CN101324430A - Binocular Ranging Method Based on Similarity Principle - Google Patents

Binocular Ranging Method Based on Similarity Principle Download PDF

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CN101324430A
CN101324430A CNA2008100006445A CN200810000644A CN101324430A CN 101324430 A CN101324430 A CN 101324430A CN A2008100006445 A CNA2008100006445 A CN A2008100006445A CN 200810000644 A CN200810000644 A CN 200810000644A CN 101324430 A CN101324430 A CN 101324430A
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王少萍
岳荣刚
焦宗夏
李凯
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Beihang University
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Abstract

本发明属于移动机器人领域,提出了一种新型双目测距法。该测距法的硬件主要包括两个焦距不同的摄像头、图像采集卡、摄像头控制电机和主控计算机。根据三角形的相似原理,以及焦距、物距和象距的关系公式推导出被测物体的距离和尺寸计算公式。利用两个焦距不同的摄像头对被测物体进行成像,得到两个尺度不同的图像,主控计算机通过相应算法算出被测物体在两个图像中的不同尺寸,将这两个不同的尺寸代入计算公式,就可以得到被测物体的距离和尺寸信息。该方法使机器人同时拥有望远镜和广角镜效果,提高其感知世界的深度和广度。根据该方法的原理公式,不用测出象距就可以计算出物体的距离信息,从而节省了位移传感器的使用,降低了成本。

Figure 200810000644

The invention belongs to the field of mobile robots and proposes a novel binocular ranging method. The hardware of the ranging method mainly includes two cameras with different focal lengths, an image acquisition card, a camera control motor and a main control computer. According to the similarity principle of triangles, and the relationship formulas of focal length, object distance and image distance, the distance and size calculation formulas of the measured objects are deduced. Two cameras with different focal lengths are used to image the measured object to obtain two images of different scales. The main control computer calculates the different sizes of the measured object in the two images through corresponding algorithms, and substitutes these two different sizes into the calculation The distance and size information of the measured object can be obtained by using the formula. This method enables the robot to have the effect of a telescope and a wide-angle lens at the same time, improving the depth and breadth of its perception of the world. According to the principle formula of the method, the distance information of the object can be calculated without measuring the image distance, thereby saving the use of displacement sensors and reducing the cost.

Figure 200810000644

Description

基于相似原理的双目测距法 Binocular Ranging Method Based on Similarity Principle

技术领域 technical field

本发明属于智能移动机器人领域,提出了一种新型双目测距法。The invention belongs to the field of intelligent mobile robots and proposes a novel binocular ranging method.

背景技术 Background technique

要实现智能移动机器人的自主运动,就离不开路径规划和实时避障,而实时避障的一个关键技术就是准确地测出机器人到障碍物的距离。目前常用的测距方法主要分为主动测距和被动测距两类。To realize the autonomous movement of intelligent mobile robots, it is inseparable from path planning and real-time obstacle avoidance, and a key technology of real-time obstacle avoidance is to accurately measure the distance from the robot to the obstacle. At present, the commonly used ranging methods are mainly divided into two categories: active ranging and passive ranging.

(1)主动测距(1) Active ranging

主动测距法是通过特定的装置发出能量,测距系统根据反射回来的信息来测量物体的距离,它主要包括反射能量法、超声时间法等。反射能量法需要特殊仪器发射一束光(通常是近红外光或激光)照射到被测物体表面,仪器同时接收被测物体的反射光能量,根据接收到的反射光能量来判断被测物体的距离;超声时间法测量一束超声波从发射到反射回仪器的时间来判断被测距离。主动测距法的优点是受外界环境干扰较小,其缺点是需要额外的能量发射装置,增加了设备成本,而且有的可能需要能量传播介质(如超声时间法),受环境影响较大,限制了其使用场合。The active ranging method is to emit energy through a specific device, and the ranging system measures the distance of the object according to the reflected information. It mainly includes the reflected energy method and the ultrasonic time method. The reflected energy method requires a special instrument to emit a beam of light (usually near-infrared light or laser) to the surface of the measured object, and the instrument receives the reflected light energy of the measured object at the same time, and judges the measured object according to the received reflected light energy. Distance: Ultrasonic time method measures the time from the emission of a beam of ultrasound to the reflection back to the instrument to judge the measured distance. The advantage of the active ranging method is that it is less disturbed by the external environment, and its disadvantage is that it requires an additional energy transmitting device, which increases the cost of the equipment, and some may require an energy transmission medium (such as the ultrasonic time method), which is greatly affected by the environment. Its usage is limited.

(2)被动测距(2) Passive ranging

被动测距法是根据被测物体本身发出的信号(如光信号)来测量物体的距离,它通常与机器视觉相联系,主要包括立体视觉测距法、单目测距法、测角被动测距法等。立体视觉测距法是仿照人类利用双目感知距离的一种测距方法,该方法的难点是选择合理的匹配特征和匹配准则,以保证匹配的准确性,而且使机器人感知世界的深度和广度有限;单目测距法是通过在光学系统中引进满足一定条件的“mask”,使成像系统的光学传递函数形成一系列周期变化的与目标物体距离有关的零点,该方法要求目标物体具有低空间频率特性,同时需要精密仪器测出像距信息;测角被动测距法是美国海军有关单位提出的一种测距方法,通过对目标两次测角来实现测距,该方法要求平台加速度不能为零。Passive ranging method is to measure the distance of the object according to the signal (such as light signal) sent by the measured object itself. It is usually associated with machine vision, mainly including stereo vision ranging method, monocular distance measuring method, passive angle measurement distance method etc. Stereo vision distance measurement is a distance measurement method modeled on humans using binocular perception of distance. The difficulty of this method is to select reasonable matching features and matching criteria to ensure the accuracy of matching, and to make the robot perceive the depth and breadth of the world. Limited; the monocular ranging method introduces a "mask" that meets certain conditions in the optical system, so that the optical transfer function of the imaging system forms a series of zero points that are periodically changed and are related to the distance of the target object. This method requires the target object to have a low Spatial frequency characteristics, at the same time, precision instruments are required to measure the image distance information; the angle measurement passive ranging method is a ranging method proposed by the relevant units of the US Navy, and the ranging is realized by measuring the angle of the target twice. This method requires platform acceleration Cannot be zero.

可见上述的各种主动测距和被动测距方法都存在一定的缺点或不足。It can be seen that there are certain shortcomings or deficiencies in the various active ranging and passive ranging methods mentioned above.

本发明的目的是:The purpose of the present invention is:

为智能移动机器人提供一种低成本、高精度、易于实现的测距方法,同时可以提高机器人感知世界的深度和广度。Provide a low-cost, high-precision, and easy-to-implement ranging method for intelligent mobile robots, and at the same time improve the depth and breadth of the robot's perception of the world.

本发明的技术方案是:Technical scheme of the present invention is:

基于相似原理的双目测距法,其硬件主要包括两个焦距不同的摄像头、图像采集卡、摄像头控制电机和主控计算机。两个焦距不同的摄像头对一个被测物体进行成像,得到两个尺度不同的图像,图像采集卡将两个图像发送到主控计算机,通过相应的算法计算出被测物体在两个图像中的不同尺寸。再根据三角形的相似原理,以及焦距、物距和象距的关系公式就可以计算出被测物体的距离和尺寸信息。The binocular ranging method based on the principle of similarity, its hardware mainly includes two cameras with different focal lengths, an image acquisition card, a camera control motor and a main control computer. Two cameras with different focal lengths image a measured object and obtain two images with different scales. The image acquisition card sends the two images to the main control computer, and calculates the distance between the measured object in the two images through the corresponding algorithm. Different sizes. Then, according to the similarity principle of triangles and the relational formula of focal length, object distance and image distance, the distance and size information of the measured object can be calculated.

本发明的优点是:The advantages of the present invention are:

基于相似原理的新型双目测距法在应用中会采用两台焦距不同的摄像头,可以使机器人同时拥有望远镜和广角镜,提高机器人感知世界的深度和广度。根据该方法的原理公式,不用测出象距就可以计算出物体的距离信息,从而节省了位移传感器的使用,降低了成本。通过一系列的实验,也验证了该方法精度高、易于实现。The new binocular ranging method based on the principle of similarity will use two cameras with different focal lengths in the application, which can enable the robot to have a telescope and a wide-angle lens at the same time, and improve the depth and breadth of the robot's perception of the world. According to the principle formula of the method, the distance information of the object can be calculated without measuring the image distance, thereby saving the use of displacement sensors and reducing the cost. Through a series of experiments, it is also verified that the method has high precision and is easy to implement.

附图说明 Description of drawings

图1是新型双目测距法的原理图Figure 1 is a schematic diagram of the new binocular ranging method

图2是新型双目测距系统的结构框图Figure 2 is a structural block diagram of the new binocular ranging system

图中标号说明Explanation of symbols in the figure

(1)数字系列:(1) Number series:

1-透镜一;2-透镜二;3-双目摄像头;4-摄像头转向电机码盘;5-码盘转数;6-主控计算机;7-运动规划控制系统;8-运动指令;9-运动电机;10-视觉信息;11-图像采集卡。1-lens 1; 2-lens 2; 3-binocular camera; 4-camera steering motor encoder; 5-coder revolutions; 6-master computer; 7-motion planning control system; 8-motion command; - motion motor; 10 - visual information; 11 - image capture card.

(2)字母系列:(2) Alphabet series:

AB-被测物体;h-被测物体的长度;u-被测物体到两个透镜的距离;O1-透镜一的中心;O2-透镜二的中心;f1-透镜一的焦距;f2-透镜二的焦距;A1B1-AB通过透镜一的成像;A2B2-AB通过透镜二的成像;v1-透镜一成像的象距;v2-透镜二成像的象距;h1-被测物体通过透镜一成像的尺度;h2-被测物体通过透镜二成像的尺度。AB-the measured object; h-the length of the measured object; u-the distance between the measured object and the two lenses; O 1 -the center of lens one; O 2 -the center of lens two; f 1 -the focal length of lens one; f 2 - focal length of lens 2; A 1 B 1 - image of AB through lens 1; A 2 B 2 - image of AB through lens 2; v 1 - image distance of lens 1; v 2 - image of lens 2 distance; h 1 - the imaging scale of the measured object through the first lens; h 2 - the imaging scale of the measured object through the second lens.

具体实施方式 Detailed ways

首先详细介绍一下该新型测距法的工作原理:First, let’s introduce the working principle of the new ranging method in detail:

新型双目视觉测距法的原理图如图1所示。在图1中,根据三角形的相似原理,得出以下等式:The schematic diagram of the new binocular vision ranging method is shown in Figure 1. In Figure 1, according to the similarity principle of triangles, the following equation is obtained:

hh 11 vv 11 == hh uu == hh 22 vv 22 -- -- -- (( 11 ))

由(1)式可得: v 1 = h 1 v 2 h 2 - - - ( 2 ) From formula (1), we can get: v 1 = h 1 v 2 h 2 - - - ( 2 )

由焦距、物距和象距的关系公式得:From the relationship formula of focal length, object distance and image distance:

11 ff 11 == 11 uu ++ 11 vv 11 11 ff 22 == 11 uu ++ 11 vv 22 -- -- -- (( 33 ))

对(2)式和(3)式进行整理,得到物距的计算公式:Arranging formulas (2) and (3) to get the calculation formula of object distance:

u = f 1 f 2 ( h 1 - h 2 ) h 1 f 2 - f 1 h 2 , 当f1≠f2时    (4) u = f 1 f 2 ( h 1 - h 2 ) h 1 f 2 - f 1 h 2 , When f 1 ≠ f 2 (4)

并得到被测物体尺寸的计算公式:And get the calculation formula of the measured object size:

h = h 1 h 2 ( f 1 - f 2 ) h 1 f 2 - f 1 h 2 , 当f1≠f2时    (5) h = h 1 h 2 ( f 1 - f 2 ) h 1 f 2 - f 1 h 2 , When f 1 ≠ f 2 (5)

(1)、(2)、(3)、(4)和(5)式中:(1), (2), (3), (4) and (5) where:

h-被测物体AB的长度,对应图1中的|AB|;U-被测物体到透镜的距离,对应图1中的|AO1|;h1-被测物体通过透镜一成像的尺度,对应图1中的|A1B1|;h2-被测物体通过透镜二成像的尺度,对应图1中的|A2B2|;v1-透镜一成像的象距,对应图1中的|A1O1|;v2-透镜二成像的象距,对应图1中的|B2O2|;f1-透镜一的焦距;f2-透镜二的焦距。h-the length of the measured object AB, corresponding to |AB| in Figure 1; U-the distance from the measured object to the lens, corresponding to |AO 1 | in Figure 1; h 1 -the scale of the measured object’s imaging through lens one , corresponding to |A 1 B 1 | in Figure 1; h 2 - the scale of the measured object imaging through lens two, corresponding to |A 2 B 2 | in Figure 1; v 1 - the image distance of lens one imaging, corresponding to Figure 1 |A 1 O 1 | in 1; v 2 - the imaging distance of lens two, corresponding to |B 2 O 2 | in Figure 1; f 1 - the focal length of lens one; f 2 - the focal length of lens two.

下面介绍一下该测距法在应用中的具体实施方式:The specific implementation of the ranging method in the application is introduced below:

在实际应用中,可以使用两个焦距不同的摄像头作为两个透镜,首先要知道两个摄像头的焦距f1和f2,再通过相应的算法得到两个摄像头成像的尺寸h1和h2,就可以计算出被测物体的距离和尺寸信息。In practical applications, two cameras with different focal lengths can be used as two lenses. First, the focal lengths f 1 and f 2 of the two cameras must be known, and then the imaging dimensions h 1 and h 2 of the two cameras can be obtained through the corresponding algorithm. The distance and size information of the measured object can be calculated.

可以设计如图2所示的双目视觉系统。两个摄像头3由伺服电机驱动,其视角可达360°。伺服电机装有码盘4,用来计算摄像头的摇摆角度和俯仰角度。图像采集卡11将摄像头传来的视觉10信息传至主控计算机6进行预处理,再融合码盘转数5等信息,经软件处理后得到相应指令,车载运动规划控制系统7根据这些指令向运动电机9发出运动指令8,以控制机器人的运动。A binocular vision system as shown in Figure 2 can be designed. The two cameras 3 are driven by servo motors, and their viewing angles can reach 360°. The servo motor is equipped with a code disc 4, which is used to calculate the rocking angle and the pitching angle of the camera. The image acquisition card 11 transmits the vision 10 information from the camera to the main control computer 6 for preprocessing, and then integrates the information such as the number of revolutions of the code disc 5, and obtains corresponding instructions after software processing, and the vehicle-mounted motion planning control system 7 sends instructions to The motion motor 9 sends motion commands 8 to control the motion of the robot.

Claims (1)

1. the hardware of this telemetry mainly comprises two camera, image pick-up card, camera control motor and main control computers that focal length is different.According to the leg-of-mutton principle of similitude, and the relation formula of focal length, object distance and image distance can be derived the computing formula of testee distance.
u = f 1 f 2 ( h 1 - h 2 ) h 1 f 2 - f 1 h 2 , Work as f 1≠ f 2The time
And obtain testee size calculation formula:
h = h 1 h 2 ( f 1 - f 2 ) h 1 f 2 - f 1 h 2 , Work as f 1≠ f 2The time
Utilize two different cameras of focal length that a testee is carried out imaging, obtain two images that yardstick is different, image pick-up card sends to main control computer with two images, go out the different size of testee in two images by corresponding algorithm computation, in the computing formula with these two different size value substitutions derivations, just can obtain the distance and the dimension information of testee.
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CN108507540A (en) * 2017-02-24 2018-09-07 柯尼卡美能达株式会社 Object proximity checking device and object proximity inspection method
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