CN102939562A - Object projection method and object projection sysytem - Google Patents

Object projection method and object projection sysytem Download PDF

Info

Publication number
CN102939562A
CN102939562A CN2010800666347A CN201080066634A CN102939562A CN 102939562 A CN102939562 A CN 102939562A CN 2010800666347 A CN2010800666347 A CN 2010800666347A CN 201080066634 A CN201080066634 A CN 201080066634A CN 102939562 A CN102939562 A CN 102939562A
Authority
CN
China
Prior art keywords
video camera
dimensional coordinate
double points
matching double
coordinate
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN2010800666347A
Other languages
Chinese (zh)
Other versions
CN102939562B (en
Inventor
吴迪
陈�光
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Taishan Sports Technology Co.,Ltd.
Original Assignee
Shenzhen Taishan Online Tech Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Taishan Online Tech Co Ltd filed Critical Shenzhen Taishan Online Tech Co Ltd
Publication of CN102939562A publication Critical patent/CN102939562A/en
Application granted granted Critical
Publication of CN102939562B publication Critical patent/CN102939562B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B35/00—Stereoscopic photography
    • G03B35/08—Stereoscopic photography by simultaneous recording

Abstract

An object projection method includes: acquiring the three-dimensional coordinates corresponding to the matching point-pair (P0 and P1) of the object in the first video camera (21) and the second video camera (22); acquiring the affine projection matrix of the third video camera (32); calculating the theoretical barycentric coordinates of the object in the third video camera (32); calculating the theoretical projection size of the object in the third video camera (32); acquiring the actual barycentric coordinates of the projection of the object in the third video camera (32); acquiring the actual projection size of the object in the third video camera (32); and judging whether the three-dimensional coordinates corresponding to the matching point-pair (P0 and P1) is right or not. An object projection system using the method is also provided.

Description

Object projection method and system
Specification object projection method and systems technology field
The present invention relates to a kind of object projection method and with the target projection system of this method, more specifically to a kind of object projection method with verification process and with the target projection system of this method.Background technology
In using video camera as the system for obtaining information, it is crucial that available information is correctly extracted from image.What the judgement to target identification correctness was relied primarily on is the shape of target, and the information such as color and size, what the matching recognizing target two video cameras was relied primarily on is exactly that epipolar-line constraint and Ordinal Consistency are constrained.In the system using binocular camera, the foundation of objective is realized using principle of parallax.The shortcoming of this system is the identification of target, and matching and the verification of correctness set up are more difficult.The content of the invention
The technical problem to be solved in the present invention is, for the three-dimensional coordinate identification of the target projection system of prior art, matching and the defect for the verification of correctness more difficulty set up, the affine transformation relationship that a kind of utilization twin camera is set up between target and single camera is provided, by the identification of target, matching and the information rebuild are focused in projected image, verify that three-dimensional coordinate is recognized according to projected image, the object projection method and the target projection system with this method of matching and the correctness set up.
The technical solution adopted for the present invention to solve the technical problems is：A kind of object projection method is constructed, wherein, including：
Obtain matching double points corresponding three-dimensional coordinate of the object in the first video camera and the second video camera；Obtain the affine projection matrix of the 3rd video camera；
Verification process：
The object is calculated on the 3rd video camera according to the corresponding three-dimensional coordinate of the matching double points of the affine projection matrix and the object of the 3rd video camera in the first video camera and the second video camera Theoretical barycentric coodinates；
Theoretical projected size of the object on the 3rd video camera is calculated according to the corresponding three-dimensional coordinate of the matching double points；
Obtain the actual center gravity coordinate that the object is projected on the 3rd video camera；
Obtain actual projected size of the object on the 3rd video camera；
Judge whether the corresponding three-dimensional coordinate of the matching double points is correct jointly according to the comparative result of the comparative result and the theoretical projected size and the actual projected size of the theoretical barycentric coodinates and the actual center gravity coordinate.
Object projection method of the present invention, wherein, the corresponding three-dimensional coordinate of the matching double points is set up process by calibration process and three-dimensional coordinate and obtained：
Calibration process：Using first video camera and the calibrating parameters of second video camera, obtain first video camera and second Camera calibration into the first correction matrix of first video camera of parallel vidicon and the second correction matrix of second video camera；
Three-dimensional coordinate sets up process：Matching double points of the object in first video camera and second video camera are obtained by the target identification matching to first video camera and second video camera；The corresponding three-dimensional coordinate of the matching double points is calculated using first correction matrix, second correction matrix and the matching double points.
Object projection method of the present invention, wherein, the calibrating parameters include inner parameter and outside match parameter, the inner parameter is obtained by stereo calibration plate scaling method, the outside match parameter matches the coordinate data of first video camera and second camera acquisition using permanent order, then carries out the coordinate data of permanent order matching first video camera and second camera acquisition described in Nonlinear least squares optimization to obtain using Li Wenbeige-Marquart algorithm.
The object projection methods of the present invention of a " 0, wherein, the inner parameter includes the α of A 0γ ν0
0 0 1 ax = fl dx, ay=fl dy, wherein/be focal length of camera, dx, ^ are horizontally oriented the pixel spacing with vertical direction respectively, be video camera photocentre, be the out of plumb factor of u axles and V axles；Radial distortion parameter kl, k2;Tangential distortion parameter pl, p2;The outside match parameter is joined including spin matrix With translation matrix parameter
Object projection method of the present invention, wherein, the affine projection matrix is prepared by the following:The two-dimensional coordinate that the corresponding three-dimensional coordinate of the matching double points and matching double points correspondence of at least 6 groups diverse locations of collection are projected on the 3rd video camera；
The two-dimensional coordinate projected according to the corresponding three-dimensional coordinate of the matching double points of at least 6 groups diverse locations and matching double points correspondence on the 3rd video camera, affine projection matrix is calculated using linear least square.
Object projection method of the present invention, wherein, the two-dimensional coordinate that the corresponding three-dimensional coordinate of the matching double points and matching double points correspondence of described at least 6 groups diverse locations of collection are projected on the 3rd video camera is prepared by the following：
It is coordinate system to set the 3rd video camera, and the two-dimensional coordinate of at least 6 groups diverse locations is taken from the coordinate system；
When the object move to two-dimensional coordinate that the matching double points project on the 3rd video camera with it is described take the two-dimensional coordinate of at least 6 groups diverse locations to overlap from the coordinate system when, obtain the corresponding three-dimensional coordinate of the matching double points of at least 6 groups diverse locations corresponding with the two-dimensional coordinate of at least 6 groups diverse locations.
A kind of target projection system, including processing unit, imaging unit are constructed, wherein, in addition to authentication unit, the imaging system includes the first video camera and the second video camera, and the authentication unit includes authentication module and the 3rd video camera：
The processing unit：For obtaining the corresponding three-dimensional coordinate of matching double points of the object in the first video camera and the second video camera；With the affine projection matrix for obtaining the 3rd video camera；
The authentication module：Theoretical barycentric coodinates of the object on the 3rd video camera are calculated for the corresponding three-dimensional coordinate of matching double points according to the affine projection matrix and the object of the 3rd video camera in the first video camera and the second video camera；
Theoretical projected size of the object on the 3rd video camera is calculated according to the corresponding three-dimensional coordinate of the matching double points；
Obtain the actual center gravity coordinate that the object is projected on the 3rd video camera； Obtain actual projected size of the object on the 3rd video camera；
According to the comparative result and the theoretical projected size of the theoretical barycentric coodinates and the actual center gravity coordinate with 222 comparative results for stating actual projected size judge whether the corresponding three-dimensional coordinate of the matching double points correct jointly. 333
Target projection system of the present invention, wherein, the processing unit includes demarcating module and three-dimensional coordinate sets up module：
The demarcating module：For the calibrating parameters using first video camera and second video camera, obtain first video camera and second Camera calibration into the first correction matrix of first video camera of parallel vidicon and the second correction matrix of second video camera；
The three-dimensional coordinate sets up module：For obtaining matching double points of the object in first video camera and second video camera by the target identification matching to first video camera and second video camera；The corresponding three-dimensional coordinate of the matching double points is calculated using first correction matrix, second correction matrix and the matching double points.
Target projection system of the present invention, wherein, the calibrating parameters include inner parameter and outside match parameter, the inner parameter is obtained by stereo calibration plate scaling method, the outside match parameter matches the coordinate data of first video camera and second camera acquisition using permanent order, then carries out the coordinate data of permanent order matching first video camera and second camera acquisition described in Nonlinear least squares optimization to obtain using Li Wenbeige-Marquart algorithm.
The target projection systems of the present invention of a " 0, wherein, the inner parameter includes a of A 0y v0
0 0 1 ax = fl dx, ay=fl dy, wherein/be focal length of camera, dx, be horizontally oriented pixel spacing with vertical direction respectively, be video camera photocentre, be the out of plumb factor of u axles and V axles；Radial distortion parameter kl, k2;Tangential distortion parameter pl, p2;The outside match parameter is joined including spin matrix
With translation matrix parameter
Target projection system of the present invention, wherein, the affine projection matrix is prepared by the following: The two-dimensional coordinate that the corresponding three-dimensional coordinate of the matching double points and matching double points correspondence of at least 6 groups diverse locations of collection are projected on the 3rd video camera；
The two-dimensional coordinate projected according to the corresponding three-dimensional coordinate of the matching double points of at least 6 groups diverse locations and matching double points correspondence on the 3rd video camera, affine projection matrix is calculated using linear least square.
Target projection system of the present invention, wherein, the two-dimensional coordinate that the corresponding three-dimensional coordinate of the matching double points and matching double points correspondence of described at least 6 groups diverse locations of collection are projected on the 3rd video camera is prepared by the following：
It is coordinate system to set the 3rd video camera, and the two-dimensional coordinate of at least 6 groups diverse locations is taken from the coordinate system；
When the object move to two-dimensional coordinate that the matching double points project on the 3rd video camera with it is described take the two-dimensional coordinate of at least 6 groups diverse locations to overlap from the coordinate system when, obtain the corresponding three-dimensional coordinate of the matching double points of at least 6 groups diverse locations corresponding with the two-dimensional coordinate of at least 6 groups diverse locations.
Target projection system of the present invention, wherein, first video camera and second video camera are provided with infra-red transmitting filter.
Target projection system of the present invention, wherein, the authentication unit includes the 3rd target projection system of the present invention described at least two, wherein, the imaging unit still further comprises at least one imaging video camera.
Implement the object projection method and the target projection system with this method of the present invention, have the advantages that：Increase the 3rd video camera with authentication module on the basis of original target projection system, utilize the mapping between the three-dimensional coordinate and two-dimensional coordinate of foundation, the accuracy of the identification of checking three-dimensional coordinate, matching and the result set up.
The calibrating parameters obtained in advance are so that target projection process is simpler accurate；The acquisition of inner parameter and outside match parameter is so that the first correction matrix of the first video camera and the second correction matrix of the second video camera are more accurate, and the collimation of the first video camera and the second video camera is more efficient；The calculating of affine projection matrix allows to accurately calculate the first projected size on the 3rd video camera；And affine projection matrix can be with Obtained by a variety of methods；First video camera and second video camera are provided with infra-red transmitting filter, eliminate the interference of visible ray, it is more accurate that three-dimensional coordinate is set up；Using the checking of the multiple-camera with authentication module, the identification for judging twin camera, matching and the correctness set up are further increased；The authentication unit can be used on multiple-camera（More than or equal to three）Target projection imaging system in.Brief description of the drawings
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing：
Fig. 1 is the structural representation of the preferred embodiment of target projection system of the present invention；
Fig. 2A is the inner parameter and the demarcation image of outside match parameter of a secondary calibrating camera of the preferred embodiment of target projection system of the present invention；
Fig. 2 B are the inner parameter of another secondary calibrating camera of the preferred embodiment of target projection system of the present invention and the demarcation image of outside match parameter；
Fig. 3 is two-dimensional coordinate arrangement and the coordinate value figure of the match point of 8 groups of diverse locations of the calculating affine projection matrix of the preferred embodiment of target projection system of the present invention.Embodiment
With reference to diagram, the preferred embodiments of the present invention are described in detail.
As shown in Figure 1, in the object projection method of the present invention, process and verification process are set up including calibration process, three-dimensional coordinate, the first video camera 21 and the calibrating parameters of the second video camera 22 that wherein three-dimensional coordinate is utilized during setting up are prepared by the following：
The calibrating parameters of video camera include inner parameter and outside match parameter.
Calibration of camera：
Intrinsic parameters of the camera, is changeless for focusing formula camera chain.Inner parameter includes：
A- ax=fl dx, a=fl dy, wherein " being focal length of camera, dx, being respectively
The pixel spacing of 001 horizontal directions and vertical direction, it is the photocentre of video camera, is the out of plumb factor of U axles and V axles；Radial distortion parameter k l, k2;Tangential distortion parameter p l, p2. Rice demarcates the inner parameter of all video cameras with stereo calibration plate scaling method.Demarcation is with image as schemed
Shown in 2A, 2B.All camera acquisitions obtain the barycentric coodinates of all calibrating blocks imagings using the connectivity analysis of connected domain to after uncalibrated image.Then these data messages are utilized, intrinsic parameters of the camera is demarcated according to flat board scaling method.Scaling method is current common method, can have different scaling methods to realize.
Outside match parameter demarcation：
Relative position relation information between the mainly video camera of video camera outside, including
Spin matrix parameter
Utilize the above-mentioned middle barycentric coodinates for gathering the first video camera 21 and the imaging of the calibrating block of the second video camera 22.The coordinate data of two camera acquisitions is matched using permanent order.Then the non-linear minimum coordinate data for optimizing permanent order first video camera 21 of matching and the collection of the second video camera 22 is carried out using Li Wenbeige-Marquart (Levenberg-Marquardt) algorithm, obtains final camera calibration parameter.Final argument includes the outside match parameter between the inner parameter and two video cameras of the first video camera 21 and the respective video camera of the second video camera 22.This step implementation method it is not unique.
Calibration process：Using the first video camera 21 and the calibrating parameters of the second video camera 22, by two camera acquisition image rectifications into parallel vidicon；This step implementation method is not unique.
A. the first correction matrix of the first video camera 21 is calculated：Set demarcation virtual point under the coordinate system of the first video camera 21=(Q 0 2000) ,
According to formula：
Calculate virtual point coordinates under the coordinate system of the first video camera 21（According to formula:
R、 +R
p 17 oi +p【
Column vector in the first correction matrix is calculated respectively.The first of the first video camera 21 is obtained according to (2) formulaPositive matrices: 2
B. the second correction matrix of the second video camera 22 is calculated：Set demarcation virtual point under the coordinate system of the second video camera 22=(Q 0 2000)
According to formula：
Pn=RPu+T (4) calculate virtual point coordinates under the coordinate system of the second video camera 22.According to formula：
Column vector in the second correction matrix is calculated respectively.The second correction matrix of the second video camera 22 is obtained according to (5) formula:
Η、
(6) 。
Three-dimensional coordinate sets up process：By being imaged to the-camera 21 and second;22 target identification matching obtains the corresponding matching double points of object： Target identification thing is used as using circular reflective object.The support vector machine classifier crossed by circular reflective object sample training is respectively adopted in the first video camera 21 and the second video camera 22 object is identified, and calculates the matching double points (barycentric coodinates pair that object is imaged in the first video camera 21 and the second video camera 22）With then realize the correct matching of target using epipolar-line constraint and Ordinal Consistency constraint.
The corresponding three-dimensional coordinate of the matching double points is calculated using first correction matrix, second correction matrix and the matching double points；
A. pixel point coordinates distortion correction, while by matching double points P.Be changed into orthoscopic image coordinate and one.Coordinate is corrected used here as iterative calculation.
B. correction image coordinate is calculated according to formula：
Po
C. target three-dimensional coordinate is set up according to formula：
Disparity = Pl[l] - 1], it is image that it, which is neutralized,xCoordinate（9)
Β ξ+ζ Zc=1.0/Disparity of B Shui;Xc=B Shui pQ[l] /Disparity; (10) Yc=Zc * 70[1]/1.0;This step implementation method it is not unique.
Verification process：Three-dimensional coordinate sets up process and has obtained the corresponding three-dimensional coordinate P of the matching double points;According to the affine projection matrix and object of the 3rd video camera 32 in the first video camera 21 and the second shooting Matching double points P in machine 22.Three-dimensional coordinate P corresponding with Pi counts the matching double points P.With the coordinate on the 3rd video camera 32
/ / (12)；
Theoretical barycentric coodinates of the object on the 3rd video camera 32 are calculated according to the coordinate Q on the video camera 32 of the matching double points the 3rd of the object：This method is known target identification thing size, is here the diameter D of circular target thing, the 3rd video camera
32 focal length f and object three-dimensional coordinate P, then calculates the projection radius of circle of circle object according to formula:
Radius = Dx f I Pz(13) theoretical projected size of the object on the 3rd video camera 32 is calculated according to coordinate of the matching double points on the 3rd video camera 32：
Drawn on the image of the 3rd video camera 32 centered on theoretical barycentric coodinates, Radius is the filled circles of radius；
Obtain the actual center gravity coordinate that the object is projected on the 3rd video camera 32；
Actual projected size of the object on the 3rd video camera 32 is obtained according to coordinate of the matching double points on the 3rd video camera 32：
Whether the difference of the actual center gravity coordinate projected according to the theoretical barycentric coodinates and the object on the 3rd video camera 32 is less than the first setting value and whether the difference of the theoretical projected size and the actual projected size judges the matching double points P jointly less than the second setting value.It is whether correct with corresponding three-dimensional coordinate.The identification, matching and foundation that the corresponding three-dimensional coordinate of the matching double points is then thought when judging and being both less than setting value for two kinds are correct.
As shown in Figure 3（Fig. 3 uses 640*480 resolutions, and coordinate makes corresponding modification if other resolutions）, the affine projection matrix utilized in verification process is prepared by the following： At least 6 groups of collection（It is 8 groups in Fig. 3）The matching double points of diverse location and corresponding three-dimensional coordinate Q and the matching double points P.The two-dimensional coordinate correspondingly projected on the 3rd video camera 32：
It is coordinate system to set the 3rd video camera 32, takes the two-dimensional coordinate of 8 groups of diverse locations in the coordinate system；The matching double points P is moved to when the object.During with the two-dimensional coordinate projected on the 3rd video camera 32 with being overlapped with the 3rd video camera 32 for the two-dimensional coordinate of 8 groups of diverse locations of coordinate system, the matching double points Po and corresponding three-dimensional coordinate ^ of 8 groups of diverse locations corresponding with the two-dimensional coordinate of 8 groups of diverse locations are obtained
Set up equation formulations：
Ax= b (15)
Wherein affine projection matrix parameter is wherein formula（14) it can be abbreviated as
¾o ¾i a12Formula（15) ;Using linear least square calculating parameter X：
x= {ATAyl ATb ( 16) .Gather the matching double points P of at least 6 groups diverse locations.Three-dimensional coordinate corresponding with Pi and the matching double points P.The method of the two-dimensional coordinate correspondingly projected on the 3rd video camera 32 can also be set up at least 6 groups corresponding three-dimensional coordinates and two-dimensional coordinate to realize by correct match cognization.
It is used as the preferred embodiments of the present invention, the realization of the present invention at least needs three video cameras, and keep the synchronism of video camera shooting image, the first video camera 21 and the second video camera 22 set up for three-dimensional coordinate are the video camera for being provided with infra-red transmitting filter so that pass through the first video camera 21 and the second video camera 22 The three-dimensional coordinate that carries out of image of shooting set up and can effectively exclude the interference of visible ray, it is more accurate that three-dimensional coordinate is set up, and this set can be selected according to actual needs.
As the preferred embodiments of the present invention, authentication unit 3 includes at least two the 3rd video cameras 32 for being used to verify the three-dimensional coordinate set up.Using the checking of the multiple-camera with authentication module, the identification for judging twin camera, matching and the correctness set up are further increased.It can be needed to select the quantity using checking video camera according to available accuracy.
As the preferred embodiments of the present invention, imaging unit 2 can be multiple-camera（More than or equal to three）Target projection imaging system, can add judge multiple-camera identification, matching and set up correctness.
It the foregoing is only embodiments of the invention; it is not intended to limit the scope of the invention; the equivalent structure transformation that every utilization description of the invention and accompanying drawing content are made; or other related technical fields are directly or indirectly used in, it is included within the scope of the present invention.

Claims (14)

  1. Claims
    1st, a kind of object projection method, it is characterised in that including：
    Object is obtained in the first video camera（21) with the second video camera（22) matching double points (and the corresponding three-dimensional coordinate in；
    Obtain the 3rd video camera（32) affine projection matrix；
    Verification process：
    According to the 3rd video camera（32) affine projection matrix and the object is in the first video camera（21) with the second video camera（22) matching double points (P in.Three-dimensional coordinate corresponding with P calculates the object in the 3rd video camera（32) the theoretical barycentric coodinates on；
    According to the matching double points (P.Three-dimensional coordinate corresponding with P calculates the object in the 3rd video camera（32) the theoretical projected size on；
    The object is obtained in the 3rd video camera（32) the actual center gravity coordinate projected on；The object is obtained in the 3rd video camera（32) the actual projected size on；Matching double points (the P is judged according to the comparative result of the comparative result and the theoretical projected size and the actual projected size of the theoretical barycentric coodinates and the actual center gravity coordinate jointly.It is whether correct with corresponding three-dimensional coordinate.
    2nd, object projection method according to claim 1, it is characterised in that the matching double points (Ρ.Three-dimensional coordinate corresponding with P is set up process by calibration process and three-dimensional coordinate and obtained：
    Calibration process：Using first video camera (21) and the calibrating parameters of second video camera (22), obtain first video camera (21) and second video camera (22) being corrected into the first correction matrix and the second correction matrix of second video camera (22) of first video camera (21) of parallel vidicon；
    Three-dimensional coordinate sets up process：The object is obtained in first video camera by the target identification matching to first video camera (21) and second video camera (22)（21) with the matching double points (P in second video camera (22).And PJ;Utilize first correction matrix, second correction matrix and the matching double points (P.Matching double points (the P is calculated with P.Three-dimensional coordinate corresponding with P.
    3rd, object projection method according to claim 2, it is characterised in that the calibrating parameters include inner parameter and outside match parameter, and the inner parameter is obtained by stereo calibration plate scaling method, described Outside match parameter rice matches the coordinate data that first video camera (21) and second video camera (22) are gathered with permanent order, then carries out the coordinate data of permanent order matching first video camera (21) and second video camera (22) collection described in Nonlinear least squares optimization to obtain using Li Wenbeige-Marquart algorithm.
    4th, object projection method according to claim 3, it is characterised in that the inner parameter bag ax γ "o
    Include a of ^=0y v0A fl dx, a=fl dy, wherein " being focal length of camera, dx, dy^
    001 are not horizontally oriented the pixel spacing with vertical direction, be video camera photocentre, be the out of plumb factor of u axles and V axles；Radially abnormal kl, k2;Tangential distortion parameter pl, p2;The outside
    Include spin matrix parameter with parameter
    5th, object projection method according to claim 1, it is characterised in that the affine projection matrix is prepared by the following：
    Gather the matching double points of at least 6 groups diverse locations.Three-dimensional coordinate corresponding with P and the matching double points (P.It is corresponding with PJ in the 3rd video camera（32) two-dimensional coordinate projected on；
    According to the matching double points (P of at least 6 groups diverse locations.Three-dimensional coordinate corresponding with P and the matching double points (P.It is corresponding with P in the 3rd video camera（32) two-dimensional coordinate projected on, affine projection matrix is calculated using linear least square.
    6th, object projection method according to claim 5, it is characterised in that the matching double points (P of at least 6 groups diverse locations of the collection.Three-dimensional coordinate corresponding with PJ and the matching double points (P.It is corresponding with PJ in the 3rd video camera（32) two-dimensional coordinate projected on is prepared by the following：
    3rd video camera is set（32) it is coordinate system, the two-dimensional coordinate of at least 6 groups diverse locations is taken from the coordinate system；
    Matching double points (the P is moved to when the object.With P in the 3rd video camera（32) two-dimensional coordinate projected on it is described from the coordinate system take the two-dimensional coordinate of at least 6 groups diverse locations to overlap when, obtain the matching of at least 6 groups diverse locations corresponding with the two-dimensional coordinate of at least 6 groups diverse locations Point is to (P.Three-dimensional coordinate corresponding with PJ.
    7th, a kind of target projection system, including processing unit（1), imaging unit (2), it is characterised in that also including authentication unit（3), the imaging system（2) the first video camera (21) and the second video camera (22), the authentication unit are included（3) authentication module is included（31) with the 3rd video camera（32):
    The processing unit（ 1 )：For obtaining object in the first video camera（21) with the second video camera（22) matching double points (P in.Three-dimensional coordinate corresponding with P；With the 3rd video camera of acquisition（32) affine projection matrix；
    The authentication module（31):For according to the 3rd video camera（32) affine projection matrix and the object is in the first video camera（21) with the second video camera（22) (and corresponding three-dimensional coordinate calculates the object in the 3rd video camera to the matching double points in（32) the theoretical barycentric coodinates on；According to the matching double points (P.Three-dimensional coordinate corresponding with P calculates the object in the 3rd video camera（32) the theoretical projected size on；
    The object is obtained in the 3rd video camera（32) the actual center gravity coordinate projected on；The object is obtained in the 3rd video camera（32) the actual projected size on；
    Matching double points (the P is judged according to the comparative result of the comparative result and the theoretical projected size and the actual projected size of the theoretical barycentric coodinates and the actual center gravity coordinate jointly.Whether three-dimensional coordinate corresponding with P is correct.
    8th, target projection system according to claim 7, it is characterised in that the processing unit（1) demarcating module is included（11) module is set up with three-dimensional coordinate（12):
    The demarcating module（ 11 )：For the calibrating parameters using first video camera (21) and second video camera (22), obtain first video camera (21) and second video camera (22) being corrected into the first correction matrix and the second correction matrix of second video camera (22) of first video camera (21) of parallel vidicon；
    The three-dimensional coordinate sets up module（12):For obtaining the object in first video camera by the target identification matching to first video camera (21) and second video camera (22)（21) with second video camera（22) matching double points (P in.And PJ;Utilize first correction matrix, second correction matrix and the matching double points (P.Matching double points (the P is calculated with P.Three-dimensional coordinate corresponding with P. 9, target projection system according to claim 8, it is characterized in that, the calibrating parameters include inner parameter and outside match parameter, the inner parameter is obtained by stereo calibration plate scaling method, the outside match parameter matches the coordinate data of first video camera (21) and second video camera (22) collection using permanent order, then carry out the coordinate data of permanent order matching first video camera (21) and second video camera (22) collection described in Nonlinear least squares optimization to obtain using Li Wenbeige-Marquart algorithm.
    10th, target projection system according to claim 9, it is characterised in that the inner parameter bag ax γ "o
    Include=0 ay v0A fl dx, a=fl dy, wherein/it is focal length of camera,：、 dy^
    001 are not horizontally oriented the pixel spacing with vertical direction, be video camera photocentre, be the out of plumb factor of u axles and V axles；Radially abnormal kl, k2;Tangential distortion parameter pl, p2;The outside
    Include spin matrix parameter with parameter
    11st, target projection system according to claim 7, it is characterised in that the affine projection matrix is prepared by the following：
    Gather the matching double points (P of at least 6 groups diverse locations.Three-dimensional coordinate corresponding with P and the matching double points (P.It is corresponding with P in the 3rd video camera（32) two-dimensional coordinate projected on；
    According to the matching double points (P of at least 6 groups diverse locations.Three-dimensional coordinate corresponding with P and the matching double points (P.It is corresponding with P in the 3rd video camera（32) two-dimensional coordinate projected on, affine projection matrix is calculated using linear least square.
    12nd, target projection system according to claim 11, it is characterised in that the matching double points (P of at least 6 groups diverse locations of the collection.Three-dimensional coordinate corresponding with P and the matching double points (P.It is corresponding with P in the 3rd video camera（32) two-dimensional coordinate projected on is prepared by the following：3rd video camera is set（32) it is coordinate system, the two-dimensional coordinate of at least 6 groups diverse locations is taken from the coordinate system；
    Matching double points (the P is moved to when the object.With P in the 3rd video camera（32) on The two-dimensional coordinate of projection with it is described from the coordinate system take the two-dimensional coordinate of at least 6 groups diverse locations to overlap when, obtain the matching double points of at least 6 groups diverse locations corresponding with the two-dimensional coordinate of at least 6 groups diverse locations（P.Three-dimensional coordinate corresponding with P.
    13rd, target projection system according to claim 7, it is characterised in that first video camera (21) and second video camera（22) infra-red transmitting filter is installed.
    14th, target projection system according to claim 7, it is characterised in that the authentication unit（3) the 3rd video camera described at least two is included（32 ).
    15th, target projection system according to claim 7, it is characterised in that the imaging unit（2) at least one imaging video camera is still further comprised.
CN201080066634.7A 2010-05-19 2010-05-19 Object projection method and object projection system Active CN102939562B (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2010/072907 WO2011143813A1 (en) 2010-05-19 2010-05-19 Object projection method and object projection sysytem

Publications (2)

Publication Number Publication Date
CN102939562A true CN102939562A (en) 2013-02-20
CN102939562B CN102939562B (en) 2015-02-18

Family

ID=44991160

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201080066634.7A Active CN102939562B (en) 2010-05-19 2010-05-19 Object projection method and object projection system

Country Status (2)

Country Link
CN (1) CN102939562B (en)
WO (1) WO2011143813A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103699274A (en) * 2013-12-27 2014-04-02 三星电子（中国）研发中心 Information input device and method based on projection and infrared sensing

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109285109B (en) * 2018-09-05 2019-11-26 天目爱视（北京）科技有限公司 A kind of multizone 3D measurement and information acquisition device
CN109754434B (en) * 2018-12-27 2023-08-29 歌尔科技有限公司 Camera calibration method, device, user equipment and storage medium
CN109887002A (en) * 2019-02-01 2019-06-14 广州视源电子科技股份有限公司 Matching process, device, computer equipment and the storage medium of image characteristic point
CN110728715B (en) * 2019-09-06 2023-04-25 南京工程学院 Intelligent inspection robot camera angle self-adaptive adjustment method
CN111127560B (en) * 2019-11-11 2022-05-03 江苏濠汉信息技术有限公司 Calibration method and system for three-dimensional reconstruction binocular vision system
CN112509035A (en) * 2020-11-26 2021-03-16 江苏集萃未来城市应用技术研究所有限公司 Double-lens image pixel point matching method for optical lens and thermal imaging lens
CN113610931A (en) * 2021-08-13 2021-11-05 南京航空航天大学 Machine vision method for measuring parachute-shaped state parameters

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000304508A (en) * 1999-04-16 2000-11-02 Minolta Co Ltd Three-dimensional input device
JP2001320652A (en) * 2000-05-11 2001-11-16 Nec Corp Projector
US20040105580A1 (en) * 2002-11-22 2004-06-03 Hager Gregory D. Acquisition of three-dimensional images by an active stereo technique using locally unique patterns
CN1567384A (en) * 2003-06-27 2005-01-19 史中超 Method of image acquisition, digitized measure and reconstruction of three-dimensional object
US20050163366A1 (en) * 2000-05-04 2005-07-28 Microsoft Corporation System and method for progressive stereo matching of digital images
US20070057946A1 (en) * 2003-07-24 2007-03-15 Dan Albeck Method and system for the three-dimensional surface reconstruction of an object
CN1946195A (en) * 2006-10-26 2007-04-11 上海交通大学 Scene depth restoring and three dimension re-setting method for stereo visual system
JP2009047498A (en) * 2007-08-17 2009-03-05 Fujifilm Corp Stereoscopic imaging device, control method of stereoscopic imaging device, and program
CN101689299A (en) * 2007-06-20 2010-03-31 汤姆逊许可证公司 System and method for stereo matching of images
CN101706957A (en) * 2009-10-30 2010-05-12 无锡景象数字技术有限公司 Self-calibration method for binocular stereo vision device

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3829819B2 (en) * 2003-05-08 2006-10-04 ソニー株式会社 Holographic stereogram creation device
CN101571953B (en) * 2009-05-20 2012-04-25 深圳泰山在线科技有限公司 Object detection method, system and stereoscopic vision system

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000304508A (en) * 1999-04-16 2000-11-02 Minolta Co Ltd Three-dimensional input device
US20050163366A1 (en) * 2000-05-04 2005-07-28 Microsoft Corporation System and method for progressive stereo matching of digital images
JP2001320652A (en) * 2000-05-11 2001-11-16 Nec Corp Projector
US20040105580A1 (en) * 2002-11-22 2004-06-03 Hager Gregory D. Acquisition of three-dimensional images by an active stereo technique using locally unique patterns
CN1567384A (en) * 2003-06-27 2005-01-19 史中超 Method of image acquisition, digitized measure and reconstruction of three-dimensional object
US20070057946A1 (en) * 2003-07-24 2007-03-15 Dan Albeck Method and system for the three-dimensional surface reconstruction of an object
CN1946195A (en) * 2006-10-26 2007-04-11 上海交通大学 Scene depth restoring and three dimension re-setting method for stereo visual system
CN101689299A (en) * 2007-06-20 2010-03-31 汤姆逊许可证公司 System and method for stereo matching of images
JP2009047498A (en) * 2007-08-17 2009-03-05 Fujifilm Corp Stereoscopic imaging device, control method of stereoscopic imaging device, and program
CN101706957A (en) * 2009-10-30 2010-05-12 无锡景象数字技术有限公司 Self-calibration method for binocular stereo vision device

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103699274A (en) * 2013-12-27 2014-04-02 三星电子（中国）研发中心 Information input device and method based on projection and infrared sensing
CN103699274B (en) * 2013-12-27 2017-02-15 三星电子（中国）研发中心 Information input device and method based on projection and infrared sensing

Also Published As

Publication number Publication date
WO2011143813A1 (en) 2011-11-24
CN102939562B (en) 2015-02-18

Similar Documents

Publication Publication Date Title
CN102939562A (en) Object projection method and object projection sysytem
CN103136747B (en) Automotive camera system and its calibration steps
CN102867304B (en) Method for establishing relation between scene stereoscopic depth and vision difference in binocular stereoscopic vision system
TWI555379B (en) An image calibrating, composing and depth rebuilding method of a panoramic fish-eye camera and a system thereof
CN101581569B (en) Calibrating method of structural parameters of binocular visual sensing system
CN111243033B (en) Method for optimizing external parameters of binocular camera
CN103278138B (en) Method for measuring three-dimensional position and posture of thin component with complex structure
TW201715880A (en) An image calibrating, composing and depth rebuilding method of a panoramic fish-eye camera and a system thereof
CN103983186B (en) Binocular vision system bearing calibration and calibration equipment
CN104036542B (en) Spatial light clustering-based image surface feature point matching method
CN104019829B (en) Vehicle-mounted panorama camera based on POS (position and orientation system) and external parameter calibrating method of linear array laser scanner
CN102592124A (en) Geometrical correction method, device and binocular stereoscopic vision system of text image
CN1897715A (en) Three-dimensional vision semi-matter simulating system and method
CN1801953A (en) Video camera reference method only using plane reference object image
CN106170086B (en) Method and device thereof, the system of drawing three-dimensional image
CN111896221B (en) Alignment method of rotating optical measurement system for virtual coordinate system auxiliary camera calibration
CN110337674A (en) Three-dimensional rebuilding method, device, equipment and storage medium
CN105931261A (en) Method and device for modifying extrinsic parameters of binocular stereo camera
CN108230401A (en) 3D four-wheel position finder automatic camera calibration method and system
CN107909543A (en) A kind of flake binocular vision Stereo matching space-location method
CN111091076A (en) Tunnel limit data measuring method based on stereoscopic vision
CN108269234A (en) A kind of lens of panoramic camera Attitude estimation method and panorama camera
CN111435539A (en) Multi-camera system external parameter calibration method based on joint optimization
CN114359406A (en) Calibration of auto-focusing binocular camera, 3D vision and depth point cloud calculation method
CN114219866A (en) Binocular structured light three-dimensional reconstruction method, reconstruction system and reconstruction equipment

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
C56 Change in the name or address of the patentee
CP01 Change in the name or title of a patent holder

Address after: 518000, Guangdong, Shenzhen hi tech Industrial Park, South District, science and technology, South Road, twelve square building, 4 floor

Patentee after: SHENZHEN TAISHAN SPORTS TECHNOLOGY CORP., LTD.

Address before: 518000, Guangdong, Shenzhen hi tech Industrial Park, South District, science and technology, South Road, twelve square building, 4 floor

Patentee before: Shenzhen Tol Technology Co., Ltd.

CP01 Change in the name or title of a patent holder

Address after: 518000 4th floor, Fangda building, Keji South 12th Road, South District, high tech Industrial Park, Shenzhen, Guangdong

Patentee after: Shenzhen Taishan Sports Technology Co.,Ltd.

Address before: 518000 4th floor, Fangda building, Keji South 12th Road, South District, high tech Industrial Park, Shenzhen, Guangdong

Patentee before: SHENZHEN TAISHAN SPORTS TECHNOLOGY Corp.,Ltd.

CP01 Change in the name or title of a patent holder