CN104677329B - Target ranging method and device based on camera - Google Patents
Target ranging method and device based on camera Download PDFInfo
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- CN104677329B CN104677329B CN201510122328.5A CN201510122328A CN104677329B CN 104677329 B CN104677329 B CN 104677329B CN 201510122328 A CN201510122328 A CN 201510122328A CN 104677329 B CN104677329 B CN 104677329B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
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Abstract
The present invention is applied to camera range finding field, there is provided a kind of target ranging method and device based on camera, methods described include：The first image is obtained in the first position of camera；Determine the angle [alpha] of target and the central region vertical line of the first image；The second image is obtained in the second place of camera；Determine the angle beta of target and the central region vertical line of the second image；Determine that camera rotates to the angle, θ of the second place from first position；Radius of turn R according to described α, β, θ and camera determines the first position range-to-go x of camera, and/or, determine the second place range-to-go y of camera.The embodiment of the present invention can reduce the cost that range finding expends.
Description
Technical field
The embodiment of the present invention belongs to camera range finding field, more particularly to a kind of target ranging method based on camera and
Device.
Background technology
With the continuous progress of mobile science and technology, the development of mobile terminal also increasingly improves, and dual camera begins to appear in
On mobile terminal.
In existing object distance-finding method, the dual camera for generally being set using mobile terminal have different visual angle and
The spacing of dual camera, different objects to the distance (i.e. depth of view information) of camera are calculated in conjunction with corresponding geometrical relationship.
But could measure the distance of object due to needing mobile terminal to set two cameras, and cost spent by two cameras compared with
Height, therefore, it is relatively costly that existing object distance-finding method expends.
The content of the invention
The embodiment of the invention provides a kind of target ranging method and device based on camera, it is intended to solve existing method
Object ranging need to be carried out using dual camera, so as to the relatively costly problem for causing range finding to expend.
The embodiment of the present invention is achieved in that a kind of target ranging method based on camera, and methods described includes：
The first image is obtained in the first position of camera；
Determine the angle [alpha] of target and the central region vertical line of the first image；
The second image is obtained in the second place of camera；
Determine the angle beta of target and the central region vertical line of the second image；
Determine that camera rotates to the angle, θ of the second place from first position；
Radius of turn R according to described α, β, θ and camera determines the first position range-to-go x of camera,
And/or, determine the second place range-to-go y of camera.
The another object of the embodiment of the present invention is to provide a kind of object ranging device based on camera, described device bag
Include：
First image acquisition unit, for obtaining the first image in the first position of camera；
Target first angle determining unit, the angle [alpha] for determining target and the central region vertical line of the first image；
Second image acquisition unit, the second image is obtained for the second place in camera；
Target second angle determining unit, the angle beta for determining target and the central region vertical line of the second image；
Anglec of rotation determining unit, for determining that camera rotates to the angle, θ of the second place from first position；
Distance determining unit, for determining first of camera according to the radius of turn R of described α, β, θ and camera
Range-to-go x is put, and/or, determine the second place range-to-go y of camera.
In embodiments of the present invention, due to only a camera need to be set in mobile terminal, just can be by rotating the shooting
Head obtains the first image and the second image, and it is mobile eventually to carry out treatment determination finally by the first image and the second image to obtaining
End and the distance of target, so as to reduce the cost that range finding expends.
Brief description of the drawings
Fig. 1 is a kind of flow chart of target ranging method based on camera that first embodiment of the invention is provided；
Fig. 2 is the schematic diagram of the central region vertical line of the first image that first embodiment of the invention is provided；
Fig. 3 is that the camera that first embodiment of the invention is provided is closed in first position and in the second place with the geometry of target
It is schematic diagram；
Fig. 4 is a kind of structure chart of object ranging device based on camera that second embodiment of the invention is provided.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
In the embodiment of the present invention, the first image is obtained in the first position of camera, and determine target with the first image
The angle [alpha] of central region vertical line, then the second image is obtained in the second place of camera, determine regarding for target and the second image
The angle beta of Yezhong heart vertical line, and determine that camera rotates to the angle, θ of the second place from first position, finally according to institute
The radius of turn R for stating α, β, θ and camera determines the first position range-to-go x of camera, and determines camera
Second place range-to-go y.
In order to illustrate technical solutions according to the invention, illustrated below by specific embodiment.
Embodiment one：
Fig. 1 shows a kind of flow chart of target ranging method based on camera that first embodiment of the invention is provided,
In the embodiment of the present invention, by being arranged on the same camera of mobile terminal, the distance of target and camera is determined, describe in detail such as
Under：
Step S11, the first image is obtained in the first position of camera.
Wherein, the first image of acquisition includes the corresponding image information of target.In this step, camera is used by receiving
The photographing instruction that family sends obtains the first image, and specifically, user is by pressing the button of mobile terminal or touching mobile whole
The screen at end sends corresponding audio etc. and sends photographing instruction.
Step S12, determines the angle [alpha] of target and the central region vertical line of the first image.
Wherein, the central region vertical line of the first image refers to that first position is connected what is formed with the center of the first image
Straight line, it is specific as shown in Figure 2.
Step S13, the second image is obtained in the second place of camera.
Wherein, the second image of acquisition also includes the corresponding image information of target that the first image includes.In this step,
After camera rotates to the second place from first position, the photographing instruction that sends of user is received to obtain the second image, specifically,
User is taken pictures by pressing the button of mobile terminal or touching the screen of mobile terminal or send corresponding audio etc. and send
Instruction.
Step S14, determines the angle beta of target and the central region vertical line of the second image.
Wherein, the central region vertical line of the second image refers to that the second place is connected what is formed with the center of the second image
Straight line.
Step S15, determines that camera rotates to the angle, θ of the second place from first position.
Specifically, can detect that camera rotates to the angle of the second place from first position by sensor.
Step S16, the radius of turn R according to described α, β, θ and camera determine the first position of camera to target
Apart from x, and/or, determine the second place range-to-go y of camera.
Wherein, the radius of turn R of camera presets, and is such as set when camera is designed.
Alternatively, the radius of turn R according to described α, β, θ and camera determines the first position of camera to mesh
Target apart from x, and/or, determine the second place range-to-go y of camera, specifically include：
The three of the triangle that A1, the first position that camera is determined according to described α, β, θ, the second place and target are formed
Individual angle.The A1 is specifically included：A11, angle is determined according to following formula It is describedTo take the photograph
Straight line as where the first position of head and the second place of camera and the straight line where the first position of camera and target
The angle of formation.A12, angle γ is determined according to following formula, γ=(90- β)+(90- θ/2), the γ is the first position of camera
The angle formed with the straight line where the straight line where the second place of camera and the second place and target.A13, according to following formula
Determine angle φ,Straight lines of the φ where the first position of camera and target and camera
The angle that straight line where the second place and target is formed.
A2, the first position of camera to the distance of the second place is determined according to the θ and R.The A2 is specifically included：z
=2 × sin (θ/2) × R, the z are the first position of camera to the distance of the second place.
Three angles of the triangle that A3, the first position according to the camera for determining, the second place and target are formed
And the first position of camera determines the distance of x and/or y to the distance of the second place.Alternatively, the A3 is specifically included：
As shown in figure 3, above-mentioned A1~A3,It is the angle of CD and AC, γ is the angle of CD and AD, and φ is the folder of AC and AD
Angle.All be R because BC is equal with BD, therefore ∠ BCE=∠ EDB, then ∠ BDC=∠ BCD=(180- θ)/2=90- θ/2, and
Due to ∠ BCA=90- α, therefore,γ=∠ CDA=
∠ CDB+ ∠ BDA=(90- θ/2)+(90- β),
When it is determined that the triangle that is formed of the first position of camera, the second place and target three angles when, it is determined that
The first position of camera determines the distance of the CD line segments shown in Fig. 3 to the distance of the second place.In triangle BED, can
Know, sin (θ/2)=(CD/2)/R, i.e. CD=2 × sin (θ/2) × R finally in triangle ACD, according to sine, is obtained
ArriveSo that it is determined that AC (i.e. x), AD (distances i.e. y).In actual conditions, CD
Distance (length) much smaller than AC, AD, at this moment, can using the distance (length) of AC or AD as mobile terminal and target away from
From.
In first embodiment of the invention, the first image is obtained in the first position of camera, and determine target and the first figure
The angle [alpha] of the central region vertical line of picture, then in the second place second image of acquisition of camera, determine target and the second image
Central region vertical line angle beta, and determine that camera rotates to the angle, θ of the second place, last root from first position
The first position range-to-go x of camera is determined according to the radius of turn R of described α, β, θ and camera, and determination is taken the photograph
As the second place range-to-go y of head.Due to only a camera need to be set in mobile terminal, can just be taken the photograph by rotating this
As head obtains the first image and the second image, carry out processing determination movement finally by the first image and the second image to obtaining
The distance of terminal and target, so as to reduce the cost that range finding expends.
It should be understood that in embodiments of the present invention, the size of the sequence number of above-mentioned each process is not meant to the elder generation of execution sequence
Afterwards, the execution sequence of each process should be with its function and internal logic determination, the implementation process structure without tackling the embodiment of the present invention
Into any restriction.
Embodiment two：
Fig. 4 shows a kind of structure chart of object ranging device based on camera that second embodiment of the invention is provided,
The object ranging device based on camera can apply in mobile terminal, and the mobile terminal can include through wireless access network
The user equipment that RAN is communicated with one or more core nets, the user equipment can be that mobile phone (or is " honeycomb "
Phone), the computer with mobile device etc., for example, user equipment can also be portable, pocket, hand-held, computer
Built-in or vehicle-mounted mobile device, they exchange voice and/or data with wireless access network.Again for example, the mobile device
Can be including smart mobile phone, panel computer, personal digital assistant PDA, point-of-sale terminal POS or vehicle-mounted computer etc..For the ease of saying
It is bright, illustrate only the part related to the embodiment of the present invention.
The object ranging device for being based on camera includes：First image acquisition unit 41, target first angle determine single
First 42, second image acquisition unit 43, target second angle determining unit 44, anglec of rotation determining unit 45, distance determine single
Unit 46.Wherein：
First image acquisition unit 41, for obtaining the first image in the first position of camera.
Wherein, the first image of acquisition includes the corresponding image information of target.Camera is by receiving the bat that user sends
According to instruction obtain the first image, specifically, user by press mobile terminal button or touch mobile terminal screen or
Person sends corresponding audio etc. and sends photographing instruction.
Target first angle determining unit 42, the angle [alpha] for determining target and the central region vertical line of the first image.
Wherein, the central region vertical line of the first image refers to that first position is connected what is formed with the center of the first image
Straight line.
Second image acquisition unit 43, the second image is obtained for the second place in camera.
Wherein, the second image of acquisition also includes the corresponding image information of target that the first image includes.Camera is from
After one position rotates to the second place, to obtain the second image, specifically, user is by pressing for the photographing instruction that reception user sends
Press the button of mobile terminal or touch the screen of mobile terminal or send corresponding audio etc. and send photographing instruction.
Target second angle determining unit 44, the angle beta for determining target and the central region vertical line of the second image.
Wherein, the central region vertical line of the second image refers to that the second place is connected what is formed with the center of the second image
Straight line.
Anglec of rotation determining unit 45, for determining that camera rotates to the angle, θ of the second place from first position.
Distance determining unit 46, for determining the first of camera according to the radius of turn R of described α, β, θ and camera
Position range-to-go x, and/or, determine the second place range-to-go y of camera.
Wherein, the radius of turn R of camera presets, and is such as set when camera is designed.
Alternatively, the distance determining unit 46 is specifically included：
Angle determining module, first position, the second place and target shape for determining camera according to described α, β, θ
Into triangle three angles.Specifically, the angle determining module is specifically included：First angle determining module, for root
Determine angle according to following formula It is describedFor camera first position and camera second
The angle that straight line where position is formed with the straight line where the first position of camera and target.Second angle determining module,
For determining angle γ according to following formula, γ=(90- β)+(90- θ/2), the γ for camera first position and camera the
The angle that straight line where two positions is formed with the straight line where the second place and target.3rd angle determining module, for root
Determine angle φ according to following formula,The φ for camera first position and target where straight line with take the photograph
The angle that straight line as where the second place and target of head is formed.
Rotary distance determining module, for determined according to the θ and R the first position of camera to the second place away from
From.Specifically, the rotary distance determining module is specifically included：Two position spacing determining module z=2 × sin (θ/2) × R,
The z is the first position of camera to the distance of the second place.
Camera and target range determining module, for the first position according to the camera for determining, the second place and
Target formed three angles of triangle and the first position of camera to the distance of the second place determine x and/or y away from
From.Specifically, the camera is specifically included with target range determining module：First position and target range determining module, use
InThe second place and target range
Determining module, is used for
In second embodiment of the invention, due to only a camera need to be set in mobile terminal, can just be taken the photograph by rotating this
As head obtains the first image and the second image, carry out processing determination movement finally by the first image and the second image to obtaining
The distance of terminal and target, so as to reduce the cost that range finding expends.
Those of ordinary skill in the art are it is to be appreciated that the list of each example described with reference to the embodiments described herein
Unit and algorithm steps, can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
Performed with hardware or software mode, depending on the application-specific and design constraint of technical scheme.Professional and technical personnel
Described function, but this realization can be realized it is not considered that exceeding using distinct methods to each specific application
The scope of the present invention.
It is apparent to those skilled in the art that, for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, may be referred to the corresponding process in preceding method embodiment, will not be repeated here.
In several embodiments provided herein, it should be understood that disclosed system, apparatus and method, can be with
Realize by another way.For example, device embodiment described above is only schematical, for example, the unit
Divide, only a kind of division of logic function there can be other dividing mode when actually realizing, for example multiple units or component
Can combine or be desirably integrated into another system, or some features can be ignored, or do not perform.It is another, it is shown or
The coupling each other for discussing or direct-coupling or communication connection can be the indirect couplings of device or unit by some interfaces
Close or communicate to connect, can be electrical, mechanical or other forms.
The unit that is illustrated as separating component can be or may not be it is physically separate, it is aobvious as unit
The part for showing can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be according to the actual needs selected to realize the mesh of this embodiment scheme
's.
In addition, during each functional unit in each embodiment of the invention can be integrated in a processing unit, it is also possible to
It is that unit is individually physically present, it is also possible to which two or more units are integrated in a unit.
If the function is to realize in the form of SFU software functional unit and as independent production marketing or when using, can be with
Storage is in a computer read/write memory medium.Based on such understanding, technical scheme is substantially in other words
The part contributed to prior art or the part of the technical scheme can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used to so that a computer equipment (can be individual
People's computer, server, or network equipment etc.) perform all or part of step of each embodiment methods described of the invention.
And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with the medium of store program codes.
The above, specific embodiment only of the invention, but protection scope of the present invention is not limited thereto, and it is any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all contain
Cover within protection scope of the present invention.Therefore, protection scope of the present invention described should be defined by scope of the claims.
Claims (9)
1. a kind of target ranging method based on camera, it is characterised in that methods described includes：
The first image is obtained in the first position of camera；
Determine the angle [alpha] of target and the central region vertical line of the first image；
The second image is obtained in the second place of camera, the second place is true after camera rotates from first position
It is fixed；
Determine the angle beta of target and the central region vertical line of the second image；
Determine that camera rotates to the angle, θ of the second place from first position；
Radius of turn R according to described α, β, θ and camera determines the first position range-to-go x of camera, and/
Or, determining the second place range-to-go y of camera；
The radius of turn R according to described α, β, θ and camera determines the first position range-to-go x of camera,
And/or, determine the second place range-to-go y of camera, specifically include：
Three angles of the triangle that first position, the second place and the target of camera are formed are determined according to described α, β, θ；
The first position of camera to the distance of the second place is determined according to the θ and R；
Three angles of the triangle that first position, the second place and target according to the camera for determining are formed and shooting
The first position of head determines the distance of x and/or y to the distance of the second place.
2. method according to claim 1, it is characterised in that first that camera is determined according to described α, β, θ
Put, three angles of the triangle that the second place and target are formed, specifically include：
Angle is determined according to following formula It is describedFirst position and camera for camera
The angle that straight line where the second place is formed with the straight line where the first position of camera and target；
Angle γ is determined according to following formula, γ=(90- β)+(90- θ/2), the γ for camera first position and camera the
The angle that straight line where two positions is formed with the straight line where the second place and target；
Angle φ is determined according to following formula,Straight lines of the φ where the first position of camera and target
The angle formed with the straight line where the second place and target of camera.
3. method according to claim 1, it is characterised in that the first position that camera is determined according to the θ and R
Distance to the second place is specifically included：
Z=2 × sin (θ/2) × R, the z are the first position of camera to the distance of the second place.
4. method according to claim 3, it is characterised in that first position, second according to the camera for determining
Three angles of triangle and the first position of camera that position and target are formed determine x to the distance of the second place
And/or the distance of y, specifically include：
5. a kind of object ranging device based on camera, it is characterised in that described device includes：
First image acquisition unit, for obtaining the first image in the first position of camera；
Target first angle determining unit, the angle [alpha] for determining target and the central region vertical line of the first image；
Second image acquisition unit, for obtaining the second image in the second place of camera, the second place is by shooting
Head determines from after the rotation of first position；
Target second angle determining unit, the angle beta for determining target and the central region vertical line of the second image；
Anglec of rotation determining unit, for determining that camera rotates to the angle, θ of the second place from first position；
Distance determining unit, for determining that the first position of camera is arrived according to the radius of turn R of described α, β, θ and camera
Target apart from x, and/or, determine the second place range-to-go y of camera；
The distance determining unit is specifically included：
Angle determining module, what first position, the second place and target for determining camera according to described α, β, θ were formed
Three angles of triangle；
Rotary distance determining module, for determining the first position of camera to the distance of the second place according to the θ and R；
Camera and target range determining module, for the first position according to the camera for determining, the second place and target
Three angles of the triangle of formation and the first position of camera determine the distance of x and/or y to the distance of the second place.
6. device according to claim 5, it is characterised in that the angle determining module is specifically included：
First angle determining module, for determining angle according to following formula It is describedIt is camera
First position and camera the second place where straight line formed with the straight line where the first position of camera and target
Angle；
Second angle determining module, for determining angle γ, γ=(90- β)+(90- θ/2) according to following formula, the γ is camera
First position and camera the second place where straight line and the second place and the angle that is formed of the straight line where target；
3rd angle determining module, for determining angle φ according to following formula,The φ is the of camera
The angle that straight line where one position and target is formed with the straight line where the second place and target of camera.
7. device according to claim 5, it is characterised in that the rotary distance determining module is specifically included：
Two position spacing determining module z=2 × sin (θ/2) × R, the z arrive the second place for the first position of camera
Distance.
8. device according to claim 7, it is characterised in that the camera is specifically wrapped with target range determining module
Include：
First position and target range determining module, are used for
The second place and target range determining module, are used for
9. a kind of storage medium, the storage medium is stored with computer program, it is characterised in that the computer program is located
Reason device is realized such as the step of Claims 1-4 any one methods described when performing.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510122328.5A CN104677329B (en) | 2015-03-19 | 2015-03-19 | Target ranging method and device based on camera |
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|---|---|---|---|
| CN201510122328.5A CN104677329B (en) | 2015-03-19 | 2015-03-19 | Target ranging method and device based on camera |
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| CN104677329A CN104677329A (en) | 2015-06-03 |
| CN104677329B true CN104677329B (en) | 2017-06-30 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105627995B (en) * | 2016-03-31 | 2018-03-23 | 京东方科技集团股份有限公司 | Camera device, tumbler, range unit, range-measurement system and distance-finding method |
| CN105698751B (en) * | 2016-04-28 | 2018-05-08 | 京东方科技集团股份有限公司 | A kind of range-measurement system, distance measuring method, range unit and filming apparatus |
| CN107094223A (en) * | 2017-03-17 | 2017-08-25 | 奥克斯空调股份有限公司 | Obtain the method and device of the high-definition image of intrusion target |
| CN108195345A (en) * | 2017-12-20 | 2018-06-22 | 合肥英睿系统技术有限公司 | A kind of distance measuring method and system based on electronic imager |
| WO2021146970A1 (en) * | 2020-01-21 | 2021-07-29 | 深圳市大疆创新科技有限公司 | Semantic segmentation-based distance measurement method and apparatus, device and system |
| WO2021146969A1 (en) * | 2020-01-21 | 2021-07-29 | 深圳市大疆创新科技有限公司 | Distance measurement method, movable platform, device, and storage medium |
| CN113409387A (en) * | 2021-05-11 | 2021-09-17 | 深圳拓邦股份有限公司 | Robot vision positioning method and robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2001336930A (en) * | 2000-05-26 | 2001-12-07 | Maeda Science:Kk | Method for detecting three-dimensional position of target point |
| WO2002063241A1 (en) * | 2001-02-08 | 2002-08-15 | Nkk Corporation | Three-dimensional coordinate measuring method, three-dimensional coordinate measuring apparatus, and method for building large-sized structure |
| JP2005164434A (en) * | 2003-12-03 | 2005-06-23 | Fukuoka Institute Of Technology | Noncontact three-dimensional measuring method and apparatus |
| CN101943580B (en) * | 2009-07-07 | 2012-08-29 | 宏达国际电子股份有限公司 | Method and device for detecting distance from target and computer program product thereof |
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