Binocular camera installation method and device, storage medium and electronic equipment

Abstract

The invention discloses a binocular camera installation method and device, a storage medium and electronic equipment. The method comprises the following steps: controlling a first camera and a second camera included in the binocular camera to respectively obtain first image information and second image information under the condition that a bracket for bearing the binocular camera moves; based on the first image information, the second image information and preset external parameters, performing relative pose adjustment on the first camera and the second camera; in response to the completion of the relative pose adjustment, controlling the first camera and the second camera to be relatively fixed; any one of the first camera and the second camera is used as a target camera, and distance information between a circuit board in the target camera and the support and size information of the circuit board are determined; performing relative posture adjustment on the binocular camera and the bracket based on the distance information and the size information; and controlling the binocular camera and the bracket to be relatively fixed in response to the completion of the relative posture adjustment. According to the embodiment of the invention, the binocular camera is simpler to install and operate and lower in cost.

Description

Technical Field

[0001] The present disclosure relates to machine vision technology, and in particular to an installation method, device, storage medium and electronic device of a binocular camera. Background Art

[0002] At present, binocular cameras are widely used. Generally speaking, after the binocular camera is installed, it is necessary to determine the installation accuracy through testing. If the installation accuracy does not meet the requirements, it needs to be disassembled and repaired and then tested again until the installation accuracy meets the requirements. This operation is very cumbersome and costly. Summary of the invention

[0003] In order to solve the above technical problems, the present disclosure provides a binocular camera installation method, device, storage medium and electronic device.

[0004] According to one aspect of an embodiment of the present disclosure, a method for installing a binocular camera is provided, comprising:

[0005] When the support carrying the binocular camera moves, controlling a first camera included in the binocular camera to acquire first image information including the calibration plate, and controlling a second camera included in the binocular camera to acquire second image information including the calibration plate;

[0006] Adjusting the relative posture of the first camera and the second camera based on the first image information, the second image information, and a preset external parameter between the first camera and the second camera;

[0007] In response to the completion of the relative posture adjustment of the first camera and the second camera, controlling the first camera and the second camera to be relatively fixed;

[0008] Using any one of the first camera and the second camera that are relatively fixed as a target camera, determining distance information between the circuit board and the bracket in the target camera, and determining size information of the circuit board in the target camera;

[0009] Based on the distance information and the size information, adjusting the relative posture of the binocular camera and the bracket;

[0010] In response to the completion of the relative posture adjustment between the binocular camera and the bracket, the binocular camera and the bracket are controlled to be relatively fixed.

[0011] According to another aspect of the embodiments of the present disclosure, there is provided a mounting device for a binocular camera, comprising:

[0012] A first control module is used to control a first camera included in the binocular camera to obtain first image information including a calibration plate, and to control a second camera included in the binocular camera to obtain second image information including a calibration plate when a support carrying the binocular camera moves;

[0013] A first adjustment module, configured to adjust the relative posture of the first camera and the second camera based on the first image information, the second image information, and a preset external parameter between the first camera and the second camera;

[0014] a second control module, configured to control the first camera and the second camera to be relatively fixed in response to the first adjustment module completing the relative posture adjustment of the first camera and the second camera;

[0015] A first determination module is used to use any one of the first camera and the second camera which are relatively fixed as a target camera, determine the distance information between the circuit board and the bracket in the target camera, and determine the size information of the circuit board in the target camera;

[0016] A second adjustment module, configured to adjust the relative posture of the binocular camera and the bracket based on the distance information and the size information determined by the first determination module;

[0017] The third control module is used for controlling the binocular camera and the bracket to be relatively fixed in response to the second adjustment module completing the adjustment of the relative posture of the binocular camera and the bracket.

[0018] According to another aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, wherein the storage medium stores a computer program, and the computer program is used to execute the above-mentioned binocular camera installation method.

[0019] According to another aspect of the embodiments of the present disclosure, an electronic device is provided, the electronic device comprising:

[0020] processor;

[0021] a memory for storing instructions executable by the processor;

[0022] The processor is used to read the executable instructions from the memory and execute the instructions to implement the above-mentioned binocular camera installation method.

[0023] According to another aspect of the embodiments of the present disclosure, a computer program product is provided. When instructions in the computer program product are executed by a processor, the above-mentioned binocular camera installation method is performed.

[0024] Based on the binocular camera installation method, device, storage medium, electronic device and program product provided by the above embodiments of the present disclosure, the first camera and the second camera included in the binocular camera can be controlled to obtain corresponding image information respectively when the bracket carrying the binocular camera moves. Based on these image information, combined with the preset external parameters between the first camera and the second camera, the relative posture of the first camera and the second camera can be adjusted. After the relative posture of the first camera and the second camera is adjusted in place, the first camera and the second camera can be controlled to be relatively fixed, and the corresponding distance information and size information are determined for the first camera or the second camera for the relative posture adjustment of the binocular camera and the bracket. After the relative posture of the binocular camera and the bracket is adjusted in place, the binocular camera and the bracket can be controlled to be relatively fixed, so that the installation of the binocular camera is completed. It can be seen that in the embodiments of the present disclosure, during the installation process of the binocular camera, some adjustment operations can be performed on the binocular camera in real time based on the acquisition results obtained by the binocular camera for image acquisition, as well as the distance information and size information, so that the installation accuracy meets the requirements, without the need for testing, disassembly and repair after the installation is completed, so that the installation operation of the binocular camera is simpler and the cost is lower. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 Schematic diagram of the structure of a binocular camera in some exemplary embodiments of the present disclosure.

[0026] Figure 2 It is a flowchart of a method for installing a binocular camera provided by some exemplary embodiments of the present disclosure.

[0027] Figure 3-1 It is a schematic diagram of the structure of a binocular camera in some other exemplary embodiments of the present disclosure.

[0028] Figure 3-2 Schematic diagram of the structure of a binocular camera in some further exemplary embodiments of the present disclosure.

[0029] Figure 3-3 is a schematic diagram of a pattern carried by a calibration plate in some exemplary embodiments of the present disclosure.

[0030] Figure 4 It is a flowchart of a method for adjusting the relative posture of a binocular camera and a bracket based on distance information and size information provided by some exemplary embodiments of the present disclosure.

[0031] Figure 5 It is a schematic diagram of determining the parameters to be rotated of a binocular camera relative to a bracket in some exemplary embodiments of the present disclosure.

[0032] Figure 6 It is a flowchart of a method for determining parameters to be rotated of a binocular camera relative to a bracket provided by some exemplary embodiments of the present disclosure.

[0033] Figure 7 It is a flowchart of a method for adjusting the relative posture of a first camera and a second camera based on first image information, second image information, and preset external parameters between the first camera and the second camera, provided by some exemplary embodiments of the present disclosure.

[0034] Figure 8 It is a flowchart of a method for controlling a binocular camera and a bracket to be relatively fixed in response to the completion of relative posture adjustment of the binocular camera and the bracket, provided by some exemplary embodiments of the present disclosure.

[0035] Fig. 9 It is a flowchart of a binocular camera installation method provided by other exemplary embodiments of the present disclosure.

[0036] Fig.10 is a schematic diagram of a first image and a second image in some exemplary embodiments of the present disclosure.

[0037] Fig.11 It is a flowchart of a binocular camera installation method provided by some further exemplary embodiments of the present disclosure.

[0038] Fig.12 Schematic diagram of the relative positions of the optical center of the lens included in the first camera and the physical center of the sensor included in the first camera in some exemplary embodiments of the present disclosure.

[0039] Figure 13-1 is a schematic diagram of determining actual external parameters between a first camera and a second camera in some exemplary embodiments of the present disclosure.

[0040] Figure 13-2 It is a schematic diagram of the area where the calibration plate is located in the image captured by the first camera in some exemplary embodiments of the present disclosure.

[0041] Figure 13-3 It is a flowchart of a binocular camera installation method provided by some exemplary embodiments of the present disclosure.

[0042] Fig.14 It is a schematic diagram of the structure of a mounting device for a binocular camera provided by some exemplary embodiments of the present disclosure.

[0043] Fig.15 is a schematic structural diagram of a second adjustment module in some exemplary embodiments of the present disclosure.

[0044] Fig.16 is a schematic structural diagram of the fourth determination submodule in some exemplary embodiments of the present disclosure.

[0045] Fig.17 is a schematic structural diagram of a first adjustment module in some exemplary embodiments of the present disclosure.

[0046] Fig.18 is a schematic diagram of the structure of the third control module in some exemplary embodiments of the present disclosure.

[0047] Fig.19 It is a schematic diagram of the structure of a mounting device for a binocular camera provided by some other exemplary embodiments of the present disclosure.

[0048] Fig. 20 It is a schematic structural diagram of a mounting device for a binocular camera provided in some further exemplary embodiments of the present disclosure.

[0049] Fig.21 It is a schematic diagram of the structure of an electronic device provided by some exemplary embodiments of the present disclosure. DETAILED DESCRIPTION

[0050] To explain the present disclosure, example embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all of the embodiments. It should be understood that the present disclosure is not limited to the example embodiments.

[0051] It should be noted that the relative arrangement of components and steps, the numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.

[0052] Application Overview

[0053] Binocular cameras can simulate the left and right eyes of a person to capture images of the same object separately, obtaining left and right images. Based on the parallax between the left and right images, the distance between the object and the binocular camera can be determined. Currently, binocular cameras are widely used in many fields such as driverless cars, virtual reality, and 3D reconstruction.

[0054] Generally speaking, after the binocular camera is installed, it is necessary to test the installation accuracy. If the installation accuracy does not meet the requirements, it needs to be disassembled and repaired and then tested again until the installation accuracy meets the requirements. This operation is very cumbersome and costly. How to achieve the installation of binocular cameras in a simpler and lower-cost way is a problem worthy of attention for technicians in this field.

[0055] Exemplary Systems

[0056] like Figure 1 As shown, the binocular camera may include two cameras, namely, camera 10 and camera 12. Camera 10 may include lens 100, sensor 102, and circuit board 104. Camera 12 may include lens 120, sensor 122, and circuit board 124.

[0057] Optionally, the lens 100 may be represented as lens1, and the lens 120 may be represented as lens2. The sensors 102 and 122 may be, for example, complementary metal-oxide semiconductor (CMOS) sensors. The circuit boards 104 and 124 may be, for example, printed circuit boards (PCB).

[0058] Optionally, the binocular camera can be installed on the vehicle through the bracket 14 to serve as a hardware component of the vehicle's advanced driver assistance system (ADAS). The bracket 14 may include a mounting portion 142 and a mounting portion 144. The mounting portion 142 may be provided with a mounting hole 146, the outer wall of the lens 100 may be provided with a flange 16, the lens 100 may be partially placed in the mounting hole 146, the top of the mounting portion 142 may bear the flange 16, and the bottom of the flange 16 may also be bonded to the top of the mounting portion 142 by glue. Similarly, the mounting portion 144 may be provided with a mounting hole 148, the outer wall of the lens 120 may be provided with a flange 18, the lens 120 may be partially placed in the mounting hole 148, the top of the mounting portion 144 may bear the flange 18, and the bottom of the flange 18 may also be bonded to the top of the mounting portion 144 by glue. In addition, the sensor 102 can be disposed on the top of the circuit board 104, and the top of the circuit board 104 can be bonded to the bottom of the mounting portion 142 by glue. Similarly, the sensor 122 can be disposed on the top of the circuit board 124, and the bottom of the circuit board 124 can be bonded to the top of the mounting portion 144 by glue.

[0059] Optionally, a rear shell 20 may be provided corresponding to the camera 10, and the top of the rear shell 20 may be screwed to the bottom of the mounting portion 142 via a screw connection. Similarly, a rear shell 22 may be provided corresponding to the camera 12, and the top of the rear shell 22 may be screwed to the bottom of the mounting portion 144 via a screw connection. The screw connection may be, for example, a screw, a bolt, etc.

[0060] Exemplary Methods

[0061] Figure 2 It is a flowchart of a method for installing a binocular camera provided by some exemplary embodiments of the present disclosure. Figure 2 The method shown may include step 210 , step 220 , step 230 , step 240 , step 250 , and step 260 .

[0062] Step 210: When the support carrying the binocular camera moves, control the first camera included in the binocular camera to obtain first image information including the calibration plate, and control the second camera included in the binocular camera to obtain second image information including the calibration plate.

[0063] Optionally, the binocular camera may include two cameras, one of the two cameras included in the binocular camera may be used as the first camera, and the other of the two cameras included in the binocular camera may be used as the second camera. Figure 3-1 As shown, the two cameras included in the binocular camera may be cam1 and cam2, then cam1 may be used as the first camera, and cam2 may be used as the second camera. Figure 3-2 As shown, the two cameras included in the binocular camera may be camera 10 and camera 12, then camera 10 may be used as a first camera, and camera 12 may be used as a second camera.

[0064] Optionally, the calibration plate may be a flat calibration plate. For example, the calibration plate may be a plate having Figure 3-3 The plate-like structure of the chessboard pattern shown. In some embodiments, the calibration plate can also be a three-dimensional calibration plate.

[0065] Before executing step 210, the first camera and the second camera included in the binocular camera can be movably mounted on a bracket, so that the binocular camera is supported by the bracket. Figure 3-2 The camera 10 in FIG. 1 is used as the first camera, Figure 3-2 Taking the case where the camera 12 in the figure is used as the second camera as an example, the camera 10 and the camera 12 can both be movably mounted on the bracket 14. For example, a mounting hole can be reserved on the bracket 14 for the camera 10 to accommodate the lens 100 included in the camera 10, and the lens 100 included in the camera 10 can be controlled by the six-axis adjustable clamp 30, and the circuit board 104 included in the camera 10 can be controlled by the six-axis adjustable clamp 32, so that the camera 10 is in a six-axis adjustable state relative to the bracket 14. Similarly, a mounting hole can be reserved on the bracket 14 for the camera 12 to accommodate the lens 120 included in the camera 12, and the lens 120 included in the camera 12 can be controlled by the six-axis adjustable clamp 34, and the circuit board 124 included in the camera 12 can be controlled by the six-axis adjustable clamp 36, so that the camera 12 is in a six-axis adjustable state relative to the bracket 14.

[0066] In step 210, the support supporting the binocular camera can be driven to move along a certain moving trajectory by a pan / tilt, a turntable or a mechanical arm. The moving trajectory can be defined by a plurality of points, which can be represented as N points. When the support moves to any of the N points, the first camera included in the binocular camera can be controlled to capture the image of the calibration plate, and the second camera included in the binocular camera can be controlled to capture the image of the calibration plate. In this way, N images corresponding to the N points can be captured by the first camera, and the N images can be arranged in sequence to form a first image sequence, which can be used as the first image information. Similarly, N images corresponding to the N points can be captured by the second camera, and the N images can be arranged in sequence to form a second image sequence, which can be used as the second image information.

[0067] Step 220: Based on the first image information, the second image information, and the preset external parameters between the first camera and the second camera, adjust the relative posture of the first camera and the second camera.

[0068] Optionally, the external parameters between the first camera and the second camera may be preset, and the preset external parameters may be used as preset external parameters. According to the preset external parameters, there may be only relative translation between the first camera and the second camera, and the posture of the first camera and the posture of the second camera may be the same. In the embodiments of the present disclosure, the posture of any camera may refer to the posture of the camera in a reference coordinate system, and the position and posture of any camera may refer to the position and posture of the camera in a reference coordinate system. The reference coordinate system may be, for example, a world coordinate system.

[0069] Optionally, based on the first image information, the second image information and the preset external parameters, only the posture of the first camera can be adjusted, or only the posture of the second camera can be adjusted, or the posture of the first camera and the posture of the second camera can be adjusted respectively, thereby achieving the relative posture adjustment of the first camera and the second camera. Figure 3-2 The camera 10 in FIG. 1 is used as the first camera, Figure 3-2 Taking the case where the camera 12 in the figure is used as the second camera as an example, the six-axis adjustable clamp 30 and the six-axis adjustable clamp 32 can be used to adjust the position of the camera 10 (in this process, the position of the lens 100 and the position of the circuit board 104 need to be adjusted synchronously). Similarly, the six-axis adjustable clamp 34 and the six-axis adjustable clamp 36 can be used to adjust the position of the camera 12 (in this process, the position of the lens 120 and the position of the circuit board 124 need to be adjusted synchronously).

[0070] Step 230 , in response to the completion of the relative posture adjustment of the first camera and the second camera, controlling the first camera and the second camera to be relatively fixed.

[0071] Optionally, the first camera and the second camera being relatively fixed can be understood as: the first camera and the second camera cannot move relative to each other, but can only be stationary at the same time, or move synchronously. Figure 3-2 The camera 10 in FIG. 1 is used as the first camera, Figure 3-2 Taking the case where camera 12 is used as the second camera as an example, the relative movement of camera 10 and camera 12 can be limited by six-axis adjustable clamp 30, six-axis adjustable clamp 32, six-axis adjustable clamp 34 and six-axis adjustable clamp 36 to achieve relative fixation of camera 10 and camera 12.

[0072] Step 240, using any one of the relatively fixed first camera and second camera as a target camera, determining the distance information between the circuit board and the bracket in the target camera, and determining the size information of the circuit board in the target camera.

[0073] Optionally, when the first camera and the second camera are relatively fixed, the first camera or the second camera can be used as the target camera. Next, the distance information between the circuit board and the bracket in the target camera can be determined by physical scanning. In addition, the size information of the circuit board in the target camera can be determined. The size information of the circuit board can include but is not limited to the length value, width value, thickness value, etc. of the circuit board. If Figure 3-2 The camera 10 in the image processing apparatus is used as the first camera, and the first camera is used as the target camera, then the distance information between the circuit board 104 and the bottom of the bracket 14 can be determined, and in addition, the size information of the circuit board 104 can be determined.

[0074] Step 250: Based on the distance information and the size information, the relative posture of the binocular camera and the bracket is adjusted.

[0075] Optionally, based on the distance information and the size information, only the posture of the binocular camera can be adjusted, or only the posture of the bracket can be adjusted, or the posture of the binocular camera and the posture of the bracket can be adjusted separately, thereby achieving the relative posture adjustment of the binocular camera and the bracket. In the embodiment of the present disclosure, the posture of the bracket can refer to the posture of the bracket in the reference coordinate system. Figure 3-2 The camera 10 in FIG. 1 is used as the first camera, Figure 3-2 Taking the case where the camera 12 is used as the second camera as an example, the posture of the binocular camera can be adjusted by the six-axis adjustable jaw 30, the six-axis adjustable jaw 32, the six-axis adjustable jaw 34 and the six-axis adjustable jaw 36 while keeping the bracket 14 stationary (in this process, the posture of the lens 100, the posture of the circuit board 104, the posture of the lens 120, and the posture of the circuit board 124 need to be adjusted synchronously), thereby realizing the relative posture adjustment of the binocular camera and the bracket 14.

[0076] Step 260, in response to the completion of the relative posture adjustment between the binocular camera and the bracket, the binocular camera and the bracket are controlled to be relatively fixed.

[0077] Optionally, the binocular camera and the bracket are relatively fixed, which can be understood as: the binocular camera and the bracket cannot move relative to each other, but can only be stationary at the same time, or move synchronously. The relative fixing method of the binocular camera and the bracket may include but is not limited to a screw fixing method, an adhesive fixing method, etc. Figure 3-2 The camera 10 in FIG. 1 is used as the first camera, Figure 3-2 For example, when the camera 12 in FIG. 1 is used as the second camera, after the relative posture adjustment between the binocular camera and the bracket 14 is completed, the Figure 1 The screw fixing method and the adhesive fixing method in the illustrated embodiment enable the binocular camera and the bracket 14 to be relatively fixed, and the six-axis adjustable clamp 30, the six-axis adjustable clamp 32, the six-axis adjustable clamp 34 and the six-axis adjustable clamp 36 can be removed.

[0078] In the embodiment of the present disclosure, when the bracket carrying the binocular camera moves, the first camera and the second camera included in the binocular camera can be controlled to obtain corresponding image information respectively. Based on these image information, combined with the preset external parameters between the first camera and the second camera, the relative posture of the first camera and the second camera can be adjusted. After the relative posture of the first camera and the second camera is adjusted in place, the first camera and the second camera can be controlled to be relatively fixed, and the corresponding distance information and size information are determined for the first camera or the second camera for the relative posture adjustment of the binocular camera and the bracket. After the relative posture of the binocular camera and the bracket is adjusted in place, the binocular camera and the bracket can be controlled to be relatively fixed, so that the installation of the binocular camera is completed. It can be seen that in the embodiment of the present disclosure, during the installation process of the binocular camera, some adjustment operations can be performed on the binocular camera in real time based on the acquisition results obtained by the binocular camera for image acquisition, as well as the distance information and size information, so that the installation accuracy meets the requirements, without the need for testing, disassembly and repair after the installation is completed, so that the installation operation of the binocular camera is simpler and the cost is lower.

[0079] Figure 4 It is a flowchart of a method for adjusting the relative posture of a binocular camera and a bracket based on distance information and size information provided by some exemplary embodiments of the present disclosure. Figure 4 The method shown may include step 410 , step 420 , step 430 , step 440 , and step 450 .

[0080] Step 410, based on the distance information, determining multiple distance values ​​between multiple locations of the circuit board in the target camera and the bracket.

[0081] Optionally, the distance information between the circuit board and the bracket in the target camera can be determined by physical scanning, and the distance information can include multiple distance values ​​between multiple parts of the circuit board in the target camera and the bracket; wherein the multiple parts and the multiple distance values ​​can correspond one to one. Then, the multiple distance values ​​corresponding one to one to the multiple parts can be directly extracted from the distance information.

[0082] In an example, Figure 5 As shown, the multiple parts of the target camera can be 7 parts, which are represented as B1, B2, B3, B4, B5, B6, and B7. Through physical scanning, the distance value D1 between B1 and the bracket, the distance value D2 between B2 and the bracket, the distance value D3 between B3 and the bracket, the distance value D4 between B4 and the bracket, the distance value D5 between B5 and the bracket, the distance value D6 between B6 and the bracket, and the distance value D7 between B7 and the bracket can be determined. In this way, a total of 7 distance values ​​can be obtained.

[0083] Step 420: Determine the maximum distance value and the minimum distance value among the multiple distance values.

[0084] Optionally, multiple distance values ​​corresponding to multiple parts can be compared in pairs to filter out the distance value with the largest value and the distance value with the smallest value from the multiple distance values. The distance value with the largest value can be used as the maximum distance value, and the distance value with the smallest value can be used as the minimum distance value.

[0085] Step 430, determining the length value of the circuit board in the target camera based on the size information.

[0086] Optionally, the size information may include the length value of the circuit board in the target camera. Then, the length value of the circuit board in the target camera may be extracted from the size information.

[0087] Step 440: Determine the rotation parameters of the binocular camera relative to the bracket based on the maximum distance value, the minimum distance value and the length value.

[0088] Optionally, the parameters of the binocular camera to be rotated relative to the bracket may include but are not limited to a direction to be rotated, an angle to be rotated, etc.

[0089] In some optional embodiments of the present disclosure, Figure 6 As shown, step 440 may include step 610 , step 620 , step 630 and step 640 .

[0090] Step 610, determining the distance difference between the maximum distance value and the minimum distance value.

[0091] Optionally, the maximum distance value may be subtracted from the minimum distance value, and the obtained difference may be used as the distance difference between the maximum distance value and the minimum distance value.

[0092] Step 620: Determine the angle to be rotated in the parameter to be rotated based on the distance difference and the length value.

[0093] Figure 5 There is a right triangle in the image. The length of the hypotenuse of the right triangle is the length of the circuit board in the target camera, which can be expressed as L. The length of one of the right-angled sides of the right triangle is the distance difference between the maximum distance value and the minimum distance value, which can be expressed as Δd. It can be understood that when any two of the three sides of the right triangle are known, the angles of the other two angles of the right triangle except the right angle can be calculated through geometric calculation. In view of this, according to L and Δd, it can be calculated through geometric calculation. Figure 5 The angle α in can be used as the angle to be rotated in the parameters to be rotated.

[0094] Step 630, determining the relative position between the part corresponding to the maximum distance value and the part corresponding to the minimum distance value.

[0095] See also Figure 5 , the part corresponding to the maximum distance value is B7, and the part corresponding to the minimum distance value is B1. Obviously, B7 is located at the lower right of B1, and B1 is located at the upper left of B7. Therefore, the relative orientation between the part corresponding to the maximum distance value and the part corresponding to the minimum distance value can be used to characterize that the part corresponding to the maximum distance value is located at the lower right of the part corresponding to the minimum distance value, or to characterize that the part corresponding to the minimum distance value is located at the upper left of the part corresponding to the maximum distance value.

[0096] Step 640: Determine the direction to be rotated in the parameter to be rotated based on the relative orientation.

[0097] If the relative orientation is used to indicate that the part corresponding to the maximum distance value is located to the lower right of the part corresponding to the minimum distance value, the direction to be rotated may be counterclockwise, for example Figure 5 If the relative orientation is used to indicate that the part corresponding to the maximum distance value is located to the upper right of the part corresponding to the minimum distance value, the direction to be rotated may be clockwise.

[0098] Figure 6In the illustrated embodiment, the distance difference between the maximum distance value and the minimum distance value can be determined efficiently and quickly by means of difference. Combined with the length value of the circuit board in the target camera, the angle to be rotated can be reasonably determined by geometric calculation. In addition, the direction to be rotated can be reasonably determined based on the relative orientation between the part corresponding to the maximum distance value and the part corresponding to the minimum distance value. In this way, the complete parameters to be rotated can be obtained efficiently and reliably for the execution of step 450.

[0099] Step 450: Based on the parameters to be rotated, the relative posture of the binocular camera and the bracket is adjusted.

[0100] Optionally, the circuit board in the target camera can be controlled to rotate relative to the bracket according to the direction and angle to be rotated in the rotation parameters while keeping the bracket stationary. At this time, the entire binocular camera rotates relative to the bracket according to the direction and angle to be rotated to achieve relative posture adjustment between the binocular camera and the bracket. Figure 5 For example, the binocular camera can be controlled to rotate counterclockwise by an angle of α, so that the circuit board in the target camera can be rotated to a state parallel to the bracket, so that the relative posture of the target camera and the bracket meets the requirements.

[0101] In the embodiments of the present disclosure, based on the distance information, multiple distance values ​​between multiple parts of the circuit board in the target camera and the bracket can be determined efficiently and quickly. By comparing the size of multiple distance values, the maximum distance value and the minimum distance value can be determined efficiently and quickly, and combined with the length value of the circuit board in the target camera, the rotation parameters of the binocular camera relative to the bracket can be reasonably determined, that is, the direction in which the binocular camera should rotate relative to the bracket, and the specific rotation angle, so as to provide an effective reference for the relative posture adjustment between the binocular camera and the bracket, which is conducive to ensuring the installation accuracy of the binocular camera.

[0102] Figure 7 It is a flowchart of a method for adjusting the relative posture of a first camera and a second camera based on first image information, second image information, and preset external parameters between the first camera and the second camera, provided by some exemplary embodiments of the present disclosure. Figure 7 The method shown may include step 710 , step 720 , and step 730 .

[0103] Step 710: Determine a first actual extrinsic parameter between the first camera and the second camera based on the first image information and the second image information.

[0104] Optionally, a first actual extrinsic parameter between the first camera and the second camera may be determined based on the first image information and the second image information by a camera calibration method. For example, feature points may be extracted from the first image information and the second image information respectively, and feature point pairs between the first image information and the second image information may be determined. Based on the determined feature point pairs, the first actual extrinsic parameter between the first camera and the second camera may be calculated. The first actual extrinsic parameter may include an actual relative translation between the first camera and the second camera, and an actual relative rotation between the first camera and the second camera.

[0105] Step 720: Determine a first error between a first actual extrinsic parameter and a preset extrinsic parameter.

[0106] Optionally, the difference between the first actual extrinsic and the preset extrinsic can be determined, and the determined difference can be used as the first error between the first actual extrinsic and the preset extrinsic. For example, according to the preset extrinsic, the first camera and the second camera may only have a translation along the Y-axis direction of the reference coordinate system, and the translation amount is delta1, and the first actual extrinsic is used to characterize that the first camera and the second camera have a translation along the Y-axis direction of the reference coordinate system, and the translation amount is delta2 (delta2 is different from delta1), and the second camera is rotated by an angle of β around the X-axis of the reference coordinate system relative to the first camera, the second camera is rotated by an angle of γ around the Y-axis of the reference coordinate system relative to the first camera, and the second camera is rotated by an angle of θ around the Z-axis of the reference coordinate system relative to the first camera, then the first error may include delta2-delta1, β, γ, θ.

[0107] Step 730 , adjusting the relative posture of the first camera and the second camera by minimizing the first error as an adjustment target.

[0108] Optionally, the first error can be minimized by adjusting the relative position of the first camera and the second camera. For example, the second camera can be moved while keeping the first camera stationary, so that the translation amount between the first camera and the second camera along the Y-axis direction gradually changes from delta2 to delta1 or is sufficiently close to delta1. In addition, the second camera can be rotated so that the angle of rotation of the second camera relative to the first camera around the X-axis gradually changes from β to 0 or is sufficiently close to 0, the angle of rotation of the second camera relative to the first camera around the Y-axis gradually changes from γ to 0 or is sufficiently close to 0, and the angle of rotation of the second camera relative to the first camera around the Z-axis gradually changes from θ to 0 or is sufficiently close to 0. Alternatively, the first camera can be moved and rotated while keeping the second camera stationary to achieve relative position adjustment of the first camera and the second camera. Alternatively, both the first camera and the second camera can be moved and rotated to achieve relative position adjustment of the first camera and the second camera.

[0109] In the embodiments of the present disclosure, the first image information and the second image information are combined, and a camera calibration method is used to efficiently and quickly determine the first actual external parameter between the first camera and the second camera. Combined with the preset external parameter, an effective reference can be provided for the relative posture adjustment between the first camera and the second camera. After the relative posture adjustment, the first actual external parameter and the preset external parameter can be as close as possible, which is conducive to ensuring the installation accuracy of the binocular camera.

[0110] Figure 8 It is a flowchart of a method for controlling a binocular camera and a bracket to be relatively fixed in response to the completion of relative posture adjustment of the binocular camera and the bracket, provided by some exemplary embodiments of the present disclosure. Figure 8 The method shown may include step 810 , step 820 , step 830 , and step 840 .

[0111] Step 810, in response to the completion of the relative posture adjustment between the binocular camera and the bracket, when the bracket moves, control the first camera to obtain third image information containing the calibration plate, and control the second camera to obtain fourth image information containing the calibration plate.

[0112] Optionally, the acquisition method and composition of the third image information may refer to the relevant introduction to the first image information above, and the acquisition method and composition of the fourth image information may refer to the relevant introduction to the second image information above, which will not be repeated here.

[0113] Step 820: Determine a second actual extrinsic parameter between the first camera and the second camera based on the third image information and the fourth image information.

[0114] Step 830: Determine a second error between the second actual extrinsic parameter and the preset extrinsic parameter.

[0115] Optionally, the specific implementation of step 820 to step 830 may refer to the above description of step 710 to step 720, which will not be repeated here.

[0116] Step 840, in response to the second error being within a preset error range, controlling the binocular camera and the bracket to be relatively fixed.

[0117] Optionally, the preset error range may be a reasonable range of preset errors. Here, a preset translation error, a first preset rotation error corresponding to the X-axis, a second preset rotation error corresponding to the Y-axis, and a third preset rotation error corresponding to the Z-axis may be set. Referring to the example above, the first error may include delta2-delta1, β, γ, θ, and similarly, the second error may include delta2'-delta1, β', γ', θ'. If the four conditions that delta2'-delta1 is less than the preset translation error, β' is less than the first preset rotation error, γ' is less than the second preset rotation error, and θ' is less than the third preset rotation error are met, it can be determined that the second error is within the preset error range. If at least one of the four conditions is not met, it can be determined that the second error is not within the preset error range. For the case where the second error is within the preset error range, it can be determined that the second actual external parameter is sufficiently close to the preset external parameter, then the binocular camera and the bracket can be controlled to be relatively fixed. If the second error is not within the preset error range, it can be determined that the second actual extrinsic parameter differs greatly from the preset extrinsic parameter. In this case, the binocular camera and the bracket may not be controlled to be relatively fixed, but the relative posture of the binocular camera and the bracket may be adjusted again.

[0118] In the embodiments of the present disclosure, when the relative posture adjustment of the binocular camera and the bracket is completed, corresponding image information can be collected by the first camera and the second camera respectively to determine the second actual external parameter. Combined with the preset external parameter, it can be efficiently and quickly determined whether the binocular camera is installed in place, and based on the determination result, corresponding processing operations are performed, which is conducive to ensuring the installation accuracy of the binocular camera.

[0119] Fig. 9 It is a flowchart of a binocular camera installation method provided by other exemplary embodiments of the present disclosure. Fig. 9 The method shown may include step 910, step 920, step 930 and step 940. Optionally, Fig. 9 The method shown may be performed before step 210 of the present disclosure.

[0120] Step 910: Control the first camera to acquire fifth image information including the calibration plate, and control the second camera to acquire sixth image information including the calibration plate.

[0121] Optionally, when both the first camera and the second camera are movably mounted on the bracket, the lens and the circuit board included in the first camera can move relative to each other, and the lens and the circuit board included in the second camera can move relative to each other, the first camera can be controlled to obtain the fifth image information including the calibration plate, and the second camera can be controlled to obtain the sixth image information including the calibration plate. The fifth image information and the sixth image information can both include only a single image. Alternatively, the fifth image information can include M images arranged in sequence, and the sixth image information can include M images arranged in sequence, and the acquisition time of the M images included in the fifth image information and the M images included in the sixth image information can be consistent one-to-one. M can be the same as or different from N in the above text.

[0122] Step 920: Determine a circuit board rotation parameter for eliminating binocular combination error based on the fifth image information and the sixth image information.

[0123] For any image in the fifth image information, the image can be called a first image, and for an image in the sixth image information that is consistent with the first image acquisition time, the image can be called a second image. The first image and the second image can constitute a binocular image acquired by the binocular camera at a certain moment. The first image can be Fig.10 The second image can be Fig.10 Then, the angle between the edge line 1010 in the left lens output image and the edge line 1020 in the right lens output image can be determined. On this basis, it can be determined according to which parameters the circuit board included in the first camera and / or the circuit board included in the second camera should be rotated so that the edge line 1020 is parallel to the edge line 1010. The determined parameters can be used as the circuit board rotation parameters for eliminating the binocular combination error. As an example, the circuit board rotation parameters may include the direction and angle of rotation of the circuit board included in the second camera.

[0124] Step 930: Adjust the posture of the circuit board included in the first camera and / or the circuit board included in the second camera according to the circuit board rotation parameters.

[0125] As in the example above, the circuit board rotation parameters may include the direction and angle of rotation of the circuit board included in the second camera. Then, while keeping the first camera stationary, the circuit board included in the second camera can be rotated according to the direction and angle of rotation of the circuit board included in the second camera to achieve posture adjustment of the circuit board included in the second camera.

[0126] Step 940, in response to completion of posture adjustment of the circuit board included in the first camera and / or the circuit board included in the second camera, control the lens and circuit board included in the first camera to be relatively fixed, and control the lens and circuit board included in the second camera to be relatively fixed.

[0127] by Figure 3-2 The camera 10 in FIG. 1 is used as the first camera, Figure 3-2 Taking the case where the camera 12 is used as the second camera as an example, after the posture adjustment of the circuit board 104 and / or the circuit board 124 is completed, the lens 100 and the circuit board 104 can be controlled to be relatively fixed so that the various components in the camera 10 can no longer move relative to each other. In addition, the lens 120 and the circuit board 124 can also be controlled to be relatively fixed so that the various components in the camera 12 can no longer move relative to each other.

[0128] In an embodiment of the present disclosure, based on the image information respectively acquired by the first camera and the second camera, a circuit board rotation parameter for eliminating the binocular combination error can be determined to provide an effective reference for the posture adjustment of the circuit board included in the first camera and / or the circuit board included in the second camera. In this way, after the posture adjustment, the binocular combination error of the binocular image captured by the binocular camera is small, and the quality of the binocular image captured by the binocular camera can be better guaranteed.

[0129] Fig.11 It is a flowchart of a binocular camera installation method provided by some further exemplary embodiments of the present disclosure. Fig.11 The method shown may include step 1110, step 1120, step 1130 and step 1140. Optionally, Fig.11 The method shown may be performed before step 210 of the present disclosure.

[0130] Step 1110, controlling the first camera to obtain seventh image information of the calibration plate.

[0131] Optionally, the first camera and the second camera can be movably mounted on the bracket, and when the lens and the circuit board included in the first camera can move relative to each other, the first camera is controlled to obtain the seventh image information of the calibration plate. For example, when the lens included in the first camera is kept stationary, the seventh image information of the calibration plate is obtained along the up-down direction (here up-down can be relative to the seventh image information of the calibration plate). Figure 3-2 The circuit board included in the first camera is moved U times (up and down) each time, and after each movement along the up and down direction, the circuit board included in the first camera can be adjusted in posture V times at the current position, and after each posture adjustment, the first camera is controlled to capture an image, so that U*V images can be captured by the first camera, and U*V images can be arranged in sequence to form a third image sequence, and the third image sequence can be used as the seventh image information.

[0132] Step 1120: determine, based on the seventh image information, a position difference between an optical center of a lens included in the first camera and a physical center of a sensor included in the first camera, and adjust relative positions of the lens and the circuit board included in the first camera based on the position difference.

[0133] Alternatively, if Fig.12 As shown, the lens included in the first camera may have a center line S, and the projection position of the center line S on the top surface of the sensor included in the first camera may be position P1. In addition, the physical center of the sensor included in the first camera may be the geometric center of the top surface of the sensor included in the first camera, and the position where the geometric center is located may be position P2. Position P2 may not be the same position as position P1, and there may be a position difference between position P2 and position P1.

[0134] For any image in the seventh image information, the image may be referred to as a third image. The brightest pixel in the third image (hereinafter referred to as a first pixel) may correspond to the optical center of the lens included in the first camera. The pixel located at the center of the third image (hereinafter referred to as a second pixel) may correspond to the physical center of the sensor included in the first camera. Optionally, the position difference between the optical center of the lens included in the first camera and the physical center of the sensor included in the first camera may be determined based on the difference between the coordinates of the first pixel and the coordinates of the second pixel in the third image. For example, the difference between the horizontal coordinates of the first pixel and the second pixel in the third image is Δx1, and the difference between the vertical coordinates of the first pixel and the second pixel in the third image is Δy1. Then, U*V Δx1s corresponding one-to-one to U*V images in the seventh image information and U*V Δy1s corresponding one-to-one to U*V images can be determined, and the average value Δx2 of U*V Δx1s and the average value Δy2 of U*V Δy1s can be calculated. Based on Δx2 and Δy2, combined with the conversion between the image coordinate system and the reference coordinate system, the position difference between the optical center of the lens included in the first camera and the physical center of the sensor included in the first camera can be determined in the reference coordinate system.

[0135] Optionally, based on the position difference, it can be determined according to which parameters the lens and / or circuit board included in the first camera should be moved so that the optical center of the lens included in the first camera coincides with the physical center of the sensor included in the first camera. Based on the parameters, the lens and / or circuit board included in the first camera can be moved to achieve relative position adjustment of the lens and circuit board included in the first camera.

[0136] Step 1130: determine a spatial frequency response value (Spatialfrequency response) corresponding to the first camera based on the seventh image information, and adjust the relative posture of the lens and the circuit board included in the first camera based on the spatial frequency response value.

[0137] Optionally, the knife-edge method may be used to determine the spatial frequency response values ​​corresponding to U*V images in the seventh image information, so that U*V spatial frequency response values ​​may be obtained. Next, the spatial frequency response value with the largest value may be screened from the U*V spatial frequency response values. At the time of capturing the image corresponding to the spatial frequency response value with the largest value, the relative position of the lens included in the first camera and the circuit board along the up-down direction may be considered to be a more appropriate position, and the relative angle between the lens included in the first camera and the circuit board may be considered to be a more appropriate angle. According to the position and the angle, the relative posture of the lens included in the first camera and the circuit board may be adjusted.

[0138] Step 1140 , in response to the completion of the relative position adjustment and relative posture adjustment of the lens and the circuit board included in the first camera, the lens and the circuit board included in the first camera are controlled to be relatively fixed.

[0139] by Figure 3-2 Taking the case where the camera 10 is used as the first camera as an example, the lens 100 and the circuit board 104 can be relatively fixed by the six-axis adjustable clamp 30 and the six-axis adjustable clamp 32.

[0140] In the embodiment of the present disclosure, by analyzing and calculating the seventh image information, the position difference and the spatial frequency response value (which can be considered as a performance parameter of the camera) can be determined, so that an effective reference can be provided for the relative position adjustment and relative posture adjustment of the lens and circuit board included in the first camera. In this way, after the relative position adjustment and the relative posture adjustment, the optical center of the lens included in the first camera and the physical center of the sensor included in the first camera can coincide as much as possible, and the performance of the first camera can reach an optimal state, so that the quality of the image captured by the first camera can be better guaranteed.

[0141] It should be noted that Fig.11 The illustrated embodiment introduces the relative position adjustment and relative posture adjustment of the lens and circuit board included in the first camera. In a similar manner, the relative position adjustment and relative posture adjustment of the lens and circuit board included in the second camera can be performed.

[0142] In some optional examples, in order to realize the installation of the binocular camera, you can first build an assembly environment. For example, see Figure 3-2The bracket 14 may be provided with mounting holes for accommodating the lens 100 included in the camera 10 and the lens 120 included in the camera 12, and the lens 100 included in the camera 10 may be controlled by the six-axis adjustable gripper 30, and the circuit board 104 included in the camera 10 may be controlled by the six-axis adjustable gripper 32. Similarly, the lens 120 included in the camera 12 may be controlled by the six-axis adjustable gripper 34, and the circuit board 124 included in the camera 12 may be controlled by the six-axis adjustable gripper 34.

[0143] Next, you can follow Fig. 9 In the embodiment shown, the circuit board 104 included in the camera 10 and / or the circuit board 124 included in the camera 12 are adjusted in posture. Fig.11 In the illustrated embodiment, the relative position and relative posture of the lens 100 and the circuit board 104 included in the camera 10 are adjusted. For example, the circuit board 104 can be moved up and down and multiple images can be collected by the camera 10. Based on these collected images, the optimal position of the circuit board 104 along the up and down direction can be determined. Moreover, after the optimal position in the up and down direction is determined, the circuit board 104 can be adjusted multiple times at the optimal position and multiple images can be collected by the camera 10. Based on these collected images, the optimal posture of the circuit board 104 can be determined. Similarly, the relative position and relative posture of the lens 120 and the circuit board 124 included in the camera 12 can also be adjusted.

[0144] Afterwards, you can follow Figure 7 In the embodiment shown, the relative posture of the camera 10 and the camera 12 is adjusted. After the relative posture of the camera 10 and the camera 12 is adjusted, the camera 10 and the camera 12 can be controlled to be relatively fixed, and the distance information between the circuit board 104 and the bracket 14 and the size information of the circuit board 104 can be determined by physical scanning. On this basis, Figure 4 In the embodiment shown, the relative posture of the binocular camera and the bracket 14 is adjusted. After the relative posture of the binocular camera and the bracket 14 is adjusted to the right position, the binocular camera and the bracket 14 can be controlled to be relatively fixed, and the entire installation process of the binocular camera is completed.

[0145] In some optional examples, in order to determine the actual external parameters (such as the first actual external parameters and the second actual external parameters) between the camera 10 and the camera 12, the bracket 14 can be driven to move by a pan / tilt, a turntable or a mechanical arm. During the movement of the bracket 14, the bracket 14 can be moved in a certain position. Figure 13-1 In each of the postures 1, 2, ..., 9 in the figure, the camera 10 and the camera 12 are controlled to capture images. In this way, 9 left images can be captured by the camera 10, and the area where the calibration plate is located can be different in these 9 left images. For example, Figure 13-2As shown, in the first left image among the nine left images, the area where the calibration plate is located may be area 1310, in the second left image among the nine left images, the area where the calibration plate is located may be area 1320, ..., in the ninth left image among the nine left images, the area where the calibration plate is located may be area 1330. Similarly, nine right images may be collected by the camera 12.

[0146] like Figure 13-1 As shown, feature point extraction can be performed for the 9 left images captured by camera 10 and the 9 right images captured by camera 12, respectively, and feature point pairs between the 9 left images captured by camera 10 and the 9 right images captured by camera 12 can be obtained. Based on these feature point pairs, external parameter calculation can be performed to obtain actual external parameters between camera 10 and camera 12. In addition, based on the feature point extraction results obtained by extracting feature points from the 9 left images captured by camera 10, the internal parameters of camera 10 can be calculated. Similarly, based on the feature point extraction results obtained by extracting feature points from the 9 right images captured by camera 12, the internal parameters of camera 12 can be calculated. The internal parameters may include, for example, focal length, distortion parameters, etc.

[0147] like Figure 13-3 As shown, after obtaining the actual external parameters between camera 10 and camera 12, the coaxial accuracy value of the binocular can be calculated. The coaxial accuracy value of the binocular can be characterized by, for example, β', γ', and θ' mentioned above. Alternatively, the coaxial accuracy value of the binocular can also be in the form of a quaternion, a rotation matrix, or other forms. Next, it can be determined whether the coaxial accuracy value of the binocular meets the requirements. If the coaxial accuracy value of the binocular does not meet the requirements (corresponding to the case where the second error is not within the preset error range), the binocular camera can be tilt compensated, that is, the relative posture of camera 10 and camera 12 is adjusted. Afterwards, the actual external parameters between camera 10 and camera 12 can be re-determined, and the coaxial accuracy value can be calculated again. If the coaxial accuracy value calculated again does not meet the requirements, the above operation is repeated. If the coaxial accuracy value calculated again meets the requirements, the binocular camera can be relatively fixed to the bracket 14. In this way, the entire installation process of the binocular camera is completed.

[0148] In summary, by adopting the embodiments of the present disclosure, the installation of the binocular camera can be achieved in a simpler and lower-cost manner. By optimizing the installation method, unnecessary tolerances introduced during the installation process can be avoided as much as possible, thereby ensuring the installation accuracy of the binocular camera.

[0149] Exemplary Devices

[0150] Fig.14 It is a schematic diagram of the structure of a mounting device for a binocular camera provided by some exemplary embodiments of the present disclosure. Fig.14 The apparatus shown may include:

[0151] The first control module 1410 is used to control the first camera included in the binocular camera to obtain first image information including the calibration plate, and control the second camera included in the binocular camera to obtain second image information including the calibration plate when the support carrying the binocular camera moves;

[0152] A first adjustment module 1420, configured to adjust the relative posture of the first camera and the second camera based on the first image information, the second image information, and a preset external parameter between the first camera and the second camera;

[0153] The second control module 1430 is used for controlling the first camera and the second camera to be relatively fixed in response to the first adjustment module 1420 completing the relative posture adjustment of the first camera and the second camera;

[0154] A first determination module 1440 is used to use any one of the relatively fixed first camera and the second camera as a target camera, determine the distance information between the circuit board and the bracket in the target camera, and determine the size information of the circuit board in the target camera;

[0155] A second adjustment module 1450 is used to adjust the relative posture of the binocular camera and the bracket based on the distance information and size information determined by the first determination module 1440;

[0156] The third control module 1460 is used to control the binocular camera and the bracket to be relatively fixed in response to the second adjustment module 1450 completing the adjustment of the relative posture of the binocular camera and the bracket.

[0157] In some optional examples, such as Fig.15 As shown, the second adjustment module 1450 includes:

[0158] A first determining submodule 1510 is used to determine a plurality of distance values ​​between a plurality of locations of the circuit board in the target camera and the bracket based on the distance information determined by the first determining module 1440;

[0159] The second determining submodule 1520 is used to determine the maximum distance value and the minimum distance value among the multiple distance values ​​determined by the first determining submodule 1510;

[0160] A third determining submodule 1530 is used to determine a length value of the circuit board in the target camera based on the size information determined by the first determining module 1440;

[0161] The fourth determining submodule 1540 is used to determine the parameters to be rotated of the binocular camera relative to the bracket based on the maximum distance value determined by the second determining submodule 1520, the minimum distance value determined by the second determining submodule 1520, and the length value determined by the third determining submodule 1530;

[0162] The first adjustment submodule 1550 is used to adjust the relative posture of the binocular camera and the bracket based on the parameters to be rotated determined by the fourth determination submodule 1540.

[0163] In some optional examples, such as Fig.16 As shown, the fourth determining submodule 1540 includes:

[0164] The first determining unit 1610 is used to determine a distance difference between the maximum distance value determined by the second determining submodule 1520 and the minimum distance value determined by the second determining submodule 1520;

[0165] A second determining unit 1620, configured to determine an angle to be rotated in the parameter to be rotated based on the distance difference determined by the first determining unit 1610 and the length value determined by the third determining submodule 1530;

[0166] The third determining unit 1630 is used to determine the relative position between the part corresponding to the maximum distance value determined by the second determining submodule 1520 and the part corresponding to the minimum distance value determined by the second determining submodule 1520;

[0167] The fourth determining unit 1640 is configured to determine the direction to be rotated in the parameter to be rotated based on the relative orientation determined by the third determining unit 1630 .

[0168] In some optional examples, such as Fig.17 As shown, the first adjustment module 1420 includes:

[0169] A fifth determining submodule 1710, configured to determine a first actual extrinsic parameter between the first camera and the second camera based on the first image information and the second image information;

[0170] A sixth determining submodule 1720, configured to determine a first error between the first actual external parameter determined by the fifth determining submodule 1710 and a preset external parameter;

[0171] The second adjustment submodule 1730 is used to adjust the relative posture of the first camera and the second camera by minimizing the first error determined by the sixth determination submodule 1720 as an adjustment target.

[0172] In some optional examples, such as Fig.18 As shown, the third control module 1460 includes:

[0173] The first control submodule 1810 is used for controlling the first camera to acquire third image information including the calibration plate, and controlling the second camera to acquire fourth image information including the calibration plate in response to the completion of the relative posture adjustment between the binocular camera and the bracket, when the bracket moves;

[0174] A seventh determination submodule 1820, configured to determine a second actual extrinsic parameter between the first camera and the second camera based on the third image information and the fourth image information;

[0175] An eighth determining submodule 1830 is used to determine a second error between the second actual external parameter determined by the seventh determining submodule 1820 and the preset external parameter;

[0176] The second control submodule 1840 is used to control the binocular camera and the bracket to be relatively fixed in response to the second error determined by the eighth determination submodule 1830 being within a preset error range.

[0177] In some optional examples, such as Fig.19 As shown, the device provided by the embodiment of the present disclosure also includes:

[0178] The fourth control module 1910 is configured to control the first camera included in the binocular camera to obtain first image information including the calibration plate, and control the second camera included in the binocular camera to obtain second image information including the calibration plate, before the first control module 1410 controls the first camera included in the binocular camera to obtain fifth image information including the calibration plate, and controls the second camera to obtain sixth image information including the calibration plate;

[0179] A second determination module 1920 is used to determine a circuit board rotation parameter for eliminating a binocular combination error based on the fifth image information and the sixth image information;

[0180] A third adjustment module 1930 is used to adjust the posture of the circuit board included in the first camera and / or the circuit board included in the second camera according to the circuit board rotation parameter determined by the second determination module 1920;

[0181] The fifth control module 1940 is used to control the lens and circuit board included in the first camera to be relatively fixed, and to control the lens and circuit board included in the second camera to be relatively fixed in response to the third adjustment module 1930 completing the posture adjustment of the circuit board included in the first camera and / or the circuit board included in the second camera.

[0182] In some optional examples, such as Fig. 20 As shown, the device provided by the embodiment of the present disclosure also includes:

[0183] The sixth control module 2010 is configured to control the first camera included in the binocular camera to obtain the first image information including the calibration plate before the first control module 1410 controls the first camera included in the binocular camera to obtain the first image information including the calibration plate, and controls the second camera included in the binocular camera to obtain the second image information including the calibration plate, to control the first camera to obtain the seventh image information of the calibration plate;

[0184] A first processing module 2020 is used to determine a position difference between an optical center of a lens included in the first camera and a physical center of a sensor included in the first camera based on the seventh image information, and to adjust a relative position of the lens and a circuit board included in the first camera based on the position difference;

[0185] The second processing module 2030 is used to determine a spatial frequency response value corresponding to the first camera based on the seventh image information, and to adjust a relative posture of a lens and a circuit board included in the first camera based on the spatial frequency response value;

[0186] The seventh control module 2040 is used to control the lens and circuit board included in the first camera to be relatively fixed in response to the first processing module 2020 completing the relative position adjustment of the lens and circuit board included in the first camera and the second processing module 2030 completing the relative posture adjustment of the lens and circuit board included in the first camera.

[0187] In the device of the present disclosure, the various optional embodiments, optional implementation methods and optional examples disclosed above can be flexibly selected and combined as needed to achieve corresponding functions and effects, and the present disclosure does not list them one by one.

[0188] Exemplary Electronic Devices

[0189] Fig.21 A block diagram of an electronic device according to an embodiment of the present disclosure is illustrated. The electronic device 2100 includes one or more processors 2110 and a memory 2120 .

[0190] The processor 2110 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 2100 to perform desired functions.

[0191] The memory 2120 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), etc. Non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 2110 may execute one or more computer program instructions to implement the methods of the various embodiments of the present disclosure described above and / or other desired functions.

[0192] In one example, the electronic device 2100 may further include: an input device 2130 and an output device 2140 , and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0193] The input device 2130 may also include, for example, a keyboard, a mouse, etc.

[0194] The output device 2140 can output various information to the outside, and may include, for example, a display, a speaker, a printer, a communication network and its connected remote output device, etc.

[0195] Of course, to simplify, Fig.21 Only some of the components related to the present disclosure in the electronic device 2100 are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application situations, the electronic device 2100 may also include any other appropriate components.

[0196] Exemplary computer program products and computer-readable storage media

[0197] In addition to the above-mentioned methods and devices, an embodiment of the present disclosure may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the method according to various embodiments of the present disclosure described in the above-mentioned "Exemplary Method" section of this specification.

[0198] The computer program product may be written in any combination of one or more programming languages ​​to write program code for performing the operations of the disclosed embodiments, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0199] In addition, an embodiment of the present disclosure may also be a computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, enables the processor to execute the steps of the method according to various embodiments of the present disclosure described in the above “Exemplary Method” section of this specification.

[0200] The computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0201] The basic principles of the present disclosure are described above in conjunction with specific embodiments. However, the advantages, strengths, effects, etc. mentioned in the present disclosure are only examples and not limitations. It cannot be considered that these advantages, strengths, effects, etc. must be possessed by each embodiment of the present disclosure. The specific details disclosed above are only for the purpose of illustration and ease of understanding, not limitation. The above details do not limit the present disclosure to being implemented by adopting the above specific details.

[0202] Those skilled in the art may make various changes and modifications to the present disclosure without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the present disclosure claims and their equivalents, the present disclosure is also intended to include these modifications and variations.

Claims

1. A method for installing a binocular camera, comprising: When the support carrying the binocular camera moves, controlling a first camera included in the binocular camera to acquire first image information including the calibration plate, and controlling a second camera included in the binocular camera to acquire second image information including the calibration plate; Based on the first image information, the second image information, and a preset external parameter between the first camera and the second camera, adjusting the relative posture of the first camera and the second camera; In response to the completion of the relative posture adjustment of the first camera and the second camera, controlling the first camera and the second camera to be relatively fixed; Using any one of the first camera and the second camera that are relatively fixed as a target camera, determining distance information between the circuit board and the bracket in the target camera, and determining size information of the circuit board in the target camera; Based on the distance information and the size information, adjusting the relative posture of the binocular camera and the bracket; In response to the completion of the relative posture adjustment between the binocular camera and the bracket, the binocular camera and the bracket are controlled to be relatively fixed.

2. The method according to claim 1, wherein: The step of adjusting the relative posture of the binocular camera and the bracket based on the distance information and the size information includes: Based on the distance information, determining multiple distance values ​​between multiple locations of the circuit board in the target camera and the bracket; Determine a maximum distance value and a minimum distance value among the plurality of distance values; Based on the size information, determining a length value of the circuit board in the target camera; Based on the maximum distance value, the minimum distance value and the length value, determining a parameter of the binocular camera to be rotated relative to the bracket; Based on the parameters to be rotated, the binocular camera and the bracket are adjusted in relative posture.

3. The method according to claim 2, wherein: The step of determining the rotation parameter of the binocular camera relative to the bracket based on the maximum distance value, the minimum distance value and the length value includes: Determining a distance difference between the maximum distance value and the minimum distance value; Determine the angle to be rotated in the parameter to be rotated based on the distance difference and the length value; Determine the relative position between the part corresponding to the maximum distance value and the part corresponding to the minimum distance value; Based on the relative position, a direction to be rotated in the parameter to be rotated is determined.

4. The method according to claim 1, wherein: The step of adjusting the relative posture of the first camera and the second camera based on the first image information, the second image information, and a preset external parameter between the first camera and the second camera includes: Determining a first actual extrinsic parameter between the first camera and the second camera based on the first image information and the second image information; Determine a first error between the first actual external parameter and the preset external parameter; The first camera and the second camera are relatively adjusted in position with minimizing the first error as an adjustment goal.

5. The method according to claim 1, wherein: In response to the completion of the relative posture adjustment between the binocular camera and the bracket, controlling the binocular camera and the bracket to be relatively fixed comprises: In response to the completion of the relative posture adjustment between the binocular camera and the bracket, when the bracket moves, controlling the first camera to acquire third image information containing the calibration plate, and controlling the second camera to acquire fourth image information containing the calibration plate; determining a second actual extrinsic parameter between the first camera and the second camera based on the third image information and the fourth image information; Determine a second error between the second actual external parameter and the preset external parameter; In response to the second error being within a preset error range, the binocular camera and the bracket are controlled to be relatively fixed.

6. The method according to any one of claims 1 to 5, wherein: Before the first camera included in the binocular camera is controlled to acquire first image information including the calibration plate and the second camera included in the binocular camera is controlled to acquire second image information including the calibration plate when the support carrying the binocular camera moves, the method further includes: Controlling the first camera to acquire fifth image information including the calibration plate, and controlling the second camera to acquire sixth image information including the calibration plate; Based on the fifth image information and the sixth image information, determining a circuit board rotation parameter for eliminating a binocular combination error; According to the circuit board rotation parameter, adjusting the posture of the circuit board included in the first camera and / or the circuit board included in the second camera; In response to completion of posture adjustment of the circuit board included in the first camera and / or the circuit board included in the second camera, the lens and circuit board included in the first camera are controlled to be relatively fixed, and the lens and circuit board included in the second camera are controlled to be relatively fixed.

7. The method according to any one of claims 1 to 5, wherein: Before the first camera included in the binocular camera is controlled to acquire first image information including the calibration plate and the second camera included in the binocular camera is controlled to acquire second image information including the calibration plate when the support carrying the binocular camera moves, the method further includes: Controlling the first camera to obtain seventh image information of the calibration plate; Determine, based on the seventh image information, a position difference between an optical center of a lens included in the first camera and a physical center of a sensor included in the first camera, and adjust relative positions of the lens and a circuit board included in the first camera based on the position difference; Determine a spatial frequency response value corresponding to the first camera based on the seventh image information, and adjust a relative posture of a lens and a circuit board included in the first camera based on the spatial frequency response value; In response to the completion of the relative position adjustment and relative posture adjustment of the lens and the circuit board included in the first camera, the lens and the circuit board included in the first camera are controlled to be relatively fixed.

8. A mounting device for a binocular camera, comprising: A first control module is used to control a first camera included in the binocular camera to obtain first image information including a calibration plate, and to control a second camera included in the binocular camera to obtain second image information including a calibration plate when a support carrying the binocular camera moves; A first adjustment module, configured to adjust the relative posture of the first camera and the second camera based on the first image information, the second image information, and a preset external parameter between the first camera and the second camera; a second control module, configured to control the first camera and the second camera to be relatively fixed in response to the first adjustment module completing the relative posture adjustment of the first camera and the second camera; A first determination module is used to use any one of the first camera and the second camera which are relatively fixed as a target camera, determine the distance information between the circuit board and the bracket in the target camera, and determine the size information of the circuit board in the target camera; A second adjustment module, configured to adjust the relative posture of the binocular camera and the bracket based on the distance information and the size information determined by the first determination module; The third control module is used for controlling the binocular camera and the bracket to be relatively fixed in response to the second adjustment module completing the adjustment of the relative posture of the binocular camera and the bracket.

9. A computer-readable storage medium storing a computer program, wherein the computer program is used to execute the binocular camera installation method described in any one of claims 1 to 7.

10. An electronic device, comprising: processor; a memory for storing instructions executable by the processor; The processor is used to read the executable instructions from the memory and execute the instructions to implement the binocular camera installation method described in any one of claims 1 to 7.

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