CN104677329B - Target ranging method and device based on camera - Google Patents

Abstract

The present invention is applicable to the field of camera distance measurement, and provides a camera-based target distance measurement method and device, the method comprising: acquiring a first image at a first position of the camera; determining a vertical line between the target and the center of the field of view of the first image Obtain the second image at the second position of the camera; determine the angle β of the vertical line between the target and the center of the field of view of the second image; determine the angle θ of the camera rotating from the first position to the second position; according to the α, β, θ and the rotation radius R of the camera determine the distance x from the first position of the camera to the target, and/or determine the distance y from the second position of the camera to the target. The embodiment of the present invention can reduce the cost of ranging.

Description

Target ranging method and device based on camera

technical field

The embodiments of the present invention belong to the field of camera distance measurement, and in particular relate to a method and device for camera-based target distance measurement.

Background technique

With the continuous advancement of mobile technology, the development of mobile terminals has also become more and more advanced, and dual cameras have begun to appear on mobile terminals.

In the existing object ranging methods, the dual cameras set on the mobile terminal are usually used to have different viewing angles and the distance between the dual cameras, and then the distance from different objects to the cameras (that is, the depth of field information) is calculated in combination with the corresponding geometric relationship. However, since the mobile terminal needs to be equipped with two cameras to measure the distance of the object, and the cost of the two cameras is relatively high, the existing method for measuring the distance of the object consumes relatively high cost.

Contents of the invention

Embodiments of the present invention provide a camera-based object ranging method and device, aiming to solve the problem that the existing method needs to use dual cameras for object ranging, resulting in high cost of ranging.

The embodiment of the present invention is achieved in this way, a camera-based target ranging method, the method comprising:

Obtain the first image at the first position of the camera;

Determine the angle α between the target and the vertical line of the center of the field of view of the first image;

acquiring a second image at a second position of the camera;

Determining an angle β between the target and the vertical line of the center of the field of view of the second image;

Determine the angle θ at which the camera rotates from the first position to the second position;

Determine the distance x from the first position of the camera to the target according to the α, β, θ and the rotation radius R of the camera, and/or determine the distance y from the second position of the camera to the target.

Another object of the embodiments of the present invention is to provide a camera-based target ranging device, the device comprising:

a first image acquisition unit, configured to acquire a first image at a first position of the camera;

A target first angle determination unit, configured to determine an angle α between the target and the vertical line of the center of the field of view of the first image;

A second image acquisition unit, configured to acquire a second image at a second position of the camera;

A target second angle determination unit, configured to determine an angle β between the target and the vertical line of the center of the field of view of the second image;

A rotation angle determination unit is used to determine the angle θ at which the camera rotates from the first position to the second position;

The distance determination unit is configured to determine the distance x from the first position of the camera to the target according to the α, β, θ and the rotation radius R of the camera, and/or determine the distance y from the second position of the camera to the target.

In the embodiment of the present invention, since only one camera needs to be installed on the mobile terminal, the first image and the second image can be obtained by rotating the camera, and finally the mobile terminal and the second image can be determined by processing the obtained first image and the second image. The distance of the target, thereby reducing the cost of ranging.

Description of drawings

Fig. 1 is a flow chart of a camera-based target ranging method provided in the first embodiment of the present invention;

FIG. 2 is a schematic diagram of a vertical line at the center of the field of view of the first image provided by the first embodiment of the present invention;

3 is a schematic diagram of the geometric relationship between the camera at the first position and at the second position and the target provided by the first embodiment of the present invention;

Fig. 4 is a structural diagram of a camera-based object distance measuring device provided by the second embodiment of the present invention.

detailed description

In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

In the embodiment of the present invention, the first image is acquired at the first position of the camera, and the angle α between the target and the vertical line of the center of the field of view of the first image is determined, and the second image is acquired at the second position of the camera, and the angle α between the target and the second Angle β of the vertical line of the center of the field of view of the image, and determine the angle θ of the camera rotating from the first position to the second position, and finally determine the distance from the first position of the camera to the target according to the α, β, θ and the rotation radius R of the camera distance x, and determine the distance y from the second position of the camera to the target.

In order to illustrate the technical solutions of the present invention, specific examples are used below to illustrate.

Embodiment one:

Fig. 1 shows a flow chart of a camera-based target ranging method provided in the first embodiment of the present invention. In the embodiment of the present invention, the distance between the target and the camera is determined by using the same camera installed in the mobile terminal. as follows:

Step S11, acquiring a first image at a first position of the camera.

Wherein, the acquired first image includes image information corresponding to the target. In this step, the camera acquires the first image by receiving a photographing instruction from the user. Specifically, the user sends a photographing instruction by pressing a button of the mobile terminal or touching a screen of the mobile terminal or sending out corresponding audio.

Step S12, determining an angle α between the target and the vertical line of the center of the visual field of the first image.

Wherein, the vertical line to the center of the field of view of the first image refers to a straight line formed by connecting the first position and the center of the first image, as shown in FIG. 2 .

Step S13, acquiring a second image at the second position of the camera.

Wherein, the acquired second image also includes image information corresponding to the target included in the first image. In this step, after the camera rotates from the first position to the second position, it receives a camera instruction from the user to obtain the second image. Wait for the command to take pictures.

Step S14, determining an angle β between the target and the vertical line of the center of the visual field of the second image.

Wherein, the vertical line to the center of the field of view of the second image refers to a straight line formed by connecting the second position with the center of the second image.

Step S15 , determining an angle θ at which the camera rotates from the first position to the second position.

Specifically, a sensor may be used to detect the angle at which the camera rotates from the first position to the second position.

Step S16, according to the α, β, θ and the rotation radius R of the camera, determine the distance x from the first position of the camera to the target, and/or determine the distance y from the second position of the camera to the target.

Wherein, the rotation radius R of the camera is preset, such as when designing the camera.

Optionally, the determining the distance x from the first position of the camera to the target according to the α, β, θ and the rotation radius R of the camera, and/or determining the distance y from the second position of the camera to the target, specifically includes :

A1. Determine the first position, the second position of the camera, and the three included angles of the triangle formed by the target according to the α, β, and θ. Described A1 specifically comprises: A11, determine angle according to following formula said is the angle formed by the line between the first position of the camera and the second position of the camera and the line between the first position of the camera and the target. A12. Determine the angle γ according to the following formula, γ=(90-β)+(90-θ/2), where the γ is the straight line where the first position of the camera and the second position of the camera are located and the second position and the target The angle formed by the straight line. A13. Determine the angle φ according to the following formula, The φ is the angle formed between the first position of the camera and the line where the target is located, and the second position of the camera and the line where the target is located.

A2. Determine the distance from the first position to the second position of the camera according to the θ and R. The A2 specifically includes: z=2×sin(θ/2)×R, and the z is the distance from the first position to the second position of the camera.

A3. Determine the distance of x and/or y according to the determined first position of the camera, the second position, the three included angles of the triangle formed by the target, and the distance from the first position of the camera to the second position. Optionally, the A3 specifically includes:

As shown in Figure 3, above-mentioned A1～A3, is the angle between CD and AC, γ is the angle between CD and AD, and φ is the angle between AC and AD. Since BC and BD are equal, they are both R, so ∠BCE=∠EDB, then ∠BDC=∠BCD=(180-θ)/2=90-θ/2, and because ∠BCA=90-α, therefore, γ=∠CDA=∠CDB+∠BDA=(90-θ/2)+(90-β),

When determining the first position of the camera, the second position and the three included angles of the triangle formed by the target, determine the distance from the first position of the camera to the second position, that is, determine the distance of the CD line segment shown in FIG. 3 . In the triangle BED, it can be seen that sin(θ/2)=(CD/2)/R, that is, CD=2×sin(θ/2)×R, and finally in the triangle ACD, according to the sine law, we get Thus determine the distance of AC (ie x), AD (ie y). In actual situations, CD is much smaller than the distance (length) of AC and AD. At this time, the distance (length) of AC or AD can be used as the distance between the mobile terminal and the target.

In the first embodiment of the present invention, the first image is acquired at the first position of the camera, and the angle α between the target and the vertical line of the center of the field of view of the first image is determined, and the second image is acquired at the second position of the camera, and the angle α between the target and the center of the field of view is determined. The angle β of the vertical line of the center of the field of view of the second image, and the angle θ of the rotation of the camera from the first position to the second position are determined, and finally the first position of the camera is determined according to the α, β, θ and the rotation radius R of the camera. The distance x of the target, and the distance y from the second position of the camera to the target are determined. Since only one camera needs to be installed on the mobile terminal, the first image and the second image can be acquired by rotating the camera, and finally the distance between the mobile terminal and the target can be determined by processing the acquired first image and the second image, thereby reducing the measurement distance. The cost of distance consumption.

It should be understood that in the embodiment of the present invention, the sequence numbers of the above-mentioned processes do not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, rather than the implementation process of the embodiment of the present invention. constitute any limitation.

Embodiment two:

Fig. 4 shows a structural diagram of a camera-based target distance measuring device provided by the second embodiment of the present invention. The camera-based target distance measuring device can be applied to a mobile terminal, and the mobile terminal can include Network RAN communicates with one or more core network user equipment, the user equipment can be a mobile phone (or called "cellular" phone), a computer with a mobile device, etc., for example, the user equipment can also be portable, pocket-sized , handheld, computer built-in, or vehicle-mounted mobile devices that exchange voice and/or data with the wireless access network. For another example, the mobile device may include a smart phone, a tablet computer, a personal digital assistant PDA, a sales terminal POS, or a vehicle-mounted computer. For ease of description, only parts related to the embodiments of the present invention are shown.

The target ranging device based on the camera includes: a first image acquisition unit 41, a first target angle determination unit 42, a second image acquisition unit 43, a target second angle determination unit 44, a rotation angle determination unit 45, and a distance determination unit 46 . in:

The first image acquisition unit 41 is configured to acquire a first image at the first position of the camera.

Wherein, the acquired first image includes image information corresponding to the target. The camera obtains the first image by receiving a photographing instruction from the user. Specifically, the user sends a photographing instruction by pressing a button of the mobile terminal or touching a screen of the mobile terminal or sending a corresponding audio.

The target first angle determining unit 42 is configured to determine an angle α between the target and the vertical line of the visual field center of the first image.

Wherein, the vertical line to the center of the field of view of the first image refers to a straight line formed by connecting the first position and the center of the first image.

The second image acquisition unit 43 is configured to acquire a second image at the second position of the camera.

Wherein, the acquired second image also includes image information corresponding to the target included in the first image. After the camera rotates from the first position to the second position, it receives a camera instruction from the user to obtain the second image. Specifically, the user sends a camera instruction by pressing a button of the mobile terminal or touching the screen of the mobile terminal or sending a corresponding audio.

The target second angle determining unit 44 is configured to determine an angle β between the target and the vertical line of the center of the field of view of the second image.

Wherein, the vertical line to the center of the field of view of the second image refers to a straight line formed by connecting the second position with the center of the second image.

The rotation angle determining unit 45 is configured to determine an angle θ at which the camera rotates from the first position to the second position.

The distance determining unit 46 is configured to determine the distance x from the first position of the camera to the target according to the α, β, θ and the rotation radius R of the camera, and/or determine the distance y from the second position of the camera to the target.

Wherein, the rotation radius R of the camera is preset, such as when designing the camera.

Optionally, the distance determining unit 46 specifically includes:

The included angle determination module is used to determine the first position, the second position of the camera and the three included angles of the triangle formed by the target according to the α, β, θ. Specifically, the included angle determination module specifically includes: a first included angle determination module, used to determine the angle according to the following formula said is the angle formed by the line between the first position of the camera and the second position of the camera and the line between the first position of the camera and the target. The second included angle determination module is used to determine the angle γ according to the following formula, γ=(90-β)+(90-θ/2), and the γ is the straight line where the first position of the camera and the second position of the camera are located The angle formed by the line where the second position and the target lie. The third included angle determination module is used to determine the angle φ according to the following formula, The φ is the angle formed between the first position of the camera and the line where the target is located, and the second position of the camera and the line where the target is located.

A rotation distance determination module, configured to determine the distance from the first position to the second position of the camera according to the θ and R. Specifically, the rotation distance determination module specifically includes: two position distance determination modules z=2×sin(θ/2)×R, where z is the distance from the first position to the second position of the camera.

The distance between the camera and the target is determined by a module, configured to determine the distance between the first position of the camera, the second position and the three angles of the triangle formed by the target and the distance from the first position of the camera to the second position of the x and/or y distance. Specifically, the module for determining the distance between the camera and the target specifically includes: a first position and target distance determining module for The second position and the target distance determination module are used for

In the second embodiment of the present invention, since only one camera needs to be installed on the mobile terminal, the first image and the second image can be acquired by rotating the camera, and finally the mobile terminal can be determined by processing the acquired first image and the second image. The distance to the target, thereby reducing the cost of ranging.

Those skilled in the art can appreciate that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed by hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may use different methods to implement the described functions for each specific application, but such implementation should not be regarded as exceeding the scope of the present invention.

Those skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the foregoing method embodiment, which will not be repeated here.

In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods may be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit.

If the functions described above are realized in the form of software function units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the essence of the technical solution of the present invention or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes. .

The above is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Anyone skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present invention. Should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection 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：

$x=\frac{z\×sin\[(90-\mathrm{\β})+(90-\mathrm{\θ}/2)\]}{sin\{180-\[(90-\mathrm{\θ}/2)-(90-\mathrm{\α})\]-\[(90-\mathrm{\β})+(90-\mathrm{\θ}/2)\]\}};$

$y=\frac{z\×sin\[(90-\mathrm{\θ}/2)+(90-\mathrm{\α})\]}{sin\{180-\[(90-\mathrm{\θ}/2)-(90-\mathrm{\α})\]-\[(90-\mathrm{\β})+(90-\mathrm{\θ}/2)\]\}}.$

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.