Temperature compensation method and device of binocular camera and computer readable storage medium

Abstract

The invention discloses a temperature compensation method and device for a binocular camera and a computer readable storage medium. The temperature compensation method comprises the steps that initial camera parameters of the binocular camera and the initial temperature of the binocular camera are acquired; obtaining a camera temperature of the binocular camera after a preset time, and determining a first temperature change rate of the binocular camera within the preset time; compensating the camera temperature based on a temperature difference value between the camera temperature and the initial temperature and the first temperature change rate, and determining a compensated compensation temperature; determining a parameter change rate of the binocular camera in the temperature difference value based on the compensation temperature and the initial temperature; and determining camera parameters after temperature compensation based on the parameter change rate and the initial camera parameters. Through the setting, the equipment temperature compensation in the temperature changing process can be realized so as to obtain the current real parameters of the equipment.

Description

Technical Field

[0001] The present application relates to the field of camera technology, and in particular to a temperature compensation method, device, and computer-readable storage medium for a binocular camera. Background Art

[0002] Currently, device temperature compensation generally assumes a linear effect on device parameters, without considering internal temperature variations or temperature trends. This type of temperature compensation often fails during actual device use, and the resulting compensation fails to accurately reflect the device's current parameters.

[0003] However, during the actual use of the equipment, the equipment itself is a variable temperature process rather than a constant temperature process. The temperature compensation solution set by referring to the constant temperature process is not suitable for the variable temperature process.

[0004] Therefore, how to achieve temperature compensation of the device during the temperature change process to obtain the current true parameters of the device is a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0005] In order to address the deficiencies of the prior art, the purpose of this application is to provide a temperature compensation method, a temperature compensation device and a computer-readable storage medium for a binocular camera, which can realize device temperature compensation during the temperature change process to obtain the current real parameters of the device.

[0006] To achieve the above objectives, this application adopts the following technical solutions:

[0007] A temperature compensation method for a binocular camera includes: obtaining initial camera parameters and an initial temperature of the binocular camera; obtaining the camera temperature of the binocular camera after a preset time, and determining a first temperature change rate of the binocular camera within the preset time; compensating the camera temperature based on a temperature difference between the camera temperature and the initial temperature and the first temperature change rate, and determining a compensated temperature after compensation; determining a parameter change rate of the binocular camera within the temperature difference based on the compensated temperature and the initial temperature; and determining the camera parameters after temperature compensation based on the parameter change rate and the initial camera parameters.

[0008] Furthermore, obtaining the camera temperature of the binocular camera after a preset time includes:

[0009] Obtain temperature measurement values ​​of multiple measurement positions of the binocular camera after a preset time, and determine the second temperature change rate of each measurement position within the preset time; based on the second temperature change rate of each measurement position, the temperature measurement value, and the temperature weight value of each measurement position, determine the camera temperature after temperature compensation.

[0010] Furthermore, determining the camera temperature after temperature compensation includes:

[0011] The temperature-compensated camera temperature is determined based on the second temperature change rate at each measurement location, the temperature measurement value, the temperature weight value at each measurement location, and a coefficient of each second temperature change rate.

[0012] Furthermore, the calculation method of the temperature weight value and the coefficient of the second temperature change rate includes: obtaining the camera temperature of the binocular camera after multiple set times and the temperature measurement values ​​of multiple measurement positions after multiple set times; based on the multiple camera temperatures, multiple temperature measurement values ​​and curve fitting, calculating the temperature weight value of each measurement position of the binocular camera, and calculating the coefficient of the second temperature change rate of each measurement position of the binocular camera.

[0013] Furthermore, determining the compensated temperature includes: compensating the camera temperature based on the temperature difference between the camera temperature and the initial temperature, the first temperature change rate, and a coefficient of the first temperature change rate to determine the compensated temperature.

[0014] Furthermore, the camera parameters include camera intrinsic parameters, defining the camera intrinsic parameters that need temperature compensation as first current parameters, defining the camera intrinsic parameters other than the first current parameters as first dependent parameters, and determining the camera parameters after temperature compensation, including: determining the first current parameters after temperature compensation based on the parameter change rate, the initial camera parameters, the derivative of the first current parameters with respect to each first dependent parameter, and the coefficient of each derivative

[0015] Furthermore, the camera parameters include camera extrinsic parameters, the camera extrinsic parameters that require temperature compensation are defined as second current parameters, the camera extrinsic parameters other than the second current parameters are defined as second dependent parameters, and the camera parameters after temperature compensation are determined, including: determining the second current parameters after temperature compensation based on the parameter change rate, the initial camera parameters, the derivative of the second current parameter with respect to each second dependent parameter, and the coefficient of each derivative.

[0016] To achieve the above objectives, this application adopts the following technical solutions:

[0017] A temperature compensation device for a binocular camera includes an acquisition module and a calculation module. The acquisition module can acquire initial camera parameters and an initial temperature of the binocular camera; and / or, the acquisition module can acquire the camera temperature of the binocular camera after a preset time; the calculation module can determine a first temperature change rate of the binocular camera within the preset time; and / or, the calculation module can compensate for the camera temperature based on a temperature difference between the camera temperature and the initial temperature and the first temperature change rate, and determine a compensated temperature after compensation; and / or, the calculation module can determine a parameter change rate of the binocular camera within the temperature difference based on the compensated temperature and the initial temperature; and / or, the calculation module can determine the camera parameters after temperature compensation based on the parameter change rate and the initial camera parameters.

[0018] To achieve the above objectives, this application adopts the following technical solutions:

[0019] A computer-readable storage medium stores a computer program, which can implement the temperature compensation method when executed.

[0020] The above-described binocular camera temperature compensation method uses the initial temperature and the camera temperature after a preset time to determine a first temperature change rate within a preset time. Based on this first temperature change rate within the preset time, the binocular camera temperature can be compensated, thereby enabling temperature compensation for the binocular camera during a temperature change process. Furthermore, by obtaining the compensated temperature of the binocular camera after temperature compensation, combining the initial camera parameters and the rate of change of the binocular camera parameters within the temperature difference between the initial temperature and the compensated temperature, the actual camera parameters of the binocular camera in its current state can be determined. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a flow chart of the temperature compensation method for a binocular camera provided in an embodiment of the present application.

[0022] Figure 2 This is a specific flow chart of step S12 in the temperature compensation method for a binocular camera provided in an embodiment of the present application.

[0023] Figure 3 This is a specific flow chart of step S122 in the temperature compensation method for a binocular camera provided in an embodiment of the present application.

[0024] Figure 4 This is a specific flow chart of step S1221 in the temperature compensation method for a binocular camera provided in an embodiment of the present application.

[0025] Figure 5 This is a specific flow chart of step S13 in the temperature compensation method provided in an embodiment of the present application.

[0026] Figure 6This is a specific flow chart of step S131 in the temperature compensation method provided in an embodiment of the present application.

[0027] Figure 7 This is a specific flow chart of step S15 in the first temperature compensation method for a binocular camera provided in an embodiment of the present application.

[0028] Figure 8 This is a specific flow chart of step S15 in the second temperature compensation method for a binocular camera provided in an embodiment of the present application.

[0029] Figure 9 This is a structural diagram of the temperature compensation device for the binocular camera provided in an embodiment of the present application. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the specific implementation of the present application will be clearly and completely described below in conjunction with the drawings in the implementation of the present application.

[0031] It should be noted that the words "first", "second" and similar terms used in the specification and claims of this application do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "one" or "an" do not indicate a quantity limitation, but rather indicate the presence of at least one. "Multiple" or "several" means at least two. Unless otherwise specified, words such as "front", "back", "left", "right", "bottom" and / or "top" are used for ease of description only and are not limited to one position or one spatial orientation. Words such as "include" or "comprising" and similar terms mean that the elements or objects appearing before "include" or "comprising" include the elements or objects listed after "include" or "comprising" and their equivalents, and do not exclude other elements or objects. Words such as "connected" or "connected" and similar terms are not limited to physical or mechanical connections, and may include electrical connections, whether direct or indirect.

[0032] As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0033] like Figure 1 As shown, the present application provides a temperature compensation method for a binocular camera, which is used to obtain the initial camera parameters, initial temperature, first temperature change rate, compensation temperature, and parameter change rate of the binocular camera under a variable temperature state, so as to determine the actual camera parameters of the binocular camera after temperature compensation.

[0034] The temperature compensation method of the binocular camera includes the following steps:

[0035] S11 obtains initial camera parameters and initial temperature of the binocular camera.

[0036] Through the above settings, basic data about the binocular camera's camera parameters and temperature are obtained, which is conducive to subsequent temperature compensation of the binocular camera under variable temperature conditions.

[0037] S12 obtains the camera temperature of the binocular camera after a preset time, and determines a first temperature change rate of the binocular camera within the preset time.

[0038] Through the above settings, combined with the camera temperature and initial temperature of the binocular camera after a preset time, the rate of change of the binocular camera temperature at different time nodes can be obtained, that is, the first temperature change rate is obtained. According to the first temperature change rate, temperature compensation can be performed on the binocular camera in a variable temperature state after a preset time.

[0039] S13 compensates the camera temperature based on the temperature difference between the camera temperature and the initial temperature and the first temperature change rate, and determines a compensated temperature.

[0040] Because the binocular camera's temperature fluctuates during use, accurately compensating for the camera's temperature fluctuations by simply acquiring its initial and camera temperatures is inadequate. Therefore, the aforementioned configuration allows the dynamic rate of change of the binocular camera's temperature over a preset timeframe to be determined based on the first temperature change rate. Combining the temperature difference with the first temperature change rate allows for more accurate temperature compensation of the binocular camera at different time points.

[0041] Furthermore, determining the compensated temperature after compensation can correct the actual temperature of the binocular camera, thereby facilitating accurate acquisition of the actual temperature of the binocular camera during the temperature change process.

[0042] S14 determines the parameter change rate of the binocular camera within the temperature difference based on the compensation temperature and the initial temperature.

[0043] Through the above settings, the parameter change rate of the binocular camera within the temperature difference can be obtained, which is conducive to the subsequent parameter compensation of the binocular camera based on the temperature difference.

[0044] S15 determines the temperature-compensated camera parameters based on the parameter change rate and the initial camera parameters.

[0045] Through the above settings, a nonlinear relationship between camera temperature and camera parameters can be established, so that the camera parameters of the binocular camera at different time nodes under the variable temperature state can be determined, thereby improving the authenticity of the camera parameters of the binocular camera during the temperature change process.

[0046] like Figure 2 As shown, obtaining the camera temperature of the binocular camera after a preset time in step S12 includes the following steps:

[0047] S121 obtains temperature measurement values ​​of multiple measurement positions of the binocular camera after a preset time, and determines a second temperature change rate of each measurement position within the preset time.

[0048] Because the temperature changes at different locations on the binocular camera vary within the preset time, the temperature measurement value at a single measurement location on the binocular camera cannot reflect the actual temperature of the binocular camera. Therefore, the above settings can provide a more comprehensive reflection of the actual temperature of the binocular camera, which helps to improve the authenticity of the camera parameters determined during the subsequent temperature change process.

[0049] In the present application, the temperature measurement value of each measurement position after a preset time is obtained by a temperature sensor, so that the second temperature change rate of each measurement position within the preset time can be determined.

[0050] It should be noted that the present application does not impose any restrictions on the method of obtaining the temperature measurement value of each measurement position after a preset time, and it is only necessary to accurately obtain the temperature measurement value.

[0051] S122 determines the temperature-compensated camera temperature based on the second temperature change rate of each measurement position, the temperature measurement value, and the temperature weight value of each measurement position.

[0052] Because temperature changes at different measurement locations on a binocular camera affect the overall camera temperature to varying degrees, the above settings assign a temperature weight to each measurement location based on its impact on the overall camera temperature. This improves the accuracy of the temperature-compensated camera temperature and facilitates the authenticity of subsequent determinations of the temperature-compensated camera parameters.

[0053] like Figure 3 As shown, as an embodiment, the step of determining the camera temperature after temperature compensation in step S122 includes:

[0054] S1221 determines the temperature-compensated camera temperature based on the second temperature change rate of each measurement position, the temperature measurement value, the temperature weight value of each measurement position, and the coefficient of each second temperature change rate.

[0055] Through the above configuration, the noise in the process of determining the temperature-compensated camera temperature can be filtered out by using the coefficient of each second temperature change rate, thereby improving the accuracy of the temperature-compensated camera temperature.

[0056] like Figure 4As shown, the calculation method of the temperature weight value and the coefficient of the second temperature change rate in step S1221 includes the following steps:

[0057] S1221a obtains the camera temperature of the binocular camera after a plurality of set time periods and the temperature measurement values ​​of a plurality of measurement positions after a plurality of set time periods;

[0058] S1221b calculates a temperature weight value for each measurement position of the binocular camera based on the multiple camera temperatures, the multiple temperature measurement values, and the curve fitting, and calculates a coefficient of a second temperature change rate for each measurement position of the binocular camera.

[0059] Both camera temperature and temperature measurement values ​​can be measured to obtain specific values. By performing curve fitting on the curves formed by multiple camera temperatures and multiple temperature measurement values, the noise immunity of the calculated temperature weight values ​​and the coefficients of the second temperature change rate can be improved, thereby increasing the accuracy of the temperature weight values ​​and the coefficients of the second temperature change rate, and thus helping to improve the authenticity of the camera temperature after temperature compensation.

[0060] In this embodiment, the camera temperature after temperature compensation is determined by the following formula:

[0061]

[0062] Where a(t) is the camera temperature, t is the preset time, n is the number of measurement positions of the binocular camera, and λ i is the temperature weight value of the i-th measurement position of the binocular camera, a i (t) is the temperature measurement value of the i-th measurement position of the binocular camera, is the second temperature change rate of the i-th measurement position of the binocular camera within the preset time, k i is the coefficient of the second temperature change rate of the i-th measurement position of the binocular camera.

[0063] Through the above settings, the product of the coefficient of the second temperature change rate and the second temperature change rate at the i-th measurement position is calculated, and then the above product and the temperature measurement value at the i-th measurement position are summed. Then, the above summation result is multiplied by the temperature weight value of the i-th measurement position to obtain the camera temperature of the i-th measurement position. Finally, the camera temperatures of all measurement positions are summed to obtain the camera temperature of the binocular camera after the preset time. That is, the camera temperature of the binocular camera after temperature compensation is determined by Formula 1.

[0064] like Figure 5 As shown, as an embodiment, the step of determining the compensated temperature in step S13 includes:

[0065] S131 compensates the camera temperature based on the temperature difference between the camera temperature and the initial temperature, the first temperature change rate, and a coefficient of the first temperature change rate, and determines a compensated temperature.

[0066] Variables such as the temperature difference between the camera temperature and the initial temperature, the first temperature change rate, and the coefficient of the first temperature change rate can all be measured or calculated. The specific calculation method is described below and will not be repeated here. Therefore, through the above settings, the compensated temperature can be accurately determined.

[0067] like Figure 6 As shown, as an embodiment, the calculation method of the coefficient of the first temperature change rate in step S131 includes:

[0068] S1311 obtains the camera temperature of the binocular camera after a preset time and the camera parameters after temperature compensation;

[0069] S1312 calculates a coefficient of a first temperature change rate based on the camera temperature, the temperature-compensated camera parameters, and curve fitting.

[0070] Through the above settings, the curve formed by the camera temperature and the curve of the camera parameters after temperature compensation are curve fitted, which can improve the anti-noise ability of the coefficient for calculating the first temperature change rate, thereby improving the accuracy of the coefficient of the first temperature change rate, and further helping to improve the accuracy of the camera temperature after temperature compensation.

[0071] In this embodiment, the specific expressions for determining the temperature-compensated camera parameters are as follows:

[0072]

[0073] Among them, R x (a, t) is the camera parameter after temperature compensation, a is the camera temperature, t is the preset time, R x0 is the initial camera parameter, S a is the initial temperature, is the first temperature change rate of the binocular camera within the preset time, k a is the coefficient of the first temperature change rate, is the parameter change rate of the binocular camera within the temperature difference.

[0074] Through the above settings, the product of the difference between the camera temperature and the initial temperature and the first temperature change rate of the binocular camera within the preset time and the coefficient of the first temperature change rate is obtained. The above difference and product are summed and then multiplied by the parameter change rate of the binocular camera within the temperature difference. Based on the sum of the above multiplication result and the initial camera parameters, the temperature-compensated camera parameters can be obtained. That is, Formula 2 is established to determine the camera parameters of the binocular camera during the temperature change process.

[0075] like Figure 7 As shown, as an embodiment, the camera parameters include camera intrinsic parameters, the camera intrinsic parameters that require temperature compensation are defined as first current parameters, and the camera intrinsic parameters other than the first current parameters are defined as first dependent parameters. The step of determining the camera parameters after temperature compensation includes:

[0076] S15a determines the temperature-compensated first current parameter based on the parameter change rate, the initial camera parameter, the derivative of the first current parameter with respect to each first dependent parameter, and the coefficient of each derivative.

[0077] Under normal circumstances, the first dependent parameter is a constant of 0 after convergence, that is, it has no effect on the first current parameter after temperature compensation. If the deviation of the first current parameter after temperature compensation is large, the first current parameter is corrected with the first dependent parameter through the above setting, thereby improving the accuracy of the first current parameter after temperature compensation.

[0078] In this embodiment, the binocular camera includes a left camera and a right camera. The internal parameters of the left camera and the right camera are different. The internal parameters of the left camera include the first main punctuation internal parameter and the first focal length internal parameter. The first main punctuation internal parameter includes C x1 and C y1 , the first focal length internal parameter includes F x1 and F y1 The internal parameters in the right camera include the second main mark internal parameter and the second focal length internal parameter. The second main mark internal parameter includes C x2 and C y2 , the second focal length internal parameter includes F x2 and F y2 .

[0079] For example, the first main punctuation point internal reference C in the left camera of the binocular camera is x1 For example, the first main punctuation internal reference C x1 The expression for the first dependent parameter is as follows:

[0080]

[0081] in, The first main punctuation internal reference C x1 The first dependent parameter of The first main punctuation internal reference C x1 Internal reference C for the first main punctuation y1 The derivative of k b is the coefficient of the derivative of the first current parameter to the first dependent parameter, b∈N, The first main punctuation internal reference C x1 For the first focal length internal reference F x1 The derivative of The first main punctuation internal reference C x1 For the first focal length internal reference F y1 When the remaining camera intrinsic parameters are used as the first current parameters, the calculation method of the first dependent parameter is the same as Formula 3, which will not be described in detail in this application.

[0082] The coefficient k of the derivative of the first current parameter with respect to the first dependent parameter in the above formula 3 is b The calculation steps are as follows: Get the first main punctuation point internal reference C in the left camera x1 The first dependent parameter and the first main punctuation internal parameter C x1 The derivative of the remaining left camera internal parameters. Based on the first principal point internal parameter C x1 The first dependent parameter and the first main punctuation internal parameter C x1 For the derivatives of the remaining left camera intrinsic parameters and curve fitting, calculate the coefficient k of the derivative of the first current parameter to the first dependent parameter b 、k b+1 、k b+2 When the remaining camera intrinsic parameters are used as the first current parameter, the calculation method of the coefficient of the derivative of the first current parameter with respect to the first dependent parameter is the same as that of Formula 3, which will not be described in detail in this application.

[0083] like Figure 8 As shown, as an embodiment, the camera parameters include camera extrinsic parameters, the camera extrinsic parameters that require temperature compensation are defined as second current parameters, the camera extrinsic parameters other than the second current parameters are defined as second dependent parameters, and the camera parameters after temperature compensation are determined, including:

[0084] S15b determines the temperature-compensated second current parameter based on the parameter change rate, the initial camera parameter, the derivative of the second current parameter with respect to each second dependent parameter, and the coefficient of each derivative.

[0085] Under normal circumstances, the second dependent parameter is a constant of 0 after convergence, that is, it has no effect on the second current parameter after temperature compensation. If the deviation of the second current parameter after temperature compensation is large, the second current parameter is corrected with the second dependent parameter through the above setting, thereby improving the accuracy of the second current parameter after temperature compensation.

[0086] In this application, the extrinsic parameters in the left camera and the right camera are the same, and the extrinsic parameters include rotation extrinsic parameters and translation extrinsic parameters. The rotation extrinsic parameters include R x1 、R y and R z , the translation external parameters include T x 、T y and T Z .

[0087] For example, the rotation extrinsic parameter R x1 For example, the rotation external parameter Rx1 The expression for the second dependent parameter is as follows:

[0088]

[0089] in, is the rotation external parameter R x1 The second dependent parameter, is the rotation external parameter R x1 Rotation extrinsic parameter R y The derivative of is the rotation external parameter R x1 Rotation extrinsic parameter R z The derivative of is the rotation external parameter R x1 Rotation extrinsic parameter T x The derivative of is the rotation external parameter R x1 Rotation extrinsic parameter T y The derivative of is the rotation external parameter R x1 Rotation extrinsic parameter T Z , k c is the coefficient of the derivative of the second current parameter with respect to the first dependent parameter, c∈N. When the remaining camera extrinsic parameters are used as the second current parameter, the calculation method of the second dependent parameter is the same as that of Formula 4, which will not be described in detail in this application.

[0090] The coefficient k of the derivative of the second current parameter to the first dependent parameter in the above formula 4 is c The calculation steps are as follows: Get the rotation external parameter R x1 The second dependent parameter and the rotation extrinsic parameter R x1 Derivatives of the remaining external parameters. Based on the rotation external parameter R x1 The second dependent parameter and the rotation extrinsic parameter R x1 For the derivatives of the remaining external parameters and curve fitting, calculate the coefficient k of the derivative of the second current parameter to the first dependent parameter c 、k c+1 、k c+2 、k c+3 、k c+4 When the remaining camera extrinsic parameters are used as the second current parameters, the calculation method of the coefficient of the derivative of the second current parameter with respect to the first dependent parameter is the same as that of Formula 4, which will not be described in detail in this application.

[0091] Therefore, the external reference R x1 For example, in this application, the calculation formula for determining the camera parameters after temperature compensation is as follows:

[0092]

[0093] Among them, R x1(a, t) is the camera external parameter after temperature compensation, is the parameter change rate of the binocular camera within the temperature difference.

[0094] Through the above settings, the product of the difference between the camera temperature and the initial temperature and the first temperature change rate of the binocular camera within the preset time and the coefficient of the first temperature change rate is obtained. The sum of the above difference and the product is multiplied by the parameter change rate of the binocular camera within the temperature difference. Based on the above multiplication result and the initial camera parameters, the rotation external parameter R x1 The second dependent parameter of is summed, that is, formula 5 is established to determine the rotation external parameter R of the binocular camera during the temperature change process. x1 When other camera parameters need to be calculated, the calculation method of the camera parameters is the same as Formula 5, and this application will not repeat it again.

[0095] like Figure 9 As shown, the present application also provides a binocular camera temperature compensation device 200, which is used to perform a temperature compensation method. The temperature compensation device 200 includes an acquisition module 21 and a calculation module 22. The acquisition module 21 is used to collect the parameters of the binocular camera, and the calculation module 22 is used to calculate the camera parameters after temperature compensation of the binocular camera.

[0096] Specifically, the acquisition module 21 can acquire the initial camera parameters and the initial temperature of the binocular camera; and / or, the acquisition module 21 can acquire the camera temperature of the binocular camera after a preset time. The calculation module 22 can determine a first temperature change rate of the binocular camera within the preset time; and / or, the calculation module 22 can compensate for the camera temperature based on the temperature difference between the camera temperature and the initial temperature and the first temperature change rate, and determine a compensated temperature after compensation; and / or, the calculation module 22 can determine the parameter change rate of the binocular camera within the temperature difference based on the compensated temperature and the initial temperature; and / or, the calculation module 22 can determine the camera parameters after temperature compensation based on the parameter change rate and the initial camera parameters.

[0097] Through the above settings, the calculation module 22 calculates the temperature-compensated camera parameters based on the parameters collected by the acquisition module 21, so that the real-time camera parameters of the binocular camera in the temperature-changing state can be obtained, thereby improving the authenticity of the camera parameters after temperature compensation.

[0098] This application also provides a computer-readable storage medium storing a computer program that executes the temperature compensation method. By implementing the temperature compensation method as a computer program, the storage medium can be used to copy and use the temperature compensation method, thereby reducing the cost of implementing the temperature compensation method.

[0099] It should be understood that those skilled in the art can make improvements or changes based on the above description, and all such improvements and changes should fall within the scope of protection of the claims appended to this application.

Claims

1. A temperature compensation method for a binocular camera, characterized in that: Obtaining initial camera parameters and an initial temperature of the binocular camera; Acquire a camera temperature of the binocular camera after a preset time, and determine a first temperature change rate of the binocular camera within the preset time; Compensating the camera temperature based on a temperature difference between the camera temperature and the initial temperature and the first temperature change rate, and determining a compensated temperature; Determining a parameter change rate of the binocular camera within the temperature difference based on the compensation temperature and the initial temperature; Based on the parameter change rate and the initial camera parameters, the temperature-compensated camera parameters are determined.

2. The temperature compensation method for a binocular camera according to claim 1, wherein: The obtaining of the camera temperature of the binocular camera after a preset time includes: Obtaining temperature measurement values ​​of a plurality of measurement positions of the binocular camera after the preset time, and determining a second temperature change rate of each measurement position within the preset time; The temperature-compensated camera temperature is determined based on the second temperature change rate of each of the measurement positions, the temperature measurement value, and the temperature weight value of each of the measurement positions.

3. The temperature compensation method for a binocular camera according to claim 2, wherein: The determining the camera temperature after temperature compensation includes: The temperature-compensated camera temperature is determined based on the second temperature change rate of each of the measurement positions, the temperature measurement value, the temperature weight value of each of the measurement positions, and a coefficient of each of the second temperature change rates.

4. The temperature compensation method for a binocular camera according to claim 3, wherein: The calculation method of the temperature weight value and the coefficient of the second temperature change rate includes: Obtaining the camera temperature of the binocular camera after a plurality of set time periods and the temperature measurement values ​​of a plurality of the measurement positions after a plurality of the set time periods; The temperature weight value of each measurement position of the binocular camera is calculated based on the multiple camera temperatures, the multiple temperature measurement values, and curve fitting, and the coefficient of the second temperature change rate of each measurement position of the binocular camera is calculated.

5. The temperature compensation method for a binocular camera according to claim 4, wherein: The determining of the compensated temperature includes: The camera temperature is compensated based on the temperature difference between the camera temperature and the initial temperature, the first temperature change rate, and a coefficient of the first temperature change rate to determine a compensated temperature.

6. The temperature compensation method for a binocular camera according to claim 5, characterized in that: The calculation method of the coefficient of the first temperature change rate includes: Obtaining the camera temperature of the binocular camera after a preset time and the camera parameters after temperature compensation; A coefficient of the first temperature change rate is calculated based on the camera temperature, the temperature-compensated camera parameters, and curve fitting.

7. The temperature compensation method for a binocular camera according to claim 6, wherein: The camera parameters include camera intrinsic parameters, defining the camera intrinsic parameters that require temperature compensation as first current parameters, defining the camera intrinsic parameters other than the first current parameters as first dependent parameters, and determining the camera parameters after temperature compensation, including: The temperature-compensated first current parameter is determined based on the parameter change rate, the initial camera parameter, a derivative of the first current parameter with respect to each first dependent parameter, and a coefficient of each derivative.

8. The temperature compensation method for a binocular camera according to claim 6, wherein: The camera parameters include camera extrinsic parameters, defining the camera extrinsic parameters that require temperature compensation as second current parameters, defining the camera extrinsic parameters other than the second current parameters as second dependent parameters, and determining the camera parameters after temperature compensation, including: The temperature-compensated second current parameter is determined based on the parameter change rate, the initial camera parameter, a derivative of the second current parameter with respect to each second dependent parameter, and a coefficient of each derivative.

9. A temperature compensation device for a binocular camera, characterized in that: include: An acquisition module, wherein the acquisition module is capable of acquiring initial camera parameters of the binocular camera and an initial temperature of the binocular camera; And / or, the acquisition module is capable of acquiring the camera temperature of the binocular camera after a preset time; a calculation module, wherein the calculation module is capable of determining a first temperature change rate of the binocular camera within the preset time; And / or, the calculation module can compensate the camera temperature based on the temperature difference between the camera temperature and the initial temperature and the first temperature change rate to determine a compensated temperature; and / or, the calculation module can determine a parameter change rate of the binocular camera within the temperature difference based on the compensated temperature and the initial temperature; And / or, the calculation module can determine the temperature-compensated camera parameters based on the parameter change rate and the initial camera parameters.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed, the temperature compensation method for a binocular camera according to any one of claims 1 to 8 can be implemented.

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