calibration camera, a theodolite, a total station, and a 3D laser reconstruction radar. The static calibration field, the calibration camera, the theodolite, and the total station utilize photogrammetry principles for single-machine calibration. A control field is used to calibrate the intrinsic parameters and installation relationships of the single machine. A moving cooperative target is used to evaluate the accuracy of the single-machine 3D point reconstruction.

[0039] refer to Figure 3 As shown, the three-dimensional laser reconstruction radar is used to acquire simulated terrain point clouds, and uses the navigation camera to be calibrated to acquire point cloud data, compares the point cloud data of the same target, and evaluates the point cloud reconstruction performance of the navigation camera to be calibrated.

[0040] refer to Figure 4As shown, the scene digital simulation system includes: a digital simulation module, an analog data transceiver device, and a testing module. The digital simulation module simulates different model scenes to obtain collected data. Specifically, it sets latitude, longitude, attitude, and time data to create a topographic map of a preset area (preferably a 500m*500m area in this embodiment) for the navigation camera to be calibrated under specific lighting conditions. Based on the topographic map and the attitude of the navigation camera to be calibrated, it simulates the grayscale image and depth image collected by the navigation camera to be calibrated. The grayscale image and the depth image are the collected data.

[0041] An analog data transceiver device, connected to the digital simulation module, is used to receive the collected data from the digital simulation module and send the solution data from the standalone device. The analog data transceiver device receives the collected data and sends it to the navigation camera to be calibrated for standalone functional system testing. The standalone functional system test yields solution data, which the standalone device then sends to the analog data transceiver device. In this embodiment, the preferred analog data transceiver device includes an analog data acquisition box connected to the satellite port of the standalone device, through which the solution data is sent to the analog data acquisition box.

[0042] The test module, which is connected to the analog data transceiver, is used to receive the calculated data and perform ground-based electrical simulation excitation tests based on the calculated data.

[0043] refer to Figure 5 As shown, the lunar terrain simulation system includes: a data acquisition device, a lunar terrain model, a mobile trolley, and a solar simulator. The data acquisition device is used to collect data from the lunar terrain simulation system. The mobile trolley, mounted on the lunar terrain model, is used to mount several navigation cameras to be calibrated; a movable mast is mounted on the mobile trolley, and one of the navigation cameras to be calibrated is mounted at the end of the mast. The mobile trolley is electrically driven. The solar simulator, located on one side of the mobile trolley, is used to simulate solar illumination conditions. The lunar terrain simulation system controls the movement trajectory of the mobile trolley and the movable mast. The lunar terrain simulation system simulates typical lunar terrain, while simultaneously using the solar simulator to simulate solar illumination conditions. A single unit is mounted on the movable mast of the mobile trolley, and its functional performance is tested on this terrain. The movement trajectory of the mobile trolley and mast is controllable.

[0044] The calibration and testing device for the navigation camera in the above embodiments has an operating distance of not less than 50m; it can realize the joint calibration of heterogeneous cameras and the verification of functional performance on the ground.

[0045] In summary, the dual-system visual fusion navigation camera calibration and testing device provided in this embodiment uses a dual-system fusion navigation camera that integrates TOF (Time of Flight) active light and binocular passive light imaging for navigation information analysis. The application scenario of the dual-system visual fusion navigation camera is a lunar surface scenario. When developing this product on the ground, it is necessary to complete the digital simulation of the lunar surface terrain, the calibration of the intrinsic and extrinsic parameters of the heterogeneous camera, and the functional verification of the ground simulated terrain. The calibration and testing device provided in this embodiment ensures the ground development, functional verification, performance evaluation, semi-physical simulation, and long-term single-unit testing of the fusion active and passive light navigation camera, ensuring that the single unit can be fully verified on the ground.

[0046] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0047] It should be noted that the apparatus and methods disclosed in the embodiments herein can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings show the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments herein. In this regard, each block in a flowchart or block diagram may represent a module, program, or part of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system to perform the specified function or action, or can be implemented using a combination of dedicated hardware and computer instructions.

[0048] Although the present invention has been described in detail through the preferred embodiments above, it should be understood that the above description should not be considered as a limitation of the present invention. Various modifications and substitutions to the present invention will be apparent to those skilled in the art after reading the above description. Therefore, the scope of protection of the present invention should be defined by the appended claims.

Claims

1. A navigation camera calibration and testing device with dual-system visual fusion, characterized in that, include: A single-machine calibration system is used to calibrate the intrinsic parameters of a single machine, calibrate the installation relationship of a single machine, and evaluate the accuracy of 3D point recovery of a single machine. A scene digital simulation system, which is connected to the navigation camera to be calibrated, is used to realize the electrical simulation excitation test on the ground; The lunar terrain simulation system simulates typical lunar terrain and is used for stand-alone functional testing on the typical lunar terrain. The single-machine calibration system includes: a static calibration field, a calibration camera, a theodolite, a total station, and a 3D laser reconstruction radar. The static calibration field, the calibration camera, the theodolite, and the total station are used for single-machine calibration based on photogrammetry principles. The control field is used to calibrate the intrinsic parameters of the single machine and the installation relationship of the single machine. The accuracy of the single machine 3D point recovery is evaluated using a moving cooperative target. The three-dimensional laser reconstruction radar is used to acquire simulated terrain point clouds, and to acquire point cloud data using the navigation camera to be calibrated. The point cloud data of the same target are compared, and the point cloud reconstruction performance of the navigation camera to be calibrated is evaluated. The scene digital simulation system includes: The digital simulation module simulates different model scenarios and obtains collected data. An analog data transceiver device, connected to the digital simulation module, is used to receive the data collected by the digital simulation module and send the solution data from the standalone unit. The test module, which is connected to the analog data transceiver, is used to receive the calculated data and perform ground-based electrical simulation excitation tests based on the calculated data.

2. The dual-system visual fusion navigation camera calibration and testing device as described in claim 1, characterized in that, The simulation of different model scenarios to obtain collected data specifically includes: setting latitude, longitude, attitude, and time data in the simulation; completing a topographic map of a preset area for the navigation camera to be calibrated under specific lighting conditions; and simulating grayscale and depth images collected by the navigation camera to be calibrated based on the topographic map and the attitude of the navigation camera to be calibrated. The grayscale and depth images are the collected data. The specific lighting conditions are simulated sunlight conditions.

3. The dual-system visual fusion navigation camera calibration and testing device as described in claim 2, characterized in that, The analog data transceiver device is used to receive the collected data from the digital simulation module and send the solution data of the stand-alone unit. Specifically, the analog data transceiver device is used to receive the collected data and send the collected data to the navigation camera to be calibrated for stand-alone functional system testing. The stand-alone functional system test obtains solution data, and the stand-alone unit sends the solution data to the analog data transceiver device.

4. The dual-system visual fusion navigation camera calibration and testing device as described in claim 3, characterized in that, The analog data transceiver includes an analog data acquisition box, which is connected to the satellite port of the stand-alone unit, and the calculated data is sent to the analog data acquisition box through the satellite port.

5. The dual-system visual fusion navigation camera calibration and testing device as described in claim 4, characterized in that, The lunar terrain simulation system includes: A data acquisition device used to acquire data from a lunar surface topography simulation system; Lunar terrain model; A mobile trolley, mounted on the lunar terrain model, is used to carry several navigation cameras to be calibrated; A solar simulator, which is set on one side of the mobile vehicle, is used to simulate the sun's lighting conditions.

6. The dual-system visual fusion navigation camera calibration and testing device as described in claim 5, characterized in that, The mobile trolley is equipped with a movable mast, and a navigation camera to be calibrated is located at the end of the mast.

7. The dual-system visual fusion navigation camera calibration and testing device as described in claim 6, characterized in that, The mobile trolley is driven by electricity.

8. The dual-system visual fusion navigation camera calibration and testing device as described in claim 7, characterized in that, The lunar terrain simulation system controls the movement trajectory of the mobile trolley and the movable mast.

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