CN101294803A - Virtual variable baseline convergence ranging method - Google Patents
Virtual variable baseline convergence ranging method Download PDFInfo
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- CN101294803A CN101294803A CNA200710021917XA CN200710021917A CN101294803A CN 101294803 A CN101294803 A CN 101294803A CN A200710021917X A CNA200710021917X A CN A200710021917XA CN 200710021917 A CN200710021917 A CN 200710021917A CN 101294803 A CN101294803 A CN 101294803A
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- baseline
- video camera
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- virtual variable
- measurement
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Abstract
The invention relates to a method of measuring virtual variable baseline intersection distance. Under the known proposal of the intersection distance measurement, a dynamic partition center coincides with a principal optic axis, and the shorter a fixed short baseline is, the greater the measurement error increases, so that measurement results attach no significance. The method of the invention is as follows: the dynamic partition center of at least one camera of two CCD cameras deviates from the principal optic axis, and the dynamic partition centers of the two cameras coincide under the condition that the fixed baseline is very short; the method virtually extends the length of the baseline, thus improving the measurement accuracy. The method has the advantages of reasonable design, short baseline, high measurement accuracy, etc.
Description
Technical field
The present invention relates to a kind of virtual variable baseline convergence ranging method, be specially adapted to range finding moving target.
Background technology
Known convergence ranging generally all is to adopt the method for geometry convergence ranging, select plural basic point as point distance measurement at least, and the distance of two intercardinals is all bigger.Its error is to be inversely proportional to two intercardinals distance.Yet neither allow base length bigger in some fields, permissible error is not big again.Thereby people wish to have a kind of measuring method problem that can overcome above-mentioned shortcoming.
Summary of the invention
The object of the present invention is to provide a kind of measuring method of virtual variable baseline, with solving the problem that reduces error when short baseline is found range.
To achieve these goals, technical scheme of the present invention is to be made of two ccd video cameras.
Have the skew of a video camera dynamic graduation center and primary optical axis in I video camera and the II video camera at least, and the dynamic graduation of the dynamic graduation of I video camera center II video camera center overlaps.
The length of the fixed base that I video camera and II video camera form can approach zero.
That the present invention has is reasonable in design, baseline short, the measuring accuracy advantages of higher.
Description of drawings
Accompanying drawing is a project organization schematic diagram of the present invention.
In the accompanying drawing, 1 is the I video camera, and 2 is the II video camera, and 3 is I video camera primary optical axis, M is a fixed base, 4 is the dynamic graduation of I video camera center, and 5 is target, and 6 is the dynamic graduation of II video camera center, 7 is measuring distance, Δ 3 is the CCD line parallax amount that the I video camera comprises, and Δ 2 is the CCD line parallax amount of virtual baseline, the CCD line parallax amount that Δ 1 comprises for fixed base.
Embodiment
The present invention is applied to a certain moving object of measurement space.Target 5 as shown in drawings is arranged on I video camera 1, II video camera 2 on the turntable, and the dynamic graduation of I video camera center 4 and I video camera primary optical axis 3 are offset N pixel on CCD.Primary optical axis (i.e. the dynamic graduation center 6 of II video camera) and 4 while of the dynamic graduation of I video camera center tracking target 5 with II video camera 2.
If the fixed base line length is that (focal length is f, and clear aperture is for two ccd video cameras of M (M for arbitrarily on the occasion of) rice
, visual field K °), be called I, II video camera.II video camera 2 is set to dynamic graduation center 6 and overlaps with primary optical axis, can realize tracking to moving target 5 with turntable level and pitch rotation.I video camera 1 is set to dynamic graduation center 4 and I video camera primary optical axis 3 coordinate offsets, primary optical axis coordinate O (0,0) for example, then dynamically the coordinate O ' at graduation center (N pixel, O).The dynamic graduation center 4,6 of I, II video camera is overlapped target 5, then constituted a new observation visual field between the optical axis of I, II video camera.So no matter I, II video camera are from adjusting to dynamic graduation center after the coincidence after either party finds target automatically and carry out from motion tracking and realizing convergence ranging.
The virtual variable baseline convergence ranging principle is the dynamic baseline coefficient that has increased N pixel on the basis of a shorter baseline, promptly on the sensor of CCD image planes, preestablish the line parallax amount of N pixel, when concentrating one's gaze on target by photocentre with the end points of this amount, the length that then is equivalent to prolong original baseline.The baseline of this prolongation is referred to as " virtual baseline ", and the length of this baseline increases along with the increase of the measuring distance that crosses.
The variation delta B of base length can express with following formula
Δ B=N * D * Δ p/f (m), wherein: the pixel value of N-skew, the D-target range, Δ p-Pixel Dimensions (mm), f-objective focal length (mm), base length then becomes B=Δ B+M.
Suppose that fixed base length is 0.5 meter, f=50mm, for the target at 2000 meters, the length of virtual baseline is (74.88+0.5), reaches 75 meters, is 150 times of former base length.And range error Δ D=Δ α * D
2/ B.Obviously, under the constant situation of angle measurement accuracy, distance accuracy has improved 150 times.
The length of fixing shorter baseline can approach zero.
The scheme of default N pixel line parallax amount can appear in the symmetrical CCD visual field simultaneously.
Claims (2)
1. virtual variable baseline convergence ranging method, it comprises that II video camera (2), I video camera (1) constitute, it is characterized in that having at least in I video camera (1), the II video camera (2) skew of a video camera dynamic graduation center and primary optical axis, and I video camera (1) overlaps at the graduation center dynamically with II video camera (2).
2. the length of fixed base (M) that is virtual variable baseline convergence ranging method according to claim 1, another feature can approach zero.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA200710021917XA CN101294803A (en) | 2007-04-25 | 2007-04-25 | Virtual variable baseline convergence ranging method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA200710021917XA CN101294803A (en) | 2007-04-25 | 2007-04-25 | Virtual variable baseline convergence ranging method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101294803A true CN101294803A (en) | 2008-10-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA200710021917XA Pending CN101294803A (en) | 2007-04-25 | 2007-04-25 | Virtual variable baseline convergence ranging method |
Country Status (1)
| Country | Link |
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| CN (1) | CN101294803A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104079868A (en) * | 2013-03-29 | 2014-10-01 | 中原工学院 | Laser-assisted distance measuring device and method for single-sight-point video monitoring |
-
2007
- 2007-04-25 CN CNA200710021917XA patent/CN101294803A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104079868A (en) * | 2013-03-29 | 2014-10-01 | 中原工学院 | Laser-assisted distance measuring device and method for single-sight-point video monitoring |
| CN104079868B (en) * | 2013-03-29 | 2017-06-30 | 中原工学院 | The laser assisted range unit and method of a kind of single-view video monitoring |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Open date: 20081029 |