CN103090846A - Distance measuring device, distance measuring system and distance measuring method - Google Patents
Distance measuring device, distance measuring system and distance measuring method Download PDFInfo
- Publication number
- CN103090846A CN103090846A CN2013100152137A CN201310015213A CN103090846A CN 103090846 A CN103090846 A CN 103090846A CN 2013100152137 A CN2013100152137 A CN 2013100152137A CN 201310015213 A CN201310015213 A CN 201310015213A CN 103090846 A CN103090846 A CN 103090846A
- Authority
- CN
- China
- Prior art keywords
- distance measuring
- measuring equipment
- image pickup
- pickup part
- shooting point
- 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
Links
- 238000000034 method Methods 0.000 title claims abstract description 57
- 238000004364 calculation method Methods 0.000 claims abstract description 17
- 241000219739 Lens Species 0.000 claims description 96
- 210000000695 crystalline len Anatomy 0.000 claims description 96
- 238000005259 measurement Methods 0.000 claims description 60
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 30
- 230000008054 signal transmission Effects 0.000 claims description 22
- 238000002372 labelling Methods 0.000 claims description 19
- 230000005540 biological transmission Effects 0.000 claims description 11
- 238000012937 correction Methods 0.000 claims description 11
- 238000012545 processing Methods 0.000 claims description 5
- 238000010295 mobile communication Methods 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 2
- 230000001154 acute effect Effects 0.000 claims description 2
- 239000003086 colorant Substances 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 6
- 230000000007 visual effect Effects 0.000 description 17
- 210000003128 head Anatomy 0.000 description 10
- 238000010586 diagram Methods 0.000 description 8
- 238000012360 testing method Methods 0.000 description 8
- 230000008901 benefit Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000004891 communication Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000004438 eyesight Effects 0.000 description 4
- 238000012795 verification Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 238000002366 time-of-flight method Methods 0.000 description 3
- NCGICGYLBXGBGN-UHFFFAOYSA-N 3-morpholin-4-yl-1-oxa-3-azonia-2-azanidacyclopent-3-en-5-imine;hydrochloride Chemical compound Cl.[N-]1OC(=N)C=[N+]1N1CCOCC1 NCGICGYLBXGBGN-UHFFFAOYSA-N 0.000 description 2
- 241000209094 Oryza Species 0.000 description 2
- 235000007164 Oryza sativa Nutrition 0.000 description 2
- 235000009566 rice Nutrition 0.000 description 2
- PEDCQBHIVMGVHV-UHFFFAOYSA-N Glycerine Chemical compound OCC(O)CO PEDCQBHIVMGVHV-UHFFFAOYSA-N 0.000 description 1
- 239000000654 additive Substances 0.000 description 1
- 230000000996 additive effect Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000012467 final product Substances 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000001915 proofreading effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
- 230000004304 visual acuity Effects 0.000 description 1
Images
Landscapes
- Measurement Of Optical Distance (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a distance measuring device. The distance measuring device comprises a first image pick-up part and a second image pick-up part, wherein the first image pick-up part comprises one or more image pick-up lenses and image pick-up sensors corresponding to the image pick-up lenses; the second image pick-up part comprise a plurality of image pick-up lenses and image pick-up sensors corresponding to the image pick-up lenses; and the image pick-up lenses of the first image pick-up part and the image pick-up lenses of the second image pick-up part are respectively arranged on two surfaces, and the two surfaces form an included angle with a known angle. The distance measuring device also comprises a signal processor which is connected with each image pick-up part. The invention also discloses a distance measuring system which comprises two distance measuring devices which are matched with each other to realize an effect of measuring distance in real time. The invention also discloses a distance measuring method which is flexible and can be used for performing expanded real-time base line calculation, so that a high-accuracy distance measuring result can be obtained.
Description
Technical field
The present invention relates to the technical field of range observation, be specifically related to a kind of distance measuring equipment, range measurement system and distance-finding method thereof.
Background technology
About measuring method and the instrument of distance, roughly can be divided into two classes, that is, and continuous setup time-of-flight method and stereo-picture method.
The modulating apparatus of continuous setup time-of-flight method comprises light source emitter and light source receiver.Receiver receives the light that reflects from target object, and measure light from the target object to the receiver between the required time, and the distance between computing equipment and target object thus.The advantage of this method is that the distance of each object in scene can accurately be measured.Limitation is, the power of light emitters to measuring distance or a plurality of target the time measurement very large restriction is arranged, and this method belongs to invasive and measures.So-called invasive is measured, and refer to that measurement means has influence on measurement target, thereby measured target perceives; Such as laser, radar, acoustic measurement etc., by to the distance of the signals such as measurement target generation laser with measurement target, but the laser signal that sends has influence on measurement target, and also easily measured target perceives.
The image instrument of stereo-picture method generally comprises two cameras, is used for the captured target image.The difference of two width images is parallax angle and equity, and these two indexs can be used for measuring distance.The advantage of this method be can Quick Measurement all target ranges in the scene, and be that Noninvasive is measured.Yet this method only is used for measuring the spacing of closer object usually in prior art.Yet when measurement target was far away, measuring accuracy was not enough.
As everyone knows, triangulation method can be used for measuring distance, height and related angle.As far back as 263 years Christian eras, before namely about 1800, prove in drawing as Liu Hui one width, the method that this application sight line takes measurement of an angle has been set up.Yet this method can only be measured point-to-point situation, and can not measure the distance of all objects in scene fast automaticly.Photogrammetric method utilization shooting instrument is surveyed and drawn and is monitored, but this method is not real-time usually, is not to be specifically designed to the distance correction function.
Utilize digital camera to measure on a large scale, advantage has much at a distance.This method can capture all information, thereby calculates the distance between nearly all object in scene, and this measuring method right and wrong are invasive.And along with the development of computer technology and great scale integrated circuit, the operand that produces therefrom is also inappreciable.
Digital camera is well-known in prior art, and has been applied to more and more in mobile phone and other mobile devices.The invention of many camera lenses multisensor digital camera has obtained mandate (grant number: No.6,611,289 titles: the digital camera that uses many camera lenses multisensor) of United States Patent (USP).Inventor: the people such as Yu Yanbin.In January, 1999, this is that first application utilizes many camera lenses, multi-sensor technology to obtain the patent of digital picture.In this patent, the multiple image data are obtained by multisensor, many camera lenses, and after processing by image processor, export final image.The advantage of many camera lenses multi-sensor technology is a lot, as high resolving power, high dynamic range, flexible and broad visual angle etc., can obtain best application in the present invention.
Obviously, below three key elements will make the computer vision scheme based on range finding become feasible: the advanced algorithm of stereo vision method and triangulation, the VLSI (very large scale integrated circuit) of high-speed computer and low-power consumption, and with the high digital performance camera of many camera lenses multisensor.This many camera lenses of use multisensor carries out new architecture and the example of distance correction, measurement, exploration and mapping function, will highlight gradually, and make unprecedented achievement.
Summary of the invention
One of purpose of the present invention is to design a kind of distance measuring equipment that is convenient for measuring.
Two of purpose of the present invention is to design a kind of being convenient for measuring, but has the range measurement system of expansion base line length.
Three of purpose of the present invention is to design a kind of distance-finding method that is convenient for measuring
Be the technical scheme that realizes that one of purpose of the present invention adopts: a kind of distance measuring equipment, comprise the first image pickup part and the second image pickup part, wherein the first image pickup part comprises one or more pick-up lenss and the image sensor corresponding with pick-up lens, and the second image pickup part comprises a plurality of pick-up lenss and the image sensor corresponding with pick-up lens; The pick-up lens of the pick-up lens of the first image pickup part and the second image pickup part is located at respectively two surfaces, and two surfaces are positioned at two pedestals or are positioned on same pedestal, and the known angle of angulation between these two surfaces; Comprise signal processor, be connected with each image pickup part, be used for to control the shooting action of image pickup part, and the receiving sensor picture signal of taking and the distance that calculates target object.
Preferably, the angle of described two surface formation is acute angle, right angle or obtuse angle; Pick-up lens is located at the lateral surface of angle, towards the outside of angle.
Preferably, comprise recognition device, be connected with described pedestal dismounting.
Preferably, described recognition device can mainly play the mark effect for structures such as spherical, star, polygons, convenient identification.Recognition device is connected in the top of the first pedestal by support bar.Calculate between two distance measuring equipments apart from the time, take two labelling apparatus positions as calculation level, thereby avoided the excessive problem of being inconvenient to identify of distance measuring equipment.
Preferably, described pedestal is mobile communication terminal.
Preferably, described mobile communication terminal is mobile phone; Described mobile phone is clamshell handset, and the pick-up lens of the pick-up lens of the first image pickup part and the second image pickup part is located at respectively on the fuselage and lid of clamshell handset; Or described mobile phone is stick-type phone, and the pick-up lens of the pick-up lens of the first image pickup part and the second image pickup part is located at respectively on two stick-type phone, and these two stick-type phone connect by snap-in structure.
Preferably, when described mobile phone is stick-type phone, the physical medium signal transmission by being in contact with one another between two stick-type phone, or by wireless mode signal transmission; Adopt in real time or the mode signal transmission of semireal time between two stick-type phone.
Wherein, the physical medium that is in contact with one another is construed as visible, tangible physical medium.
Mean the transmission of picture rather than the transmission of video semireal time.In field of signal transmissions, photography be synchronously essential, generally adopt real-time mode signal transmission, but the mutual transmission mode of image can be non real-time.The transmission of video is generally real-time, and picture is generally non real-time or semireal time.
No matter be the signal transmission form of which kind of mode, receiving equipment receives the time of signal, and its time-delay is sure.For real-time mode, as voice communication, its time-delay is subject to some parameter limit.But for semireal time, because the condition of its communication channel is uncertain, the time that at every turn receives signal can be different, and as seen its time-delay is uncertain.
Take SMS as example, SMS is a kind of storage and forwards service, and that is to say, the transmission of information is not directly to send to receiving equipment from transmitting apparatus, and forwards by the SMS center all the time.If receiving equipment is in not-connected status, information will send when receiving equipment connects again.
For realizing that the technical scheme that two of purpose of the present invention adopts is: a kind of range measurement system, formed by two described distance measuring equipments, the first image pickup part of each distance measuring equipment is towards target to be measured, and the second image pickup part is towards another distance measuring equipment; Each distance measuring equipment also comprises the wireless signal transmission receiving trap, is connected with signal processor, is used for signal transmission between two distance measuring equipments.
Preferably, each distance measuring equipment includes recognition device, is connected with the pedestal dismounting; The second image pickup part is towards the recognition device of another distance measuring equipment.
Preferably, the first image pickup part of two distance measuring equipments includes a plurality of pick-up lenss and the image sensor corresponding with pick-up lens, and different pick-up lenss have different focal lengths.
For realizing that the technical scheme that two of purpose of the present invention adopts is: a kind of range measurement system, comprise two described distance measuring equipments and labelling apparatus, the first image pickup part of each distance measuring equipment is towards target to be measured, and the second image pickup part is towards labelling apparatus; Each distance measuring equipment also comprises the wireless signal transmission receiving trap, is connected with signal processor, is used for signal transmission between two distance measuring equipments.
Preferably, the first image pickup part of two distance measuring equipments includes a plurality of pick-up lenss and the image sensor corresponding with pick-up lens, and different pick-up lenss have different focal lengths.
Preferably, described labelling apparatus is provided with a plurality of labels, and different labels have different colours.Label can be the structures such as spherical, star, polygon, mainly plays the mark effect, convenient identification.
For realizing that the technical scheme that three of purpose of the present invention adopts is:
Scheme one
A kind of distance-finding method comprises that distance measuring equipment the method comprises the steps:
Corner dimension and base length that step 5, processor are calculated according to above-mentioned steps utilize the principle of triangle edges angular dependence to calculate distance between target to be measured and two shooting points.
Scheme two
A kind of distance-finding method comprises distance measuring equipment and recognition device, and the method comprises the steps:
The size of two angles that step 6, processor are calculated according to step 5, and the base length calculated of step 4 utilize the principle of triangle edges angular dependence to calculate distance between target to be measured and two shooting points.
Preferably, described recognition device is the point-like thing, or the known article of length.Point-like thing wherein is as spherical shape or the spherical object of approximate circle.The article that length is known, as shaft-like or approximate shaft-like object, the distance on it between 2 is known.The point-like thing can also be located on the length known object, as the two ends of rhabodoid.
Scheme three
A kind of distance-finding method comprises range measurement system, and range measurement system comprises the first distance measuring equipment and the second distance measuring equipment, and the method comprises the following steps:
Preferably, comprise the step of correction: before shooting, each image pickup part is proofreaied and correct, recorded the parameter of its focal length and focal aperture, and the actual measurement angle that on sensor, location of pixels is corresponding; The data transmission of correction entries to distance measuring equipment, is used for revising the result of calculation of main distance measuring equipment.
Preferably, according to calculate the length of baseline and the distance of target to be measured and two shooting points, again choose the first shooting point and the second shooting point, make the length of baseline greater than 1/10th of target to be measured and two shooting point distances, repeating step two is to step 6, and survey this moment is net result.
Scheme four
A kind of distance-finding method comprises range measurement system, and range measurement system comprises the first distance measuring equipment, the second distance measuring equipment and labelling apparatus, and the method comprises the following steps:
Preferably, comprise the step of correction: before shooting, each image pickup part is proofreaied and correct, recorded the parameter of its focal length and focal aperture, and the actual measurement angle that on sensor, location of pixels is corresponding; The data transmission of correction entries to distance measuring equipment, is used for revising the result of calculation of main distance measuring equipment.
Preferably, according to calculate the length of baseline and the distance of target to be measured and two shooting points, again choose the first shooting point and the second shooting point, make the length of baseline greater than 1/10th of target to be measured and two shooting point distances, repeating step two is to step 6, and survey this moment is net result.
Preferably, described labelling apparatus is the point-like thing, or the known article of length.Point-like thing wherein is as spherical shape or the spherical object of approximate circle.The article that length is known, as shaft-like or approximate shaft-like object, the distance on it between 2 is known.The point-like thing can also be located on the length known object, as the two ends of rhabodoid.
Preferably, the image that the described image pickup part of the application obtains target to be measured comprises, obtains by the mode of taking pictures, or obtains by the mode of image in the intercepting camera shooting and video; For example, can capture video limit, limit image in the intercepting video, so realize the better effects if of real time distance.
The present invention has the distance-finding method of many camera lenses multisensor and distance-measuring equipment.Distance measuring equipment is comprised of two or more camera lenses and sensor group, and the image that produces according to equipment or organize image sets that instrument produces more and complete a plurality of triangles operations and calculate.This instrument gathers the image of target object and reference point simultaneously, can Measurement accuracy and the angle between target object and datum line of again encoding.This instrument can automatically find corresponding point and use the trigonometric calculations distance.The method is very rigorous, quick, accurate, and can high precision, efficiently in wide-measuring range carry out range finding.
The present invention is the invention of a shooting range measurement system, and it has overcome the problem by the short baseline of the Stereo Vision Measurement System of a plurality of devices and digital signal processing mode.It is one, and this system has flexibly and the baseline real-time computing technique that enlarges based on the Range Measurement System of digital camera and non-intrusive measurement, thereby obtains the measurement data of high-precision distance or other information.Enlarging baseline can be by two or more multi-lens camera with consistent mode collaborative work, and by real-time measurements and calculations acquisition.
Description of drawings
Fig. 1 is the front view of embodiment of the present invention distance measuring equipment
Fig. 2 is the rear view of embodiment of the present invention distance measuring equipment
Fig. 3 is the structural representation of embodiment of the present invention distance measuring equipment
Fig. 4 is the range measurement principle schematic diagram of embodiment of the present invention distance measuring equipment
Fig. 5 is the range measurement principle schematic diagram of embodiment of the present invention distance measuring equipment
Fig. 6 is the range measurement principle schematic diagram of embodiment of the present invention distance measuring equipment
Fig. 7 is that embodiment of the present invention distance measuring equipment is used the fundamental diagram that label calculates base length
Fig. 8 is the structural representation of this labelling apparatus
Fig. 9 is that embodiment of the present invention distance measuring equipment is used the fundamental diagram that label calculates base length
Figure 10 is the principle schematic that embodiment of the present invention distance measuring equipment calculates the visual angle value
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described further:
As depicted in figs. 1 and 2, be a kind of embodiment of the present invention, the structural representation of distance measuring equipment comprises the first pedestal 1 and the second pedestal 2, and in the present embodiment, the first pedestal 1 and the second pedestal 2 are plate-like structure, and vertical setting mutually.The outside of two pedestals is equipped with a plurality of cameras, is respectively described the first image pickup part and the second image pickup part.
As shown in Figure 1, evenly be provided with five cameras on the lateral surface of the first pedestal 1, comprising two long-focus cameras 4 and three short focal length cameras 3; Also evenly be provided with five cameras 5 on the lateral surface of the second pedestal 2, be short focal length camera.Also comprise a recognition device 6 in Fig. 1, be specially a spherical recognition device, be located at the upside of the first pedestal 1, as the end points that calculates base length between two distance measuring equipments.
As shown in Figure 2, the medial surface of the first pedestal 1 is provided with LCD display 8, is used for showing, operating touch-control etc.The display screen top is provided with the button 7 of this distance measuring equipment of operation work.
As shown in Figure 3, be the simplified structure schematic diagram of embodiment illustrated in figures 1 and 2, in figure, four camera lenses and sensor are divided into two groups, in the face of different directions is carried out work.The first pedestal 1 is mutually vertical with the second pedestal 2, camera on the first pedestal 1 comprises lens 31 and sensor 32, camera on the second pedestal also comprises lens 51 and sensor 52, and the data that all cameras are taken all are transferred to signal processor 9 centralized computings and process.Number in the figure 10 is photographic subjects, and dotted arrow 12 is opticpath, and solid arrow 11 is data line; The imaging on sensor of photographic subjects 10 scioptics, sensor is connected with signal processor 9, with the image signal transmission that receives to signal processor 9.
The distance measuring equipment of Fig. 3 has the function of the image information of two views that obtain at one time both direction.Camera lens on one of them pedestal and sensor group are used for measuring base length, i.e. distance between two distance measuring equipments, be generally simultaneously work measurement baseline of two arrangement of mirrors heads and sensor, in some cases, only need wherein an arrangement of mirrors head and sensor can measure the length of baseline.During at single body, they cooperate in harmony when a plurality of lens focus, to obtain than the better performance of individual equipment.Signal processor 9 in figure receives and processes the data from four sensors.When two distance measuring equipments are worked simultaneously, a wireless or wired image data transmission device just need to be arranged, view data is sent in all two or one of them distance measuring equipment.
Particularly, signal processor 9, be responsible for view data is processed, in the present embodiment, processor 9 also is responsible for the control to many camera lenses and multisensor video camera, camera on two pedestals points to respectively different directions, and the angle between these two groups of cameras can be fixing, also can carry out high-precision configuration or adjustment.If in order to obtain higher spatial resolution, this working mechanism can be easy to be extended to more camera lenses, the configuration mode of multisensor more, as using simultaneously the situation of telephoto lens and wide-angle lens.
The distance measuring equipment of the present embodiment also has synchro control, can take pictures simultaneously to guarantee two distance measuring equipments.Under AD HOC, only use a wherein table apparatus, this moment is static to liking.The function of other of the present embodiment camera is commonplace, as auto-exposure control, and focusing automatically (or artificial focusing) etc.
For other embodiment, distance measuring equipment of the present invention should have two arrangement of mirrors head and sensors at least, is distributed in (the first and second pedestals of corresponding previous embodiment) in two planes; Wherein have at least an arrangement of mirrors head and sensor to focus on target to be measured; Angle between two planes at camera lens and sensor place is fixing or predefined, or is adjustable pattern.For described two planes, the number of the camera lens on each plane and sensor group can be over two; As a rule, the camera lens on that plane that responsible execution baseline calculates and the number of sensor group have two at least, therefore, can directly measure at one time two angle and distances between device, calculate baseline; In addition, be responsible for taking that plane of calculating target to be measured, need one or more camera lenses and sensor group, in order to better elevation information is measured.
The first and second pedestals of the present embodiment distance measuring equipment can be two turnover panels of clamshell phone in the market, at the lateral surface of clamshell phone, camera lens and recognition device are set, and have conveniently, practical, the effect easily promoted the use of.In addition, the first and second pedestals can also be that two bar phones or panel computer are connected to form by the assembling mode that engages, on the basis of existing bar phone or panel computer, buckle is set, make it can unite use, at this moment, can specify wherein a bar phone or panel computer centralized calculation during deal with data; In addition, when buckle is set, data-interface can also be set carries out mutual communication, certainly also can adopt the mode communication of wireless transmission.
As everyone knows, the principle that two camera lenses utilize parallax and Triangle Model to calculate can be measured the distance of target object, but due to equipment and human factor, and the precision of the distance that the camera lens of two fixed bases is measured is with the large and variation of the change of distance.That is, far away apart from camera lens when target object, it is larger apart from Size Error that camera lens records.Just look like the situation of eye-observation, during with interior object, can estimate more exactly its distance when 10 meters of range estimations; But during the object beyond estimating a kilometer, it is quite large that the error of estimation becomes.
The inventor analyzes through calculation, finds that the distance (referring to so-called baseline) of working as between two camera lenses is larger, and the error of the target object distance of measuring under square one is less.The present embodiment is a portable distance measuring equipment.When we consulted relevant pattern, we can find on different views, have a lot of similar numbers corresponding with similar master drawing now.
Obviously, triangulation can utilize following equation to calculate distance:
z=c*(f*p)/b (1)
Wherein, coefficient c is determined by a plurality of factors, can determine at correction link; F is the focal length of camera lens; P is the observation proof test value of two images of same target; B is two distances between camera lens, as the length of baseline.
Corresponding one group of given parameter, being expressed as follows of single order deviation:
δz=(c*f/b)*δp-(c*f*f*p/b
2)*δb (2)
There are other several methods can improve the degree of accuracy of range observation here.Wherein, the deviation that is caused by proof test value is to cause the main cause of final error.Calculating the depth distance, and when measuring distance is distant, one or can cause the great error of calculation even less than the proof test value of a pixel.We can expand focal distance f, measure the accuracy of verification to improve odd even.But the visual field that so long focal length simultaneously also can confining device also can become simultaneously heavy and can't use flexibly.For example, conventional camera lens has the visual angle of 60 °.If use the telephoto lens of 100 multiples, its visual angle also just only has 1/10th of conventional camera lens so, has namely only had the visual angle of 6 °.Certainly on the other hand, this long-focus method also can be used by appropriateness, and perhaps the mode with other is combined with.As in the present embodiment, the camera of camera lens multisensor more than can guarantee large observation visual angle and high-precision observation effect.This camera can adopt different focal simultaneously at different directions, adopts standard focal length as a direction, and another direction adopts the focal length (2-3 zoom factor doubly) of 4-10X.And odd even resolution also can rise to high definition from single-definition, as rising to 3000 from 512.
Here there is a cover to adopt the detailed description of the stereo-picture matching algorithm of shorter baseline.
A kind of performance parameter of existing system is described as follows:
Configuration: 22cm baseline, the visual angle of 512 * 372,40 °
Effective working range: 2.7 meters 35 meters;
Range resolution: reach 0.01 meter in the time of 3 meters, reach 1.1 meters in the time of 38 meters;
Spatial resolution: reach 0.004 meter in the time of 3 meters, reach 0.05 meter in the time of 38 meters;
Imaging: Micron MT9V022CMOS imager;
Adopt global shutter.
Wherein, range resolution refers to the resolution of depth direction, and spatial resolution refers to horizontal resolution.
Can find out, when the distance of range finding object became large, error also increased simultaneously.Two reasons are arranged here:
Even 1 angular resolution is constant, spatial resolution has also reduced;
2, long distance, it is more and more less that parallax becomes.For a given baseline (as 22cm), when distance changes to 38 meters from 3 meters, spatial resolution also changes to 0.05 meter by 0.004 meter, namely about 12 times.But the range resolution of this moment changes to 1.1 meters, namely about 110 times from 0.01 meter.By contrasting identical data, can release easily, if use the high definition sensor (3000 * 2000) of varifocal camera lens (direction adopts 4X, the camera lens of 2X therein) and 6 mega pixels, can in the situation that do not change baseline, resolution be improved 12 times so.For example, if baseline is increased to 22 meters, it is far away that range finding distance so will be increased to several kms.As shown in Figure 1, in the configuration of many camera lenses multisensor, the camera lens of different focal can be used simultaneously, and all advantages of wide-angle and high precision measurement of angle can be had simultaneously.
Can find out from formula (2), follow the length of baseline to be inversely proportional to by the parallax that the verification measuring error causes.So baseline is longer, final error will be less.And, can find out, the final error that the error ratio that is caused by verification is caused by baseline itself wants much responsive.In fact, final error square being directly proportional with baseline self only.Therefore, we can draw a conclusion, that be exactly the more effective method of improving range observation be the baseline of expansion system.
The range measurement principle of the present embodiment:
What Fig. 4 described is the schematic diagram of stereoscopic vision measuring distance.If two camera lenses 13 and sensor 14 are installed on same device, setting angle α, β and the distance R between two sensors is known.Therefore, just can easily calculate the distance of measurement target 10.In fact, Here it is utilizes the basic framework of stereocamera measuring distance.Yet owing to being limited by limited base length, this class device only has limited resolution of ranging.
Fig. 5 shows is one and has flexibly and the improved distance measuring equipment of the baseline R of expansion, and wherein one group of lens 13 and sensor 14 can be organized lens and sensor rotates around another, but also rotation simultaneously, thus adjust flexibly the visual angle.An improvement project as Fig. 4 if angle [alpha] and angle beta can be measured accurately, so just can calculate the distance of measurement target 10.Owing to having expanded baseline R, so the measuring accuracy of distance also is enhanced.Yet when two camera lenses 13 and sensor 14 were not on same distance measuring equipment, how to take measurement of an angle α and angle beta were only the thing of true difficulty.Although in some sense, two distance measuring equipments can record high-precision angle value with additive method, such as using astronomical sight.
Distance measuring equipment shown in Figure 6 is the usage example in actual environment, adopts series system work between two distance measuring equipments in figure.Each distance measuring equipment has a recognition device, for another equipment observation.The distance measuring equipment on the left side and the right is respectively taken a photo to same object 10 at one time.View data is concentrated in one of them distance measuring equipment and processes.Baseline 15 can record by arbitrary device wherein, or jointly records to reduce mistake by two devices as far as possible.Then, can by angle [alpha] and angle beta, measure the distance between object 10 and distance measuring equipment.In Fig. 6,13 is lens, and 14 is sensor.In the example of Fig. 6, only has one group towards lens and the sensor group of object 10.
Fig. 7 is the schematic diagram of expansion baseline in a 2D plane, supposes that namely all objects are all to be in same plane.Here have two independently distance measuring equipments, two gauge point 10-2 and 10-3 are positioned at the middle part of two devices, and the length L 1 between two gauge points is known, are used for calculating the length of baseline 15.When the view data from two devices is concentrated in one of them device when processing, at first the value of baseline 15 will be calculated.Then, the distance between object 10-1 to be measured and arbitrary distance measuring equipment also can measuredly obtain.In Fig. 7,13 is lens, and 14 is sensor; Angle [alpha] and angle beta are respectively the angle between object 10-1 to be measured, distance measuring equipment and gauge point 10-2, and angle θ and angle Y are respectively the angle between two distance measuring equipments and gauge point 10-2,10-3; L2 is that gauge point 10-2 is to the distance of baseline 15 on the direction of two gauge point place straight lines.
Fig. 8 is a 3D labelling apparatus 10, and it is with 3 marker a, b, c that can be used for doing distance correction, and distance and the angle between line in figure between those identification points are known.It uses its when range finding as the aid of range finding, is placed between two distance measuring equipments, and distance and the angle between itself and each label calculated in each distance measuring equipment independent measurement, thereby further calculates two parallax ranges between distance measuring equipment.
Shown in Figure 9 is the situation of 3D range finding, and highly (z) also should be considered into.Two distance measuring equipments in left and right are obtained gauge point 10a, 10b and 10c, also have the image of object 10d to be measured.Distance between gauge point and angle are all known, in the situation of 3D, if two distance measuring equipments just need to be obtained the length of 10a-10b and 10b-10c not on same level, thereby calculate two base length between distance measuring equipment.Based on to L1, the measurement of L2 and L3 is calculated, and just can calculate the value of the datum line between C1 and C2.Then, just can according to the angle [alpha] that records and angle beta, try to achieve the distance of the object 10d to be measured that will measure.In figure, angle θ and angle Y are respectively the angle between two distance measuring equipments and gauge point 10a, 10b.
Figure 10 has illustrated the association between the upper pixel compensation of sensor plane (measuring object plane be also) and angle.Can come with this association the value at the visual angle between two objects corresponding in the calculating pixel compensating images.In Figure 10,13 is lens, and 14 is sensor.
Digital camera can be considered to a kind of extended capability of the mankind, is used for measuring the angle of two objects in Same Scene.Shown in Figure 10, the leg-of-mutton angle corresponding pixel difference (compensation) relevant with object in image.Can find out, these angle difference are also inconsistent, but determined by the pixel of relative position in image.If two figure are that the pixel verification differential seat angle of same target will be consistent so by the device picked-up of two camera lenses of one group of band and sensor.
The relation of the measurement of angle in Figure 10 and pixel compensation mensuration can be described below:
For a small objects Δ of object plane, suppose that its corresponding angle is α, little side-play amount corresponding on sensor plane is δ.
Δ=R*(tg(γ+α)-tg(γ))
=R*sin(α)/(cos(γ)*cos(γ+α))
=R*sin(α)/(cos(γ)*(cos(γ)cos(α)-sin(γ)sin(α)))
When Y=0:
Δ=R*sin(α)/cos(α)
=R*sin (α) is if the value of α is very little
So, α=sin
-1(Δ/R)
When the standard visual angle of Y=30 ° of camera lens:
Δ=R*sin(α)/(√3)/4*(((√3)cos(α)-sin(α))
=R*sin (α)/(3/4) is if the value of α is very little
Therefore, α=sin
-1(4 Δs/3R)
Wherein, the meaning of √ 3 expressions to 3 extracting operations, sin
-1Be arcsin function.
This means, for arbitrary pixel of sensor plane, if the visual angle increases, corresponding Space Angle also increases.Usually, the geometric distortion of camera lens (TV distortion) scope is 2-0.1%, is greater than the degree of distortion of a pixel.Therefore, we can adopt other mechanism to control and minimize aliasing, as electronic calibration etc.
The precision of above-mentioned measurement of angle and pixel compensation measurement result is subjected to the impact of camera lens and sensor mass, and therefore, the better equipment of use that can be suitable is to obtain higher performance.For example, the amount of pixels of horizontal direction can be adjusted to 3000px from the 640px of single-definition.
The parameter of a kind of Typical Disposition of the present embodiment distance measuring equipment is:
Configuration: 60 °, baseline 6.5-30cm visual angle;
Effective range: 1-3500 rice;
Spatial resolution: 0.001m@3m to0.5m@3500m;
Resolution of ranging: 0.01m@3m to3m@3500m (baseline is 350 meters);
Optics: focal length: 6-25mm;
Imaging device: many cmos imagers (2000 * 3000) of 6 mega pixels.
The present embodiment has multiple function, according to measuring required precision, selects different use-patterns.
When needs measure closer object apart from the time, in 100 meters, only need the distance measuring equipment an of the present embodiment to work independently and get final product, measure the distance of the object that meets accuracy requirement by the cooperation of two camera lenses, as shown in Figure 4 and Figure 5.
When needs measure remote object apart from the time, beyond 1 kilometer, for reaching more excellent measuring accuracy, need to increase the length of baseline between two camera lenses, can use the distance measuring equipment of two the present embodiment this moment, these two distance measuring equipments are used in conjunction with each other, and the distance between it is the length of baseline.So can obtain for example 100 meters base length with interior expansion, compare the baseline of original single distance measuring equipment, greatly improve the precision of range finding.In existing equipment, base length often is subject to the shape of equipment itself, the restriction of size, and for portable set, the length of its baseline usually can be greater than 10 meters.Increase the length of baseline as need, this is that existing equipment is out of the question again.When the distance measuring equipment of use the present embodiment obtained larger base length, the first pedestal of distance measuring equipment was used for taking the image of object to be checked towards object under test; The second pedestal is towards another distance measuring equipment, and the second pedestal of two distance measuring equipments is used for measuring the distance between two distance measuring equipments toward each other.The image that camera on the first pedestal of same distance measuring equipment is taken can be used for deblurring to be processed, and the image that the first pedestal of different distance measuring equipments is taken can be used for calculating the distance of object under test.Base length between two distance measuring equipments is as the criterion with the distance between recognition device.Two modes that distance measuring equipment is worked simultaneously, simple, quick, real-time, be particularly useful for the range finding work of moving object.As shown in Figure 6.
If remote object to be measured is static, the user can also only can complete the task of precision distance measurement with the distance measuring equipment an of the present embodiment.Operate as followsly, the user first takes the photograph to get the image of object under test at A point, then goes to the image of B point picked-up object under test, the distance that acquisition A, B are ordered, and shooting angle, and machine calculating can draw the distance of object under test as calculated.The mode that obtains A, B point distance has, the artificial measurement, but this mode is comparatively inconvenient; More excellent, the recognition device on distance measuring equipment can be taken off and be put in the A point, then the camera on the second pedestal of B point use distance measuring equipment is taken, and utilizes distance measuring equipment itself to record the distance that A, B are ordered.
When further need to measure farther apart from the time, beyond 10 kilometers, be the precision that continues to keep good, need further to increase the length of baseline, as base length being increased to hundreds of rice even more than 1 kilometer, the method for upper two sections described measurement baselines is inadaptable.Can establish in advance label between two distance measuring equipments, as Fig. 7, Fig. 8 and shown in Figure 9, distance between each reference point of label is known, if the reference point more than three, the angle between reference point is known, and the second pedestal of two distance measuring equipments is all towards label, measure respectively separately and the reference point of label between angle and distance, comprehensively calculate again two distances between distance measuring equipment, so greatly improved the precision when measuring baseline.A plurality of reference points are set, and can cooperate with each other to calculate also further reduces error.
When needs are measured large object, such as building, mountain etc., need this moment the camera lens of long and short focal length to be used in conjunction with simultaneously.The focal length of camera lens and the visual angle of camera lens and range resolution have the relation of contradiction, than the camera lens of long-focus, have range resolution preferably, but its visual angle are less, when the object of measuring as needs is larger, even can not fully be filmed object; Although yet the camera lens of shorter focal length has wider visual angle, its range resolution is relatively poor, crosses when far away when measuring object distance, can't satisfy the requirement of precision.Camera on distance measuring equipment first pedestal of the present embodiment has different focal lengths, and the camera of different focal can be worked simultaneously, cooperatively interacts each other to reduce the impact of the little and Range resolution rate variance in visual angle.
The embodiment of distance-finding method of the present invention is as follows:
For each many camera lens and multisensor group, the number of camera lens and sensor can be over two.As a rule, the camera lens of that group that responsible execution baseline calculates and the number of sensor have two, and be even more.Therefore, can directly measure at one time two angle and distances between device.In addition, also need many one or several camera lenses and sensor for the distance of measurement target, in order to better elevation information is measured.
This device has synchronization mechanism, can take pictures simultaneously to guarantee two table apparatus.Under specific circumstances, only use a wherein table apparatus, this moment is static to liking.Other camera apparatus is commonplace, as auto-exposure control, and focusing automatically (or artificial focusing) etc.
By wireless mode, photo opporunity is carried out synchronously between two distance measuring equipments, and after taking pictures exchange image data.The real-time clock that oneself is arranged due to each device is so can pre-set program carry out all operations.
In other embodiment, also adopt wireless mode, as high-precision GPS or similar system, Local wireless network or similar system can adopt time-of-flight method and optical triangulation method to measure and confirm the value of baseline.The reference point that other are known, as the sun, the moon, how much reference points and reference mark, or mutual reference point can be used to accurately to obtain relative position and angle between device, the perhaps angle value between object apparatus.Therefore, can carry out thus better range operation.In addition, the image of range finding object is obtained in shooting of the present invention, and its style of shooting should comprise the photo of direct shooting range finding object, and the picture in the video of intercepting shooting range finding object.
Method is described: in the present embodiment, preferably first proofread and correct distance measuring equipment.After calibration, the user can set the wherein parameter of an arrangement of mirrors head and sensor by an object, and another arrangement of mirrors head and sensor arrange base measurement by other device.After taking pictures simultaneously, intercourse view data between two groups of devices, thereby calculate the value of baseline and distance.Detailed operating process is described below:
1, calibration: for a given setting, as the parameter of focal length and focal aperture, need to proofread and correct each pixel of sensor, and record.The actual measurement angle that location of pixels is corresponding also can go on record, and is embodied in final calculating.All errors all go on record as factors such as lens aberration, systematic error and installation deviation.Need to proofread and correct respectively in the horizontal and vertical direction.Can use two groups or more camera lens and sensor in measurement in space, before calculating distance, also will proofread and correct by the measurement of actual range.Some parameter all will be set especially and proofread and correct as the distance between camera lens and sensor.The numerical value of proofreading and correct will be as the built-in storage data of device.
2, configuration device: for the range finding of object in scene, adopt two distance measuring equipments, two distance measuring equipments work in series model.Base length between two distance measuring equipments at least should by range finding from 1/10th, guarantee is measuring accuracy preferably.One arrangement of mirrors head of distance measuring equipment and sensor are facing to the range finding object, and another is organized facing to another distance measuring equipment (perhaps labelling apparatus, reference point).
3, object and other distance measuring equipments are taken pictures: guarantee that camera lens and sensor that all are relevant all are adjusted to good suitable state.Usually, the two arrangement of mirrors heads of taking same target preferably have same or analogous parameter setting, as the time shutter, process with the pixel matching that reduces the later stage.In specific time, place, two distance measuring equipments totally four arrangement of mirrors heads are taken pictures simultaneously.
4, with wireless or other modes with image data transmission in processor: the view data that one of them distance measuring equipment is obtained, together with relevant description, error and parameters, as the angle between two arrangement of mirrors heads, aperture, zoom factor, time shutter, correction data etc., be transferred to together on another distance measuring equipment.Carry out Data Collection and executing data processing by a distance measuring equipment.
5, calculate baseline value: the image data information of at first obtaining by this distance measuring equipment is calculated baseline, then verifies and confirm by the view data of another distance measuring equipment.
6, calculate distance: to a given object, first by the stereo-picture matching algorithm, as estimation, find out the respective pixel collection of the target of two distance measuring equipments shootings.Then calculate the angle between baseline and object.And then calculate the distance of object.
Got back to for the 3rd step, then calculate once, thus checking and improve ranging data.
The announcement of book and instruction according to the above description, those skilled in the art in the invention can also change and revise above-mentioned embodiment.Therefore, the embodiment that discloses and describe above the present invention is not limited to also should fall in the protection domain of claim of the present invention modifications and changes more of the present invention.In addition, although used some specific terms in this instructions, these terms do not consist of any restriction to the present invention just for convenience of description.
Claims (19)
1. distance measuring equipment, it is characterized in that: comprise the first image pickup part and the second image pickup part, wherein the first image pickup part comprises one or more pick-up lenss and the image sensor corresponding with pick-up lens, and the second image pickup part comprises a plurality of pick-up lenss and the image sensor corresponding with pick-up lens;
The pick-up lens of the pick-up lens of the first image pickup part and the second image pickup part is located at respectively two surfaces, and two surfaces are positioned at two pedestals or are positioned on same pedestal, and the known angle of angulation between these two surfaces;
Comprise signal processor, be connected with each image pickup part, be used for to control the shooting action of image pickup part, and the receiving sensor picture signal of taking and the distance that calculates target object.
2. distance measuring equipment according to claim 1 is characterized in that: the angles that described two surfaces form are acute angle, right angle or obtuse angle; Pick-up lens is located at the lateral surface of angle, towards the outside of angle.
3. distance measuring equipment according to claim 1, is characterized in that: comprise recognition device, be connected with described pedestal dismounting.
4. distance measuring equipment according to claim 1, it is characterized in that: described pedestal is mobile communication terminal.
5. distance measuring equipment according to claim 4, it is characterized in that: described mobile communication terminal is mobile phone;
Described mobile phone is clamshell handset, and the pick-up lens of the pick-up lens of the first image pickup part and the second image pickup part is located at respectively on the fuselage and lid of clamshell handset; Or,
Described mobile phone is stick-type phone, and the pick-up lens of the pick-up lens of the first image pickup part and the second image pickup part is located at respectively on two stick-type phone, and these two stick-type phone connect by snap-in structure.
6. distance measuring equipment according to claim 5 is characterized in that: when described mobile phone is stick-type phone, and the physical medium signal transmission by being in contact with one another between two stick-type phone, or by wireless mode signal transmission; Adopt in real time or the mode signal transmission of semi-real time processing between two stick-type phone.
7. an application rights requires the range measurement system of 1 distance measuring equipment, and it is characterized in that: be comprised of two described distance measuring equipments, the first image pickup part of each distance measuring equipment is towards target to be measured, and the second image pickup part is towards another distance measuring equipment; Each distance measuring equipment also comprises the wireless signal transmission receiving trap, is connected with signal processor, is used for signal transmission between two distance measuring equipments.
8. distance measuring equipment according to claim 7, it is characterized in that: each distance measuring equipment includes recognition device, is connected with the pedestal dismounting; The second image pickup part is towards the recognition device of another distance measuring equipment.
9. an application rights requires the range measurement system of 1 distance measuring equipment, and it is characterized in that: comprise two described distance measuring equipments and labelling apparatus, the first image pickup part of each distance measuring equipment is towards target to be measured, and the second image pickup part is towards labelling apparatus; Each distance measuring equipment also comprises the wireless signal transmission receiving trap, is connected with signal processor, is used for signal transmission between two distance measuring equipments.
10. according to claim 7 or 9 described range measurement systems, it is characterized in that: the first image pickup part of two distance measuring equipments includes a plurality of pick-up lenss and the image sensor corresponding with pick-up lens, and different pick-up lenss have different focal lengths.
11. range measurement system according to claim 9 is characterized in that: described labelling apparatus is provided with a plurality of labels, and different labels have different colours.
12. a distance-finding method, application rights requires 1 described distance measuring equipment, and its spy is that the method comprises the steps:
Step 1, choose the first shooting point, distance measuring equipment is placed in the first shooting point, the first image pickup part is towards target to be measured, and processor is controlled the first image pickup part and taken, and obtains the photographic images of target to be measured;
Step 2, choose the second shooting point, distance measuring equipment is placed in the second shooting point, and the first image pickup part is towards target to be measured, and the second image pickup part is towards the first shooting point, processor is controlled the first image pickup part and the second image pickup part is taken simultaneously, obtains the photographic images of target to be measured and the first shooting point;
Step 3, processor go out the distance of the first shooting point and the second shooting point according to the image calculation of the first shooting point of step 2 acquisition, draw the base length of the first shooting point and the second shooting point.
Step 4, processor be according to the photographic images of the target to be measured that obtains in step 1, calculates take the first shooting point as the summit, the size take baseline and target direction to be measured as the angle on limit; Processor is according to the photographic images of the target to be measured that obtains in step 2, calculates take the second shooting point as the summit, the size take baseline and target direction to be measured as the angle on limit;
Corner dimension and base length that step 5, processor are calculated according to above-mentioned steps utilize the principle of triangle edges angular dependence to calculate distance between target to be measured and two shooting points.
13. a distance-finding method, application rights requires 1 described distance measuring equipment, and this distance measuring equipment also comprises recognition device, it is characterized in that the method comprises the steps:
Step 1, choose the first shooting point and the second shooting point;
Step 2, distance measuring equipment is placed in the first shooting point, and recognition device is placed in the second shooting point, the first image pickup part is towards target to be measured, and the second image pickup part is towards recognition device; Processor is controlled the first image pickup part and the second image pickup part is taken simultaneously, obtains the photographic images of first group of target to be measured and recognition device;
Step 3, distance measuring equipment is placed in the second shooting point, and recognition device is placed in the first shooting point, the first image pickup part is towards target to be measured, and the second image pickup part is towards recognition device; Processor is controlled the first image pickup part and the second image pickup part is taken simultaneously, obtains the photographic images of second group of target to be measured and recognition device;
Step 4, processor calculate respectively the distance of the first shooting point and the second shooting point according to the photographic images of first group or second group recognition device, get the mean value of twice calculating, draw the base length of the first shooting point and the second shooting point;
Step 5, processor be according to the photographic images of first group of target to be measured, calculates take the first shooting point as the summit, the size take baseline and target direction to be measured as the angle on limit; Processor is according to the photographic images of second group of target to be measured, calculates take the second shooting point as the summit, the size take baseline and target direction to be measured as the angle on limit;
The size of two angles that step 6, processor are calculated according to step 5, and the base length calculated of step 4 utilize the principle of triangle edges angular dependence to calculate distance between target to be measured and two shooting points.
14. distance-finding method according to claim 13 is characterized in that: described recognition device is the point-like thing, or the known article of length.
15. a distance-finding method, application rights requires 7 described range measurement systems, and range measurement system comprises the first distance measuring equipment and the second distance measuring equipment, it is characterized in that the method comprises the following steps:
Step 1, choose the first shooting point and the second shooting point;
Step 2, the first distance measuring equipment are placed in the first shooting point, and the second distance measuring equipment is placed in the second shooting point; The first image pickup part of two distance measuring equipments is towards target to be measured, and the second image pickup part is towards another distance measuring equipment;
Step 3, processor are controlled all image pickup parts of two distance measuring equipments and are taken simultaneously, obtain photographic images;
Step 4, one of them distance measuring equipment will be taken the picture signal that obtains by the physical medium that is in contact with one another or be transferred to another distance measuring equipment by the wireless signal transmission receiving trap, and this distance measuring equipment that receives photographic images is main distance measuring equipment;
Step 5, main distance measuring equipment take according to the second image pickup part of the first distance measuring equipment or the second distance measuring equipment the distance that the image calculation that obtains goes out the first shooting point and the second shooting point respectively, get the mean value of twice calculating, draw the base length of the first shooting point and the second shooting point;
Step 6, main distance measuring equipment according to step 5 calculate base length and the first image pickup part of two distance measuring equipments take the image of the target to be measured that obtains, calculate the distance of target to be measured and two shooting points.
16. a distance-finding method, application rights requires 9 described range measurement systems, and range measurement system comprises the first distance measuring equipment and the second distance measuring equipment, it is characterized in that the method comprises the following steps:
Step 1, choose the first shooting point and the second shooting point;
Step 2, the first distance measuring equipment are placed in the first shooting point, and the second distance measuring equipment is placed in the second shooting point, and labelling apparatus is placed between two shooting points; The first image pickup part of two distance measuring equipments is towards target to be measured, and the second image pickup part is towards labelling apparatus;
Step 3, processor are controlled all image pickup parts of two distance measuring equipments and are taken simultaneously, obtain photographic images;
Step 4, one of them distance measuring equipment will be taken the picture signal that obtains by the physical medium that is in contact with one another or be transferred to another distance measuring equipment by the wireless signal transmission receiving trap, and this distance measuring equipment that receives photographic images is main distance measuring equipment;
Step 5, main distance measuring equipment are taken the image of the labelling apparatus that obtains according to two distance measuring equipments, calculate the base length of the first shooting point and the second shooting point;
Step 6, main distance measuring equipment according to step 5 calculate base length and the first image pickup part of two distance measuring equipments take the image of the target to be measured that obtains, calculate the distance of target to be measured and two shooting points.
17. according to claim 15 or 16 described distance-finding methods is characterized in that, comprise the step of correction: before shooting, each image pickup part is proofreaied and correct, recorded the parameter of its focal length and focal aperture, and the actual measurement angle that on sensor, location of pixels is corresponding; The data transmission of correction entries to distance measuring equipment, is used for revising the result of calculation of main distance measuring equipment.
18. according to claim 15 or 16 described distance-finding methods, it is characterized in that: according to calculate the length of baseline and the distance of target to be measured and two shooting points, again choose the first shooting point and the second shooting point, make the length of baseline greater than 1/10th of target to be measured and two shooting point distances, repeating step two is to step 6, and survey this moment is net result.
19. distance-finding method according to claim 16 is characterized in that: described labelling apparatus is the point-like thing, or the known article of length shapes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310015213.7A CN103090846B (en) | 2013-01-15 | 2013-01-15 | A kind of range unit, range-measurement system and distance-finding method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310015213.7A CN103090846B (en) | 2013-01-15 | 2013-01-15 | A kind of range unit, range-measurement system and distance-finding method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103090846A true CN103090846A (en) | 2013-05-08 |
| CN103090846B CN103090846B (en) | 2016-08-10 |
Family
ID=48203715
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310015213.7A Expired - Fee Related CN103090846B (en) | 2013-01-15 | 2013-01-15 | A kind of range unit, range-measurement system and distance-finding method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103090846B (en) |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104596474A (en) * | 2015-01-30 | 2015-05-06 | 中国科学院地质与地球物理研究所 | Laser ranging measurement base |
| CN104819706A (en) * | 2014-01-31 | 2015-08-05 | 株式会社拓普康 | Measuring system |
| CN105983183A (en) * | 2015-02-27 | 2016-10-05 | 苏州雷泰医疗科技有限公司 | Radiation therapy device |
| CN106123863A (en) * | 2016-06-12 | 2016-11-16 | 首都师范大学 | A kind of photogrammetric survey method based on scape of enjoying a double blessing |
| CN106846311A (en) * | 2017-01-21 | 2017-06-13 | 吴东辉 | Positioning and AR method and system and application based on image recognition |
| CN107038703A (en) * | 2017-04-26 | 2017-08-11 | 国家电网公司 | A kind of goods distance measurement method based on binocular vision |
| CN107270890A (en) * | 2017-04-25 | 2017-10-20 | 深圳大学 | The distance-finding method and system of TOF range sensors on a kind of unmanned plane |
| US9958268B2 (en) | 2013-10-31 | 2018-05-01 | Kabushiki Kaisha Topcon | Three-dimensional measuring method and surveying system |
| CN108051799A (en) * | 2018-01-30 | 2018-05-18 | 广州市君望机器人自动化有限公司 | Ranging camera head and equipment |
| CN109729721A (en) * | 2017-08-29 | 2019-05-07 | 深圳市汇顶科技股份有限公司 | Optical ranging method and optical distance measurement apparatus |
| CN109856590A (en) * | 2018-12-10 | 2019-06-07 | 云南电网有限责任公司德宏供电局 | Method of calibration and device |
| CN109945840A (en) * | 2017-12-20 | 2019-06-28 | 纬创资通股份有限公司 | 3-dimensional image acquisition method and system |
| CN110595441A (en) * | 2018-06-13 | 2019-12-20 | 杭州海康威视数字技术股份有限公司 | Aiming device |
| CN110749876A (en) * | 2019-08-30 | 2020-02-04 | 上海禾赛光电科技有限公司 | Calibration method and calibration structure for laser radar |
| CN111044039A (en) * | 2019-12-25 | 2020-04-21 | 中航华东光电有限公司 | Monocular target area self-adaptive high-precision distance measuring device and method based on IMU |
| CN111308485A (en) * | 2018-12-11 | 2020-06-19 | 株式会社拓普康 | Measuring device and photographic measuring method |
| CN113066119A (en) * | 2021-06-02 | 2021-07-02 | 杭州咏柳科技有限公司 | Analytical system of skin damage information |
| CN115127523A (en) * | 2022-05-09 | 2022-09-30 | 湖南傲英创视信息科技有限公司 | Heterogeneous processing panoramic detection and ranging system based on double-line cameras |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6611289B1 (en) * | 1999-01-15 | 2003-08-26 | Yanbin Yu | Digital cameras using multiple sensors with multiple lenses |
| CN101236081A (en) * | 2008-02-22 | 2008-08-06 | 济南大学 | Laser image and corresponding pixel distance measurement based displacement measuring device and method |
| CN101858743A (en) * | 2010-06-04 | 2010-10-13 | 西安天和防务技术股份有限公司 | Distance measuring device and method based on large-field shooting and image processing |
| CN203069176U (en) * | 2013-01-15 | 2013-07-17 | 广州市盛光微电子有限公司 | Ranging device and ranging system thereof |
-
2013
- 2013-01-15 CN CN201310015213.7A patent/CN103090846B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6611289B1 (en) * | 1999-01-15 | 2003-08-26 | Yanbin Yu | Digital cameras using multiple sensors with multiple lenses |
| CN101236081A (en) * | 2008-02-22 | 2008-08-06 | 济南大学 | Laser image and corresponding pixel distance measurement based displacement measuring device and method |
| CN101858743A (en) * | 2010-06-04 | 2010-10-13 | 西安天和防务技术股份有限公司 | Distance measuring device and method based on large-field shooting and image processing |
| CN203069176U (en) * | 2013-01-15 | 2013-07-17 | 广州市盛光微电子有限公司 | Ranging device and ranging system thereof |
Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9958268B2 (en) | 2013-10-31 | 2018-05-01 | Kabushiki Kaisha Topcon | Three-dimensional measuring method and surveying system |
| CN104819706A (en) * | 2014-01-31 | 2015-08-05 | 株式会社拓普康 | Measuring system |
| US9773420B2 (en) | 2014-01-31 | 2017-09-26 | Kabushiki Kaisha Topcon | Measuring system |
| CN104596474A (en) * | 2015-01-30 | 2015-05-06 | 中国科学院地质与地球物理研究所 | Laser ranging measurement base |
| CN105983183A (en) * | 2015-02-27 | 2016-10-05 | 苏州雷泰医疗科技有限公司 | Radiation therapy device |
| CN106123863A (en) * | 2016-06-12 | 2016-11-16 | 首都师范大学 | A kind of photogrammetric survey method based on scape of enjoying a double blessing |
| CN106846311A (en) * | 2017-01-21 | 2017-06-13 | 吴东辉 | Positioning and AR method and system and application based on image recognition |
| CN106846311B (en) * | 2017-01-21 | 2023-10-13 | 吴东辉 | Positioning and AR method and system based on image recognition and application |
| CN107270890A (en) * | 2017-04-25 | 2017-10-20 | 深圳大学 | The distance-finding method and system of TOF range sensors on a kind of unmanned plane |
| CN107038703A (en) * | 2017-04-26 | 2017-08-11 | 国家电网公司 | A kind of goods distance measurement method based on binocular vision |
| CN109729721B (en) * | 2017-08-29 | 2021-04-16 | 深圳市汇顶科技股份有限公司 | Optical distance measuring method and optical distance measuring device |
| US10908290B2 (en) | 2017-08-29 | 2021-02-02 | Shenzhen GOODIX Technology Co., Ltd. | Optical distance measuring method and optical distance measuring device |
| CN109729721A (en) * | 2017-08-29 | 2019-05-07 | 深圳市汇顶科技股份有限公司 | Optical ranging method and optical distance measurement apparatus |
| CN109945840A (en) * | 2017-12-20 | 2019-06-28 | 纬创资通股份有限公司 | 3-dimensional image acquisition method and system |
| CN108051799A (en) * | 2018-01-30 | 2018-05-18 | 广州市君望机器人自动化有限公司 | Ranging camera head and equipment |
| CN110595441A (en) * | 2018-06-13 | 2019-12-20 | 杭州海康威视数字技术股份有限公司 | Aiming device |
| CN109856590B (en) * | 2018-12-10 | 2023-09-29 | 云南电网有限责任公司德宏供电局 | Verification method and device |
| CN109856590A (en) * | 2018-12-10 | 2019-06-07 | 云南电网有限责任公司德宏供电局 | Method of calibration and device |
| CN111308485A (en) * | 2018-12-11 | 2020-06-19 | 株式会社拓普康 | Measuring device and photographic measuring method |
| CN110749876A (en) * | 2019-08-30 | 2020-02-04 | 上海禾赛光电科技有限公司 | Calibration method and calibration structure for laser radar |
| CN110749876B (en) * | 2019-08-30 | 2021-11-19 | 上海禾赛科技有限公司 | Calibration method and calibration structure for laser radar |
| CN111044039A (en) * | 2019-12-25 | 2020-04-21 | 中航华东光电有限公司 | Monocular target area self-adaptive high-precision distance measuring device and method based on IMU |
| CN111044039B (en) * | 2019-12-25 | 2024-03-19 | 中航华东光电有限公司 | Monocular target area self-adaptive high-precision distance measurement device and method based on IMU |
| CN113066119A (en) * | 2021-06-02 | 2021-07-02 | 杭州咏柳科技有限公司 | Analytical system of skin damage information |
| CN113066119B (en) * | 2021-06-02 | 2021-10-01 | 杭州咏柳科技有限公司 | Analytical system of skin damage information |
| CN115127523B (en) * | 2022-05-09 | 2023-08-11 | 湖南傲英创视信息科技有限公司 | Heterogeneous processing panoramic detection and ranging system based on double-line camera |
| CN115127523A (en) * | 2022-05-09 | 2022-09-30 | 湖南傲英创视信息科技有限公司 | Heterogeneous processing panoramic detection and ranging system based on double-line cameras |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103090846B (en) | 2016-08-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103090846A (en) | Distance measuring device, distance measuring system and distance measuring method | |
| US10242454B2 (en) | System for depth data filtering based on amplitude energy values | |
| CN102980556B (en) | A kind of distance-finding method and device | |
| JP3728900B2 (en) | Calibration method and apparatus, and calibration data generation method | |
| CN105453136B (en) | The three-dimensional system for rolling correction, method and apparatus are carried out using automatic focus feedback | |
| JP6002126B2 (en) | Method and apparatus for image-based positioning | |
| CN102494609B (en) | Three-dimensional photographing process based on laser probe array and device utilizing same | |
| CN103292710A (en) | Distance measuring method applying binocular visual parallax error distance-measuring principle | |
| US20110249117A1 (en) | Imaging device, distance measuring method, and non-transitory computer-readable recording medium storing a program | |
| KR101342393B1 (en) | Georeferencing Method of Indoor Omni-Directional Images Acquired by Rotating Line Camera | |
| WO2011071948A2 (en) | System and method for determining geo-location(s) in images | |
| JP2011027718A (en) | Derivation of 3-dimensional information from single camera and movement sensor | |
| CN105160680A (en) | Design method of camera with no interference depth based on structured light | |
| CN203616781U (en) | Binocular three-dimensional reconstruction visual system based on slide guide rails | |
| CN109840922B (en) | Depth acquisition method and system based on binocular light field camera | |
| CN105403146A (en) | Object size measurement method and system and intelligent terminal | |
| JP2019039851A (en) | Photogrammetry system and photogrammetry method | |
| JP2015010911A (en) | Airborne survey method and device | |
| WO2019048904A1 (en) | Combined stereoscopic and phase detection depth mapping in a dual aperture camera | |
| CN203069176U (en) | Ranging device and ranging system thereof | |
| CN114777772A (en) | Indoor positioning system based on infrared camera and high accuracy IMU | |
| KR100469801B1 (en) | System and Method for Real Time Surveying Ground Control Points of Aerial Photograph | |
| TW201804131A (en) | Portable distance measuring device with integrated dual lens and curved optical disc capable of increasing angle resolution by the cooperation of an angle reading module of the curved optical disc and the image-based distance measurement of the dual lenses | |
| JP2006170688A (en) | Stereo image formation method and three-dimensional data preparation device | |
| Budge et al. | Calibration method for texel images created from fused flash lidar and digital camera images |
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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160810 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |