Binocular Camera Depth Measurement Error Correction
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Solution Overview
Problem
Conventional binocular camera systems face inaccuracies in depth direction distance measurement, which hinder the accuracy of three-dimensional reconstruction.
Innovation Solution
A method involving the calculation of average disparity and extrinsic parameters using a distance measurement marker placed at multiple positions, with the use of a base line and focal length of the binocular camera to determine distance measurement values and error costs, optimizing the calculation of translation and rotation matrices to minimize error and enhance accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional binocular distance measurement scheme is used, then the measurement process is simple, but the distance measurement error in depth direction cannot meet accuracy requirement
Solution Approach 1:
The patent performs preliminary calibration by placing the distance measurement marker at multiple predetermined positions (middle, left, right sides at various depths) before actual measurement. This preliminary action establishes accurate depth-to-pixel correspondence relationships and disparity error models, which are then used to correct measurements during actual operation, thereby improving depth measurement accuracy without adding complexity to the measurement process itself.
Solution Approach 2:
The patent transitions from conventional two-dimensional image plane measurement to three-dimensional spatial measurement by introducing depth information through multiple positioning levels. By measuring at multiple depth positions (Z positions) and multiple horizontal positions (left, middle, right), the system builds a 3D calibration model that accurately maps pixel disparities to real-world distances, solving the depth measurement accuracy problem.
2Measurement precision
If multiple positions and multiple images are used for calibration, then measurement accuracy improves, but calibration time and process complexity increase
Solution Approach 1:
The calibration process is segmented into distinct positional measurements (middle position, left side position, right side position) at multiple depth levels. Each position is calibrated independently using N images, allowing parallel processing and systematic data organization. This segmentation enables efficient computation of average disparities and error costs for each position, improving overall calibration efficiency while maintaining comprehensive coverage.
Solution Approach 2:
The patent employs periodic calibration by systematically placing the marker at predetermined positions (middle, left, right) at each depth level in a regular sequence. This periodic measurement pattern ensures consistent sampling across the measurement space and allows for efficient computation of average disparities through periodic averaging, reducing calibration time while maintaining accuracy.
Data Source
AI summary
The present disclosure provides a method for distance measurement based on a binocular camera, a system for distance measurement based on a binocular camera, a device and a computer-readable storage medium. The method includes: taking N images of a distance measurement marker placed at each of Z positions in a depth direction of the binocular camera; calculating an average disparity of the distance measurement marker at the middle position, the left side position and the right side position at each of the Z positions; calculating a distance measurement value at each of the Z positions in the depth direction; calculating a distance measurement error value at the middle position, the left side position and the right side position at each of the Z positions, and acquiring a total error cost function; and calculating extrinsic parameters, so as to acquire a distance measurement result in the depth direction.