Dual camera and control method thereof

Abstract

This invention provides a binocular camera and its control method. The binocular camera includes a supporting frame and single cameras disposed on both sides of the supporting frame. The two single cameras are electrically connected to a shared control circuit board. An arc-shaped support bow is also vertically mounted on the supporting frame at each single camera. Two sets of plane mirrors are symmetrically arranged on both sides of the arc-shaped support bow, and the plane mirrors reflect light from objects onto the single cameras. This invention has the following advantages: by using four sets of plane mirrors in conjunction with two single cameras to form an image acquisition method similar to a quad-camera, four perspective images are obtained, which solves the technical problem of information limitation caused by existing binocular cameras that can only acquire images from two horizontal positions.

Description

Technical Field

[0001] This invention relates to the field of camera technology, and in particular to a binocular camera and its control method. Background Technology

[0002] Binocular vision technology, by simulating the stereo perception mechanism of human eyes, uses two horizontally arranged cameras to simultaneously acquire images and calculates scene depth information based on the parallax principle. It has been widely used in fields such as robot navigation, autonomous driving, industrial 3D measurement, security monitoring, and drone obstacle avoidance. Conventional binocular camera systems typically employ a horizontal binocular structure with a fixed baseline, generating disparity maps or depth maps through stereo matching algorithms (such as semi-global matching (SGM) and neural network matching).

[0003] However, conventional horizontal binocular cameras can only acquire image information from two fixed positions in the horizontal direction. This inherent limitation leads to a significant decrease in depth estimation accuracy in many typical scenarios. Specifically:

[0004] 1. Difficulty in matching low-texture areas: When there are large areas of weakly textured surfaces in the scene (such as white walls, solid-color floors, and smooth tabletops), the limited horizontal viewpoint differences are insufficient to provide enough matching features. Experimental data shows that in low-texture areas, the mismatch rate of conventional horizontal binocular cameras is usually as high as 15%-25%, resulting in a large number of invalid holes or random noise in the depth map.

[0005] 2. Significant errors in areas of abrupt depth change: In areas of abrupt depth change, such as object edges and foreground / background boundaries, the horizontal baseline configuration is easily affected by occlusion, causing one side of the camera to be unable to observe edge points, resulting in flying spots or edge dilation in parallax calculations. Quantitative evaluation shows that the edge depth error (root mean square error RMSE) of horizontal binocular cameras in areas of abrupt depth change is approximately 0.08-0.12m (based on a measurement distance of 1-3m), which seriously affects the boundary sharpness of 3D reconstruction.

[0006] 2. Directional textures cause matching ambiguity: For texture structures parallel to the baseline direction (such as horizontal stripes, blinds, railings, etc.), the changes in the horizontal direction of the left and right images are extremely weak. Stereo matching is prone to periodic ambiguity, leading to errors in disparity calculation.

[0007] To overcome the aforementioned problems, existing technologies have adopted improved solutions using quad-camera setups (two cameras arranged horizontally and two vertically, forming a rectangular or cross-shaped layout). Quad-camera systems, by introducing a vertical baseline, can acquire vertical parallax information, thus effectively suppressing horizontal texture matching ambiguities; simultaneously, multi-view geometric constraints can reduce the mismatch rate of occluded areas and abrupt depth changes to some extent. However, quad-camera solutions face the following prominent issues:

[0008] 1. Significantly increased hardware costs: The quad-camera system requires four image sensors and matching lenses, with material costs approximately 1.5 to 2 times that of a horizontal binocular system; at the same time, the multiple cameras result in higher precision requirements for structural components, and the assembly and calibration processes are more complex, further increasing manufacturing costs.

[0009] 2. Significantly increased computational complexity: The four-eye system needs to process matching calculations for up to 6 pairs of independent baseline images, which increases the algorithm time by 3-6 times. This places extremely high demands on the computing power of the embedded processing platform, leading to increased power consumption and chip costs.

[0010] While quad cameras improve the robustness of depth estimation to some extent, their high cost and complex engineering implementation limit their adoption in consumer products and cost-sensitive applications. Summary of the Invention

[0011] To address the shortcomings of existing technologies, this invention provides a binocular camera and its control method, which solves the technical problem of information limitation caused by existing binocular cameras being able to only acquire images from two horizontal positions.

[0012] According to an embodiment of the present invention, a binocular camera includes a support frame and single cameras disposed on both sides of the support frame, wherein the two single cameras are electrically connected to a common control circuit board.

[0013] The support frame at the single camera is also vertically provided with an arc-shaped support bow. Two sets of planar reflectors are symmetrically arranged on both sides of the single camera. The planar reflectors reflect the light from the object onto the single camera.

[0014] The technical principle of this invention is as follows: When in use, the light from the object is reflected by four sets of plane mirrors and reaches two single cameras, so that each camera captures two images. Although there are two images, each image is the reflection of the object's light by the two sets of plane mirrors at two angles. That is, the image is actually a combination of two perspective images. By cropping the image, images from different angles can be obtained, which makes it easier for the control circuit board to process and calculate to obtain a disparity map or depth map.

[0015] Compared with existing technologies, the present invention has the following advantages: by using four sets of planar reflectors in conjunction with two single cameras to form an image acquisition method similar to a quad-camera, images from four perspectives are obtained, which solves the technical problem of information limitation caused by existing binocular cameras, which can only acquire images from two horizontal positions.

[0016] Furthermore, one set of the planar reflectors includes two reflectors hinged together and an imaging mirror aligned with a single camera, and the reflectors and imaging mirrors in the two sets of planar reflectors are completely symmetrical.

[0017] Furthermore, the two imaging mirrors are on the same plane, the two imaging mirrors form a single mirror surface, and the single camera is located at the center of the imaging mirror.

[0018] By using two reflectors and one imaging mirror, the light from the object is directed towards a single camera to achieve image acquisition.

[0019] Furthermore, one of the reflectors is hinged to the side not hinged to the reflector and to the arc-shaped support bow, while the other reflector is provided with a horizontal track on the side not hinged to the reflector. The horizontal track is mounted on the arc-shaped support bow, which is provided with a reflective electric actuator. The telescopic rod of the reflective electric actuator is hinged to the back of one of the reflectors. A distance electric actuator is provided between the arc-shaped support bow and the imaging mirror.

[0020] The distance between the imaging mirror and the single camera is adjusted by setting the distance push rod; the angle between the two reflective mirrors is adjusted by setting the reflection push rod in conjunction with the horizontal rail; both of these adjustments are to adjust the incident angle and reflection angle of the object's light, ensuring that the object's light is aligned with the single camera.

[0021] Furthermore, the support frame includes two hinged frames that are hinged to each other and an orientation adjustment device connecting the hinged frames.

[0022] The hinge frame includes three arc-shaped rods, each with a hinge block at one end, and two hinge frames are hinged together using the hinge block; the three arc-shaped rods are arranged in a triangle at the other end and fixed to an arc-shaped support bow.

[0023] Furthermore, hinge posts are provided on the two hinge blocks, and a base plate is provided at the bottom of the hinge posts. A drive mounting post is provided on the base plate. The orientation adjustment device includes two symmetrically arranged orientation electric actuators. The orientation electric actuators are hinged to the drive mounting post, and the telescopic rods of the orientation electric actuators are hinged to an arc-shaped rod.

[0024] By setting an electric actuator to control the angle between the two hinged frames, the angle can be adjusted to ensure that the light from the object is just introduced into the plane mirror.

[0025] Furthermore, the arc-shaped support bow includes an arc-shaped frame and a connecting frame connecting the arc-shaped frame, two arc-shaped rods are connected to the arc-shaped frame, the remaining arc-shaped rod is connected to the connecting frame, and the single camera is installed at the center of the arc-shaped frame;

[0026] The horizontal track is set on the arc frame along the length of the arc frame, a reflector is hinged to the arc frame, the reflective electric actuator is installed on the arc frame, and the distance electric actuator is installed on the connecting frame.

[0027] By setting up an arc-shaped frame and a connecting frame, a set of planar reflectors and a single camera can be well protected and are not easily affected by external impacts.

[0028] Furthermore, the supporting frame and the two arc-shaped supporting arches are provided with a shell, and the shell is provided with a transparent window, which is aligned with four sets of planar reflectors.

[0029] By using an outer casing, dust can be prevented from contacting the plane mirror and making it dirty; at the same time, a transparent window ensures that the plane mirror can reflect the light from objects.

[0030] Furthermore, the control circuit board includes a main control module and a calculation processing module, a preprocessing module, a judgment module, a postprocessing module, a communication module, a power supply module, and a storage module connected and controlled by the main control module. The main control module is also connected and controlled by a single camera, a reflective electric actuator, and a distance electric actuator.

[0031] The single camera is connected to the preprocessing module, the preprocessing module is connected to the calculation processing module, the calculation processing module is connected to the judgment module and the postprocessing module respectively, the postprocessing module is connected to the communication module, the communication module is connected to the client, and the storage module is connected to the preprocessing module.

[0032] A control method for a binocular camera according to an embodiment of the present invention is provided for a binocular camera, the control method comprising:

[0033] S1. Adjusting position: The two single cameras are activated through the main control module, and then the reflective electric push rod and the distance electric push rod are adjusted through the main control module so that the four sets of planar reflectors can accurately reflect the object to the two single cameras.

[0034] S2. Image Acquisition: The main control module sends an image acquisition command to the two single cameras. The two single cameras transmit the images on the imaging lens to the preprocessing module. The preprocessing module splits the two acquired images into four images and then performs preprocessing such as bad pixel correction, black level correction, noise reduction, white balance, color interpolation, gamma correction, and sharpening, or any combination of these preprocessing steps. Finally, the images are transmitted to the storage module for storage and simultaneously to the computing and processing module.

[0035] S3, Depth Calculation: The preprocessed image data is calculated by the calculation processing module. Two image data that are at the same level among the four image data are combined to calculate a disparity map or a depth map. The two disparity maps or depth maps are transmitted to the judgment module for comparison of pixel reprojection error. Judgment is made according to the set reprojection error threshold.

[0036] When the reprojection error is within the threshold, the judgment module gives the calculation and processing module a pass instruction; the calculation and processing module combines the two disparity maps or depth maps into one disparity map or depth map and sends it to the post-processing module.

[0037] When the reprojection error exceeds the threshold, the judgment module sends a no instruction to the calculation and processing module. The calculation and processing module combines the original four image data in pairs to calculate four more disparity maps or depth maps, for a total of six disparity maps or depth maps. These six disparity maps or depth maps are then transmitted to the judgment module for comparison of pixel reprojection errors in pairs. The two disparity maps or depth maps with the largest errors are excluded. The judgment module then sends the corresponding exclusion instruction to the calculation and processing module. After excluding the two disparity maps or depth maps according to the exclusion instruction, the calculation and processing module performs two combination calculations on the remaining four disparity maps or depth maps to obtain one disparity map or depth map, which is then transmitted to the post-processing module.

[0038] S4. Post-processing: The post-processing module sequentially performs depth map filtering, hole filling, color mapping, and format encapsulation on a disparity map or depth map to form the output format required by the client.

[0039] S5. Transmission: Transmit the disparity map or depth map processed in step S4 to the client through the communication module.

[0040] The image is cut into four angles by the preprocessing module to obtain image data.

[0041] Adding a judgment module to the S3 step can effectively improve the depth estimation accuracy of the output disparity map or depth map while saving algorithm time and computing power.

[0042] Furthermore, the depth estimation accuracy of the disparity map or depth map it ultimately calculates is similar to that of a quad-camera system, and the cost is only about 55% of that of a quad-camera system. Attached Figure Description

[0043] Figure 1 This is a top-section structural diagram of the binocular camera according to Embodiment 1 of the present invention.

[0044] Figure 2 This is a schematic diagram of the connection structure of the arc-shaped support bow in Embodiment 1 of the present invention.

[0045] Figure 3 This is a block diagram of the control circuit board of Embodiment 1 of the present invention.

[0046] Figure 4 This is a top-section structural diagram of the binocular camera in Embodiment 2 of the present invention.

[0047] Figure 5 This is a front view schematic diagram of the transparent scale line structure in Embodiment 2 of the present invention.

[0048] In the above attached figures: 10, supporting frame; 11, arc-shaped rod; 12, reinforcing rod; 13, base plate; 14, hinge frame; 15, hinge column; 16, drive mounting column; 17, orientation electric actuator; 18, spacing indicator bar; 20, single camera; 30, control circuit board; 40, arc-shaped support bow; 41, arc-shaped frame; 42, connecting frame; 50, reflector; 51, horizontal track; 52, reflective electric actuator; 60, imaging mirror; 61, distance electric actuator; 70, outer shell; 71, transparent window; 72, transparent scale line. Detailed Implementation

[0049] The technical solutions of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0050] Example 1

[0051] like Figure 1-2 The binocular camera shown includes a support frame 10 and single cameras 20 disposed on both sides of the support frame 10. The two single cameras 20 are electrically connected to a common control circuit board 30. An arc-shaped support bow 40 is also vertically disposed on the support frame 10 at the single camera 20. Two sets of plane mirrors are symmetrically disposed on both sides of the arc-shaped support bow 40, and the plane mirrors reflect the light of the object onto the single camera 20.

[0052] The specific support frame 10 is composed of three arc-shaped rods 11, and a reinforcing rod 12 is provided between the three arc-shaped rods 11. The bottom of the three arc-shaped rods 11 is provided with a base plate 13, which is used to connect with support structures such as tripods.

[0053] like Figure 2 As shown, the arc-shaped support bow 40 includes an arc-shaped frame 41 and a connecting frame 42 that connects to the arc-shaped frame 41. Two arc-shaped rods 11 are connected to the arc-shaped frame 41, and the remaining arc-shaped rod 11 is connected to the connecting frame 42. A single camera 20 is installed at the center of the arc-shaped frame 41.

[0054] like Figure 2As shown, a set of planar reflectors includes two reflectors 50 hinged together and an imaging mirror 60 aligned with a single camera 20. The reflectors 50 and imaging mirror 60 in the two sets of planar reflectors are completely symmetrical. Specifically, the two imaging mirrors 60 are on the same plane and form a single mirror surface. The single camera 20 is located at the center of the imaging mirror 60 to ensure that it can receive the light reflected from the imaging mirror 60.

[0055] Specifically, one reflector 50 is hinged to the side of the reflector 50 that is not hinged to the reflector 50 and to the arc-shaped support bow 40. The other reflector 50 is provided with a horizontal track 51 on the side of the reflector 50 that is not hinged to the reflector 50. One end of the reflector 50 can move along the horizontal track 51, and the place where the reflector 50 is inserted into the horizontal track 51 is also a hinged connection structure.

[0056] A horizontal track 51 is set on the arc frame 41 along the length of the arc frame 41. A reflective electric actuator 52 is hinged on the arc frame 41. The telescopic rod of the reflective electric actuator 52 is hinged to the back of a reflective mirror 50. A distance electric actuator 61 is provided between the connecting frame 42 and the imaging mirror 60. In order to ensure the stability of the distance electric actuator 61 in pushing the imaging mirror 60, telescopic rods can be set between the four corners of the imaging mirror 60 and the connecting frame 42 to ensure the stability of movement.

[0057] like Figure 1-2 As shown, the outer side of the support frame 10 and the two arc-shaped support bows 40 is provided with a shell 70. The bottom of the shell 70 is fixed to the base plate 13. The shell 70 is provided with a transparent window 71, which is aligned with four sets of plane mirrors to ensure that the light of the object can be reflected on the four sets of plane mirrors.

[0058] like Figure 3 As shown, the control circuit board 30 includes a main control module and a calculation processing module, a preprocessing module, a judgment module, a post-processing module, a communication module, a power supply module, and a storage module connected and controlled by the main control module. The main control module is also connected to and controls a single camera 20, a reflective electric actuator 52, and a distance electric actuator 61. The single camera 20 is connected to the preprocessing module for preliminary image processing. The preprocessing module is connected to the calculation processing module for depth calculation. The calculation processing module is connected to both the judgment module and the post-processing module. The post-processing module is connected to the communication module, which is connected to a client for remote operation by the operator. The storage module is connected to the preprocessing module for storing the original image information.

[0059] like Figure 3 The control method shown is for a binocular camera, and the control method includes:

[0060] S1. Adjusting the position: Activate the two single cameras 20 through the main control module, and then adjust the reflective electric push rod 52 and the distance electric push rod 61 through the main control module so that the four sets of plane reflectors can accurately reflect the object to the two single cameras 20.

[0061] The adjustment method is as follows: The single camera 20 transmits image data to the main control module in real time. The main control module converts the image data into the output format required by the client, and then transmits it to the client through the communication module. The operator then judges whether the four sets of planar reflectors are aligned with the object based on the image. Based on the image, the operator sends instructions to the main control module through the client, so that the main control module controls the reflective electric actuator 52 and the distance electric actuator 61 to adjust the four sets of planar reflectors. Alternatively, an image recognition and tracking system can be used to replace the operator to achieve automatic adjustment.

[0062] S2. Image Acquisition: The main control module sends an image acquisition command to the two single cameras 20. The two single cameras 20 transmit the images on the imaging lens 60 to the preprocessing module. The preprocessing module splits the two acquired images into four images and then performs preprocessing such as bad pixel correction, black level correction, noise reduction, white balance, color interpolation, gamma correction, and sharpening, or any combination of these. Finally, the images are transmitted to the storage module for storage and simultaneously to the computing processing module. That is, the original data is stored. If data loss occurs in subsequent steps, it can be retrieved from the storage module without re-acquiring the images.

[0063] S3. Depth Calculation: The calculation module performs calculations on the pre-processed image data, combining two image data points at the same level from the four image data points to calculate a disparity map or depth map. The two disparity maps or depth maps are then transmitted to the judgment module for comparison of pixel reprojection errors. The judgment is made based on the set reprojection error threshold, which is determined according to the accuracy required for actual needs, generally ≤2px, which can meet the requirements of conventional monitoring and large-scene 3D reconstruction.

[0064] When the reprojection error is within the threshold, the judgment module gives the calculation and processing module a pass instruction; the calculation and processing module combines the two disparity maps or depth maps into one disparity map or depth map and sends it to the post-processing module.

[0065] When the reprojection error exceeds the threshold, the judgment module sends a no instruction to the calculation and processing module. The calculation and processing module combines the original four image data in pairs to calculate four more disparity maps or depth maps, adding them to the original two disparity maps or depth maps, for a total of six disparity maps or depth maps. These six disparity maps or depth maps are then transmitted to the judgment module for comparison of pixel reprojection errors in pairs. The two disparity maps or depth maps with the largest errors are excluded. The judgment module then sends the corresponding exclusion instruction to the calculation and processing module, such as 1 and 6. After excluding the two disparity maps or depth maps according to the exclusion instruction, the calculation and processing module performs two combination calculations on the remaining four disparity maps or depth maps to obtain one disparity map or depth map, which is then transmitted to the post-processing module.

[0066] S4. Post-processing: The post-processing module sequentially performs depth map filtering, hole filling, color mapping, and format encapsulation on a disparity map or depth map to form the output format required by the client.

[0067] S5. Transmission: Transmit the disparity map or depth map processed in step S4 to the client through the communication module.

[0068] Example 2

[0069] like Figure 4 As shown, the difference between this embodiment and embodiment 1 is that the support frame 10 includes two hinged frames 14 that are hinged to each other and an orientation adjustment device connecting the hinged frames 14; the hinged frame 14 includes three arc-shaped rods 11, and the three arc-shaped rods 11 are provided with a hinge block at one end; the three arc-shaped rods 11 are distributed in a triangle at the other end and fixed to the arc-shaped support bow 40.

[0070] Specifically, the two hinged frames 14 are hinged by hinged blocks, and hinged columns 15 are provided on the two hinged blocks. The bottom of the hinged columns 15 is fixed to the base plate 13, and a drive mounting column 16 is fixed on the base plate 13. The orientation adjustment device includes two symmetrically arranged orientation electric push rods 17, which are hinged to the drive mounting column 16. The telescopic rod of the orientation electric push rod 17 is hinged to an arc-shaped rod 11.

[0071] like Figure 4-5 As shown, because the orientation angle of the plane reflector can be adjusted by the electric push rod 17 in this embodiment, it is possible to switch between looking at near and looking at far, and at the same time, the spacing between the single cameras 20 is changed. Therefore, a transparent scale line 72 needs to be provided on the housing 70, and two symmetrical spacing bars 18 need to be provided on the two hinge brackets 14. The top of the spacing bar 18 is located inside the transparent scale line 72.

[0072] The scale value marked on the transparent scale line 72 in this embodiment is not the distance between the two spacing bars 18, but the distance between the two single cameras 20.

[0073] After the adjustment is completed, the operator needs to input the degree into the main control module through the client, and the main control module will then transmit it to the calculation and processing module.

[0074] Example 3

[0075] The difference between this embodiment and embodiment 2 is that: instead of setting transparent scale lines 72, a row of infrared sensors is set inside the original transparent scale lines 72. The infrared sensors are connected to the main control module and are used to sense the position of the spacing indicator bar 18, so that the main control module knows the spacing between the two single cameras 20 and transmits it to the calculation and processing module.

[0076] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A binocular camera, characterized in that: It includes a support frame and single cameras disposed on both sides of the support frame, and the two single cameras are electrically connected to a common control circuit board. The support frame at the single camera is also vertically provided with an arc-shaped support bow. Two sets of planar reflectors are symmetrically arranged on both sides of the single camera. The planar reflectors reflect the light from the object onto the single camera.

2. A binocular camera as described in claim 1, characterized in that: One set of the planar reflectors includes two reflectors hinged together and an imaging mirror aligned with a single camera. The reflectors and imaging mirrors in the two sets of planar reflectors are completely symmetrical.

3. A binocular camera as described in claim 2, characterized in that: The two imaging mirrors are on the same plane, and the two imaging mirrors form a single mirror surface. The single camera is located at the center of the imaging mirror.

4. A binocular camera as described in claim 2 or 3, characterized in that: One of the reflectors is hinged to the side not hinged to the reflector and to the arc-shaped support bow. The other reflector is provided with a horizontal track on the side not hinged to the reflector. The horizontal track is mounted on the arc-shaped support bow. The arc-shaped support bow is provided with a reflective electric actuator. The telescopic rod of the reflective electric actuator is hinged to the back of one of the reflectors. A distance electric actuator is provided between the arc-shaped support bow and the imaging mirror.

5. A binocular camera as described in claim 4, characterized in that: The support frame includes two hinged frames that are hinged to each other and an orientation adjustment device connecting the hinged frames. The hinge frame includes three arc-shaped rods, each with a hinge block at one end, and two hinge frames are hinged together using the hinge block; the three arc-shaped rods are arranged in a triangle at the other end and fixed to an arc-shaped support bow.

6. A binocular camera as described in claim 5, characterized in that: The two hinge blocks are provided with hinge columns, the bottom of the hinge columns is provided with a base plate, and the base plate is provided with a drive mounting column; the orientation adjustment device includes two symmetrically arranged orientation electric actuators, the orientation electric actuators are hinged to the drive mounting column, and the telescopic rod of the orientation electric actuator is hinged to an arc-shaped rod.

7. A binocular camera as described in claim 5, characterized in that: The arc-shaped support bow includes an arc-shaped frame and a connecting frame connecting the arc-shaped frame, two arc-shaped rods are connected to the arc-shaped frame, and the remaining arc-shaped rod is connected to the connecting frame. The single camera is installed at the center of the arc-shaped frame. The horizontal track is set on the arc frame along the length of the arc frame, a reflector is hinged to the arc frame, the reflective electric actuator is installed on the arc frame, and the distance electric actuator is installed on the connecting frame.

8. A binocular camera as described in claim 1, characterized in that: The supporting frame and the two arc-shaped supporting bows are provided with an outer shell, and the outer shell is provided with a transparent window, which is aligned with four sets of planar reflectors.

9. A binocular camera as described in claim 4, characterized in that: The control circuit board includes a main control module and a calculation processing module, a preprocessing module, a judgment module, a postprocessing module, a communication module, a power supply module, and a storage module connected and controlled by the main control module. The main control module is also connected and controlled by a single camera, a reflective electric actuator, and a distance electric actuator. The single camera is connected to the preprocessing module, the preprocessing module is connected to the calculation processing module, the calculation processing module is connected to the judgment module and the postprocessing module respectively, the postprocessing module is connected to the communication module, the communication module is connected to the client, and the storage module is connected to the preprocessing module.

10. A control method for a binocular camera, characterized in that: For a binocular camera as described in claim 9, the control method includes: S1. Adjusting position: The two single cameras are activated through the main control module, and then the reflective electric push rod and the distance electric push rod are adjusted through the main control module so that the four sets of planar reflectors can accurately reflect the object to the two single cameras. S2. Image Acquisition: The main control module sends an image acquisition command to the two single cameras. The two single cameras transmit the images on the imaging lens to the preprocessing module. The preprocessing module splits the two acquired images into four images and then performs preprocessing such as bad pixel correction, black level correction, noise reduction, white balance, color interpolation, gamma correction, and sharpening, or any combination of these preprocessing steps. Finally, the images are transmitted to the storage module for storage and simultaneously to the computing and processing module. S3, Depth Calculation: The preprocessed image data is calculated by the calculation processing module. Two image data that are at the same level among the four image data are combined to calculate a disparity map or a depth map. The two disparity maps or depth maps are transmitted to the judgment module for comparison of pixel reprojection error. Judgment is made according to the set reprojection error threshold. When the reprojection error is within the threshold, the judgment module gives the calculation and processing module a pass instruction; the calculation and processing module combines the two disparity maps or depth maps into one disparity map or depth map and sends it to the post-processing module. When the reprojection error exceeds the threshold, the judgment module sends a no instruction to the calculation and processing module. The calculation and processing module combines the original four image data in pairs to calculate four more disparity maps or depth maps, for a total of six disparity maps or depth maps. These six disparity maps or depth maps are then transmitted to the judgment module for comparison of pixel reprojection errors in pairs. The two disparity maps or depth maps with the largest errors are excluded. The judgment module then sends the corresponding exclusion instruction to the calculation and processing module. After excluding the two disparity maps or depth maps according to the exclusion instruction, the calculation and processing module performs two combination calculations on the remaining four disparity maps or depth maps to obtain one disparity map or depth map, which is then transmitted to the post-processing module. S4. Post-processing: The post-processing module sequentially performs depth map filtering, hole filling, color mapping and format encapsulation on a disparity map or depth map to form the output format required by the client. S5. Transmission: Transmit the disparity map or depth map processed in step S4 to the client through the communication module.

Images