CN101276138A - Binocular stereoscopic camera with self-adjusting base length - Google Patents
Binocular stereoscopic camera with self-adjusting base length Download PDFInfo
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- CN101276138A CN101276138A CNA2008101054037A CN200810105403A CN101276138A CN 101276138 A CN101276138 A CN 101276138A CN A2008101054037 A CNA2008101054037 A CN A2008101054037A CN 200810105403 A CN200810105403 A CN 200810105403A CN 101276138 A CN101276138 A CN 101276138A
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Abstract
The present invention provides a binocular stereo camera which baseline length is automatically adjusted, used for robot navigation, three-dimensional reconstruction etc, belonging to machine vision field. The camera includes a stereoscopic imaging part, a stereoscopic vision information processing part and a motor drive part. The stereoscopic imaging part includes two CCD image sensors, the two CCD image sensors are mounted on the two parallel sliders of the support, one CCD image sensor is connected with the motor drive part, sliding on the supporter along the support by the guidance of the motor drive part, the other one is fixedly connected with the slider. The stereoscopic vision information processing part is an embedded image processor, connected with two CCD image sensors, the embedded image processor is connected with the motor drive part. The binocular stereo camera which relative baseline length is fixed, the invention increase a degree of freedom of a baseline length adjustment, capable of changing the baseline length in the using course to meet requirements of different tasks such as matching or tracing etc.
Description
Technical field
The present invention is the self-regulating binocular solid video camera of a kind of base length, is used for robot navigation, three-dimensional reconstruction etc., belongs to field of machine vision.
Background technology
Stereovision technique is obtaining application widely aspect Mobile Robotics Navigation, multiple target tracking, three-dimensional measurement and the three-dimensional reconstruction.There are a variety of stereo cameras that are applied to robot at present, Bumblebee series stereo camera as Canada grey some company (Point Grey Research Inc) production, Bumblebee2 is made of two ccd image sensors side by side, camera lens can be the micro lens that focal length is 3.8mm or 6mm, base length is 12cm, link to each other with PC by 1394 lines, the images match scheduling algorithm is realized on PC, can make up real-time depth map.U.S. Videre Design company produces the binocular solid video camera that baseline can manual adjustments, stereo camera as the STH-MDCS3-VAR model, form by two cmos image sensors side by side, base length can be regulated between 5-20cm, camera lens can be selected the standard lens of various C/CS interfaces, the images match scheduling algorithm is operated on the PC to be realized, can obtain real-time depth map, the video camera of a kind of STH-MDCS3-VARX model in addition, base length can be regulated with step-length 7cm between 18-60cm, and other various parameters and STH-MDCS3-VAR are similar.The Wang Yaonan of Hunan University, Yu Hongshan, Liang Ang, the patent of invention of Duan Feng (number of patent application: 03124756.3)---Stereoscopic Binocular Vision Device of Humanoid Multiple Degrees of Freedom, its main application is to obtain three-dimensional environment information automatically, have horizontally rotating of video camera, face upward the action of bowing, the vergence of two video cameras is adjusted four degree of freedom, can realize quick, dynamic mutual adjustment of each motion parts by computer control system, realized the motor function of similar eye and head, had certain intelligent.
Mainly there is following problem in the binocular solid video camera at present:
Distance between two video cameras of binocular solid video camera, be that base length is can't be self-regulating, as described above, the base length of the Bumblebee2 that the grey some company of Canada (Point Grey Research Inc) produces is fixed, the STH-MDCS3-VAR (X) that Videre Design company produces, though base length can be regulated, this adjusting was carried out before using, and can't realize in the course of the work regulating.The patent of invention---Stereoscopic Binocular Vision Device of Humanoid Multiple Degrees of Freedom in Hunan University Wang Yao south etc., though two video cameras have the function that automatic vergence is adjusted, but this adjustment is to rely on the rotation of video camera to form, do not change the length of baseline, and bring very big difficulty can for after the video camera rotation images match and depth calculation scheduling algorithm.
Summary of the invention:
The objective of the invention is to overcome the above-mentioned defective of prior art, provide a kind of base length can self-regulating binocular solid video camera, the present invention has high-precision servo control performance, can accurately regulate the length of baseline, thereby change the size of two common visual ranges of video camera, effectively the depth information of computed image can be applied to fields such as robot navigation, target following, three-dimensional reconstruction.
To achieve these goals, the present invention takes following technical scheme.It comprises the three-dimensional imaging part, Stereo Vision processing section and motor transmission part.Described three-dimensional imaging partly comprises two ccd image sensors, on the rack-mount two parallel litter of two ccd image sensors, one of them ccd image sensor links to each other with motor transmission part, can slide at support upper edge litter by its guiding, another ccd image sensor is fixedlyed connected with litter.Described Stereo Vision processing section is an embedded image processor, links to each other with two ccd image sensors, receives from the image information of two ccd image sensors and handles; The embedded image processor links to each other with motor transmission part.
Described motor transmission part includes the motion control card and the belt of motor, control motor movement, belt is fixedlyed connected by contiguous block with one of them ccd image sensor, motion control card links to each other with motor, be used for the motion of drive motor, motion control card also links to each other with the embedded image processor of Stereo Vision processing section.
Also include host computer, host computer links to each other with the motion control card of Stereo Vision processing section and motor transmission part respectively.
Described motor is the DC servo motor that has motor encoder.
It is parallel that binocular camera of the present invention remains the optical axis of two video cameras, and the plane of delineation of two video cameras satisfies the most basic binocular solid geometric relationship on same plane, according to Similar Principle of Triangle, draws the degree of depth of certain point in the scene
, wherein f is a focal length, b is a parallax range, the parallax that d draws for left and right sides images match.When the base length conversion, only need to change the b value in the formula.Simultaneously as can be seen from top depth calculation formula, for the precision that improves depth value can increase base length b, when base length increases, the visual range of two video cameras increases, the Search/Track that helps object, but common visual range reduces, and the parallax value of scene point correspondence increases thus, for images match has increased difficulty.According to top principle, according to the task needs of different time different location, change base length that can be real-time, the range of adjustment of base length is 5～20cm in the present invention.
The present invention finishes the multi-task by the information of obtaining two imageing sensors.As obtaining the three-dimensional information of space object, follow the tracks of certain target in the space.The principle of work of obtaining the three-dimensional information of space object is: the optical axis of one of them imageing sensor is parallel with the optical axis of another one imageing sensor all the time in motion process, the plane of delineation of two sensors is positioned on the same plane, some projected position on two planes of delineation in the space is different, its coordinate difference is called parallax, according to Similar Principle of Triangle, by the distance between two imageing sensors, it is base length, the degree of depth of this point of space can be obtained, the three-dimensional information of this point can be obtained simultaneously in conjunction with the camera calibration technology.The principle of work of following the tracks of certain target in the space is: at first need seek target or artificial certain target of appointment in the visual field of two sensors, the algorithm that uses image to follow the tracks of then is constantly seeking in forward view, up to finding suitable target.In the various tasks under various applicable cases, base length between two imageing sensors that need is different, when base length is big, the common visual range of two video cameras is little, the union of its visual range is bigger, help the tracking of target, but at this time can only calculate three-dimensional information than distant object; When base length hour, the common visual range of two video cameras is big, can calculate Three-dimension Target information more nearby, but the union of two video camera visual ranges is smaller, is unfavorable for the Search/Track of object.Simultaneously, pass through formula
(f is a focal length, and b is a parallax range, the parallax that d draws for left and right sides images match) as can be seen, when base length was big, the depth information ratio of precision of the object that calculates was bigger, but when base length is big, the coupling to object has increased difficulty again.
Beneficial effect of the present invention is the binocular camera that relative base length is fixing, the present invention has increased a degree of freedom that base length is regulated, be similar to the convergence function of human eye, can allow the present invention's length of conversion baseline freely in use like this, make the present invention be operated in the optimum condition that adapts to each task, to satisfy the requirement of different tasks such as coupling or tracking, the variation of this base length does not simultaneously bring big difficulty (finding out that from top formula only need change one of them value) to algorithmic procedure again, the present invention can adapt to comparatively complicated visual task, has certain dirigibility.
Description of drawings
Fig. 1 is a basic composition block diagram of the present invention
Fig. 2 is a structural representation of the present invention
Fig. 3 is a stereoscopic vision illustraton of model of the present invention
Fig. 4 is a functional structure block scheme of the present invention
Among the figure: 1, Stereo Vision processing section, 2, the three-dimensional imaging part, 3, motor transmission part, 4, support, 5, ccd image sensor, 6, contiguous block, 7, motor, 8, engaged wheel, 9, belt, 10, the plane of delineation, 11, baseline, 12, common visual range, 13, host computer, 14, motion control card.
Embodiment
The invention will be further described below in conjunction with accompanying drawing 1～4:
Present embodiment comprises Stereo Vision processing section 1, three-dimensional imaging part 2 and motor transmission part 3.As shown in Figure 1, Stereo Vision processing section 1 receives the synchronous images that three-dimensional imaging part 2 is gathered, the depth map of real-time computed image, Stereo Vision processing section 1 is according to the needs of task and treatment effect, in real time the instruction of the length adjustment of baseline 11 is sent to motor transmission part 3, motor transmission part 3 acts on three-dimensional imaging part 1, realizes the adjustment of baseline 11 length between two ccd image sensors 5.As shown in Figure 3, the plane of delineation 10 coplanes of two ccd image sensors 5, when base length 11 was adjusted, the common visual range 12 of two imageing sensors 5 can change.
As shown in Figure 2, three-dimensional imaging part 2 comprises two ccd image sensors 5, be installed on the support 4 with two parallel litter, one of them ccd image sensor 5 is fixed on the support 4, and another one can be free to slide on support 4 by motor transmission part 3 guiding.Motor transmission part 3 comprises a DC servo motor 7, motion control card 14 and belt 9.Motor 7 passes through belt 9 drive engaged wheels 8 and rotates, and belt 9 is fixedlyed connected with a ccd image sensor 5 by contiguous block 6, and motor 7 slides along litter by ccd sensor 5 of this connection drive thus.
Three-dimensional imaging partial C CD imageing sensor 5 is a progressive scan mode, is more suitable in the collection of dynamic environment hypograph, can be equipped with the camera lens of the standard C/CS interface of various models.
Stereo Vision processing section 1 is an embedded image processor, what present embodiment was selected for use is a dsp processor, be furnished with codec chip, RS232 serial line interface and IEEE1394 serial bus interface above, this processor both can link to each other with motion control card 14 by the RS232 interface and realize the control of motor 7, also can link to each other by 1394 interfaces with the host computer 13 on upper strata and realize the real-time Transmission of image information.
The motor 7 of motor transmission part is a DC servo motor, is provided with motor encoder, is connected with one of them ccd image sensor 5 by belt 9, accurately the position of positioning image sensor.RS232 interface on the motion control card 14 both can link to each other with the dsp processor of Stereo Vision processing section 1 and also can link to each other with host computer 13, satisfied multiple applied environment.
The synchronous images information transmission that ccd image sensor 5 is gathered is to Stereo Vision processing section 1, finish the coupling work of two images in Stereo Vision processing section 1, determine the length of baseline 11 according to the quality of matching effect, by serial ports the instruction of baseline 11 length adjustment is sent to motion control card 14 then, motion control card 14 drive motor 7, motor 7 drives one of them imageing sensor 5 and arrives appointed positions by belt 9.Stereopsis part 1 can also send to host computer 13 to image or the processed images that imageing sensor 5 collects by 1394 interfaces simultaneously, host computer 13 can be done the work of some high levels, as tracking target, the navigation of robot etc., host computer 13 can be regulated the length of baseline 11 according to the needs of task, by serial ports instruction is sent to motion control card 14 then, realize the motion of imageing sensor 5 by motion control card 14 drive motor 7.
Claims (4)
1, the self-regulating binocular solid video camera of a kind of base length includes three-dimensional imaging part (2), and described three-dimensional imaging part (2) includes two ccd image sensors (5); It is characterized in that: also include Stereo Vision processing section (1) and motor transmission part (3); Wherein: described Stereo Vision processing section (1) is an embedded image processor, link to each other with two ccd image sensors (5), reception is from the image information of two ccd image sensors (5) and handle, two ccd image sensors (5) are installed on two parallel litter on the support (4), one of them ccd image sensor (5) links to each other with motor transmission part (3), can slide at support (4) upper edge litter by its guiding, another ccd image sensor (5) is fixedlyed connected with litter; Motor transmission part (3) links to each other with the embedded image processor;
2, the self-regulating binocular solid video camera of a kind of base length according to claim 1, it is characterized in that: described motor transmission part (3) includes the motion control card (14) and the belt (9) of motor (7), control motor (7) motion, belt (9) is fixedlyed connected by contiguous block (6) with one of them ccd image sensor (5), motion control card (14) links to each other with motor (7), be used for the motion of drive motor (7), motion control card (14) links to each other with the embedded image processor of Stereo Vision processing section (1).
3, the self-regulating binocular solid video camera of a kind of base length according to claim 2, it is characterized in that: also include host computer (13), host computer (13) links to each other with the motion control card (14) of Stereo Vision processing section (1) and motor transmission part (3) respectively.
4, the self-regulating binocular solid video camera of a kind of base length according to claim 2 is characterized in that: described motor (7) is for having the DC servo motor of motor encoder.
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