CN105091849B - A kind of non-parallel binocular distance-finding method of optical axis - Google Patents
A kind of non-parallel binocular distance-finding method of optical axis Download PDFInfo
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Abstract
The present invention proposes a kind of non-parallel binocular distance-finding method of optical axis.Binocular range unit is built first, and establishes the ranging formula being used cooperatively with binocular range unit when left and right camera optical axis is non-ideal parallel；Then the parameter demarcated in ranging formula, the ranging formula that unknown quantity only includes image space of the scene objects to be measured in binocular range unit or so camera image is obtained；During practical application, image space data of the scene objects to be measured directly read in the camera image of left and right are substituted into calibrated ranging formula can calculate acquisition scene objects to be measured and the distance of reference camera in binocular range unit.The present invention is applied to the binocular stereo vision device of the non-ideal parastate of optical axis, reduces due to the not parallel range error brought of optical axis caused by installation, improves the range accuracy in practical engineering application.
Description
Technical field
The invention belongs to computer vision field, and in particular to a kind of non-parallel binocular distance-finding method of optical axis.
Background technology
Binocular stereo vision is that a kind of computer that scene three-dimensional information is obtained by imitating mankind's binocular vision characteristic regards
Feel.Binocular camera obtains scene information from different perspectives, according to the distance of disparity computation corresponding points to imaging surface, obtains depth perception
Know and three-dimensional reconstruction.Camera apparatus gathers the three-dimensional information of target scene, and space multistory target scene is through camera lens system
Optical transform, it is projected in two two-dimensional imaging planes, the process is exactly camera imaging model.
Binocular range unit according to corresponding to calculating the image information of left and right camera actual object with shooting camera away from
From.According to the placed opposite position of left and right camera, combining camera imaging model derives corresponding measurement target object apart from phase
The distance calculation formula of machine, conventional binocular range unit are a kind of parallel binocular devices of left and right camera optical axis.Left and right two-phase
The parallel binocular model of machine optical axis is called the camera mounting means for doing norm structure.Two cameras used in device are identical, this
Baseline is parallel with the trunnion axis of camera image plane under mounting means, and optical axis is parallel and contour.Current most binocular distance-finding methods are just
Be for the parallel binocular ranging model of this optical axis, as document (Yue Ronggang, Wang Shaoping, Li Kai, Song Lin Jun " based on similar
The new binocular telemetry photoelectric projects of principle, 2008 ").But during actual installation, device can always deviate preferable peace
Holding position, offset therein can influence range accuracy.
The content of the invention
The present invention proposes a kind of non-parallel binocular distance-finding method of optical axis, and this method is applied to the non-ideal parastate of optical axis
Binocular stereo vision device, reduce due to the not parallel range error brought of optical axis caused by installation, improve Practical Project
Range accuracy in.
In order to solve the above-mentioned technical problem, the present invention proposes a kind of non-parallel binocular distance-finding method of optical axis, builds first double
Mesh range unit, and establish the ranging formula being used cooperatively with binocular range unit when left and right camera optical axis is non-ideal parallel；
Then the parameter demarcated in ranging formula, unknown quantity is obtained only comprising scene objects to be measured in binocular range unit or so camera figure
The ranging formula of image space as in；During practical application, by the scene objects to be measured directly read in the camera image of left and right
Image space data substitute into calibrated ranging formula and calculate and obtain scene objects to be measured with referring to phase in binocular range unit
The distance of machine；
The binocular range unit is：Using left and right camera of two model identical cameras as binocular range unit,
Using camera lens of the focal length identical camera lens as left and right camera, left and right camera is arranged in identical platform so that two cameras
In sustained height, the front end minute surface of left and right camera is in same plane, the figure for shooting left and right camera by image pick-up card
Piece is adopted into computer in real time；
Shown in the ranging formula such as formula (1),
In formula (1), Z is the distance of scene objects reference camera in binocular camera；flAnd frRespectively left and right camera
Image distance, B are left and right camera photocentre away from θ is right camera imaging plane and the angle of reference camera imaging plane, if the angle value inverse time
Pin is just；Ol' and Or' it is respectively left and right photocentre OlAnd OrThe abscissa value of the image coordinate of subpoint on imaging surface, α are
The photocentre O of left and right cameralAnd OrThe angle of line and reference camera imaging plane, if angle value is counterclockwise for just；xlFor scene mesh
Be marked on the imaging surface in reference camera into picture image coordinate abscissa value, xrFor scene objects it is right it is magazine into
In image planes into picture image coordinate abscissa value；dxlFor the actual size of each pixel of left camera, dxrIt is each for right camera
The actual size of pixel；, it is necessary to which the parameter of demarcation is in formula (1)：B、fr/dxr、α、Ol'、Or' and θ.
Compared with prior art, its remarkable advantage is the present invention, and improving position, fixation, optical axis photocentre position are deposited
In the range accuracy of the binocular device of deviation, the not parallel range error brought laid due to camera is reduced, is had more
The features such as easy, practical, more meet the actual conditions of engineer applied, there is more practical value in engineer applied.
Brief description of the drawings
Fig. 1 is the binocular range unit schematic diagram used in the present invention.
Fig. 2 is binocular range measurement principle schematic diagram of the present invention.
Fig. 3 is pinhole imaging system principle schematic in the present invention.
The image of camera gridiron pattern scaling board used in Fig. 4 present invention.
Embodiment
A kind of non-parallel binocular distance-finding method of optical axis of the present invention, its general principle are：Binocular range unit is built first, and
Establish the ranging formula being used cooperatively with binocular range unit when left and right camera optical axis is non-ideal parallel；Then it is public to demarcate ranging
Parameter in formula, unknown quantity is obtained only comprising scene objects to be measured the image space in binocular range unit or so camera image
Ranging formula；During practical application, by image space data of the scene objects to be measured directly read in the camera image of left and right
The distance for obtaining reference camera in scene objects to be measured and binocular range unit can be calculated by substituting into calibrated ranging formula.
First, the binocular range unit is：
As shown in figure 1, using left and right camera of two model identical cameras as binocular range unit, using focal length phase
Camera lens of the same camera lens as left and right camera, left and right camera is arranged in identical platform so that two cameras are in same height
Degree, the front end minute surface of left and right camera are in same plane, have screw to be used for fixed camera position below the camera of left and right, pass through image
The picture that capture card shoots left and right camera is adopted into computer in real time.Left camera is set as reference camera；
2nd, shown in the ranging formula such as formula (1),
In formula (1), Z is the distance of scene objects reference camera in binocular camera；flAnd frRespectively left and right camera
Image distance, B are left and right camera photocentre away from θ is right camera imaging plane and the angle of reference camera imaging plane, if the angle value inverse time
Pin is just；Ol' and Or' it is respectively left and right photocentre OlAnd OrThe abscissa value of the image coordinate of subpoint on imaging surface, α are
The photocentre O of left and right cameralAnd OrThe angle of line and reference camera imaging plane, if angle value is counterclockwise for just；xlFor scene mesh
Be marked on the imaging surface in reference camera into picture image coordinate abscissa value, xrFor scene objects it is right it is magazine into
In image planes into picture image coordinate abscissa value；dxlFor the actual size of each pixel of left camera, dxrIt is each for right camera
The actual size of pixel；, it is necessary to which the parameter in the ranging formula of demarcation is in formula (1)：B、fr/dxr、α、Ol'、Or' and θ.
3rd, the method for the parameter in the ranging formula of the demarcation is：
The image distance f and pixel dimension dx of left and right camera ratio f/dx are calibrated first, then using Non-Linear Programming side
Method seeks the mode of optimal solution, solves the parameter in the ranging formula of the binocular range unit fixed.Specially：
Step 1: gridiron pattern scaling board is placed on the optional position in the cameras line of left and right, according to chessboard case marker
In fixed board same angle point respectively left and right camera shooting image in corresponding height and position relation, adjust left and right camera heights,
Same angle point in scaling board is in identical height in the image that left and right camera is shot, then fix left and right camera.Gridiron pattern
Scaling board is as shown in Figure 4.
Step 2: the N number of adjacent gridiron pattern of selected gridiron pattern scaling board horizontal direction, it is N number of adjacent to measure this with graduated scale
Tessellated physical length A；
The different position of any two that scaling board is placed in left cameras line, and measurement scaling board arrives respectively
The object distance u of left camera1And u2, obtained respectively by image acquisition procedure corresponding to image pick-up card and record selected N number of phase
The number m of adjacent gridiron pattern shared pixel in the image that left camera is shot1And m2；
Calculate the image distance f of left cameralThe actual size value dx ratios f of each pixel in the image shot with itl/ dx, meter
Shown in calculation mode such as formula (2),
Scaling board is placed on the position that any two is different in right cameras line, and measures scaling board respectively to the right side
The object distance u of camera1' and u2', obtained respectively by image acquisition procedure corresponding to image pick-up card and record selected N'
The number m of adjacent gridiron pattern shared pixel in the image that right camera is shot1' and m2'；
Calculate the image distance f of right camerarThe actual size value dx ratio fr/dx of each pixel in the image shot with it,
Shown in calculation such as formula (3),
Step 3: using left camera as reference camera, in the way of gridiron pattern scaling board plane is parallel to camera imaging plane
Demarcation gridiron pattern scaling board is laid, the distance Z of gridiron pattern scaling board and reference camera is measured with graduated scale0, pass through IMAQ
Image acquisition procedure corresponding to card obtains and recorded the horizontal seat that same X-comers are located at position coordinates in the camera image of left and right
Scale value xlAnd xr；Then gridiron pattern scaling board is moved into another position with camera with different distance, record different distance is similarly hereinafter
One X-comers are located at the abscissa value x of position coordinates in the camera image of left and rightlAnd xr.Assuming that left and right camera photocentre is initial
Position is located at optical center, with width of the photocentre of graduated scale preliminary surveying or so camera away from B, note the camera image collected
For W, then left and right camera photocentre Ol' and Or' value be W/2, left and right phase can be drawn according to the approximately parallel mounting means of camera
The photocentre O of machinelAnd OrLine and reference camera imaging plane angle α with left and right camera optical axis angle theta within ± 5 °,
By the abscissa value of coordinate position of the same X-comers in the camera image of left and right under different distance and corresponding distance
Binocular ranging formula (1) is substituted into, with nonlinear optimization, solves the photocentre of left and right camera away from B, left and right camera photocentre OlAnd Or
Subpoint O on imaging surfacel' and Or' the abscissa value of image coordinate location, left camera lens photocentre OlIt is saturating with right camera
The photocentre O of mirrorrLine and left camera lens plane LlAngle α, the angle theta of left and right camera optical axis；Then solved foregoing
Parameter be updated in binocular ranging formula (1), obtain unknown parameter only comprising Same Scene target in the camera image of left and right
Image coordinate location abscissa value xlAnd xrRanging formula.
When carrying out practical application using the binocular range unit in the present invention and ranging formula, it only need to read target to be measured and exist
The abscissa value of the magazine image space in left and right, the i.e. image coordinate location in the camera image of left and right in binocular range unit
xlAnd xr, scene objects are calculated with being referred in binocular range unit in the ranging formula can then brought into after calibrating parameters
The distance of camera.
4th, the principle of ranging formula of the present invention：
As shown in Fig. 2 binocular range measurement principle schematic diagram of the present invention, it is assumed that imaging mode be aperture imaging mode, together
When assume the lens plane L of left cameralWith the imaging surface C of left cameralIt is parallel relation, the lens plane L of right cameralrWith right phase
The imaging surface C of machinerAnd parallel relation.Left and right camera is after pitch regulation, and same object is in the camera of left and right two
Imaging is in same level height.
Assume simultaneously：
Using left camera as reference；
Scene objects P is apart from left camera imaging face ClDistance be designated as Z；
The photocentre O of left camera lenslWith the photocentre O of right camera lensrWire length for photocentre away from B；
The photocentre O of left camera lenslWith the photocentre O of right camera lensrLine and left camera lens plane LlAngle be
α, and counterclockwise for just；
Right camera imaging plane CrWith left camera imaging plane ClAngle is θ, and size is equal to the optical axis E of left camerailWith the right side
Camera optical axis EirAngle, counterclockwise for just；
The lens L of left cameralPlace plane and its imaging surface ClIt is f at a distance of lengthl, the lens L of right camerarPlace plane
At a distance of length it is fr with its imaging surface Cr；
Left camera lens photocentre OlIn left camera imaging face ClOn the abscissa value of image coordinate location of subpoint be
Ol', right camera lens photocentre OrIn left camera imaging face CrOn the abscissa value of image coordinate location of subpoint be Or'；
Scene objects P is in left magazine imaging surface ClOn into the abscissa value of image coordinate location of picture be xl, scene
Target P is in right magazine imaging surface CrOn into the abscissa value of image coordinate location of picture be xr；
Pixel in camera imaging face is square image device, and the length of pixel is equal with width, each picture of left camera
The actual size of member is dxl, the actual size of each pixel of right camera is dxr.
Based on assumed above, formula (1-1) and formula (1-2) can be obtained by similar triangle theory：
Formula (1-1) is added acquisition formula (1-3) with formula (1-2)：
Formula (1-4) can be obtained according to triangle tangent principle:
Formula (1-4) and formula (1-3) simultaneous can be obtained into formula (1-5):
Formula (1-5) simplification can be obtained into formula (1-6)
F/dx value is generally large in the camera of actual binocular range unit, and in actual binocular range unit, by
It is that less parallel is placed in camera, so left camera lens photocentre OlWith the photocentre O of right camera lensrLine and left camera it is saturating
Mirror plane LlAngle α and right camera imaging plane CrWith left camera imaging plane ClAngle theta (the optical axis E of i.e. left camerail
With right camera optical axis EirAngle) it is all smaller, typically in+5 ° of excursions, it is possible to formula (1-7)：
In actual binocular range unit, the camera of same size can be used as the left and right camera in device, soThe relation shown in formula (1-8) can be obtained：
Can be formula (1-9) by formula (1-6) abbreviation according to formula (1-7) and formula (1-8):
In general practical application, the object distance Z to be measured is far longer than the image distance f of cameral, so f in formula (1-9)lCan be with
Ignore, such formula (1-9) can be further simplified as formula (1-10):
Formula (1-10) is exactly the ranging formula of binocular solid device when optical axis of the present invention is not parallel, as shown in formula (1-10)
Binocular range unit ranging formula in contain data below：
Left camera lens photocentre OlWith the photocentre O of right camera lensrWire length be photocentre away from B；
Left camera lens photocentre OlWith the photocentre O of right camera lensrLine and left camera lens plane LlAngle α；
The image distance f and pixel dimension dx ratios f/dx of camera；
Left camera lens photocentre OlIn left camera imaging face ClOn subpoint image coordinate location abscissa value Ol',
Right camera lens photocentre OrIn left camera imaging face CrOn subpoint image coordinate location abscissa value Or'；
Scene objects P is in left camera imaging face ClThe abscissa value x of the image coordinate location of upper picturel, it is right it is magazine into
Image planes CrThe abscissa value of the image coordinate location of upper picture is xr。
5th, camera image distance of the present invention and pixel dimension ratio f/dx calibration principle
As shown in figure 3, using imaging mode of the pinhole imaging system mode as camera, will if scene objects P length is A
Scene objects P is placed within the field range of camera, is shot.
When using camera photographed scene target P for the first time, scene objects P and camera lens Len distance is u1, camera into
Re-imaging length on image planes C is s1, the image for the target scene P for being collected camera by image acquisition procedure, which is read in, to be calculated
Machine, the length for reading target scene picture when shooting for the first time is m1, in units of pixel；Use camera photographed scene target for the second time
During P, scene objects P and camera lens Len distance is u2, the re-imaging length on the C of camera imaging face is s2, adopted by image
The image for the target scene P that collection program collects camera reads in computer, the length of target scene picture when reading the second shooting
For m2, in units of pixel.In square imaging device, primitive shape is rectangular, if each pixel developed width is dx,
Highly it is dy, for square pixels phase equipment, dx is believed that equal with dy, then formula (1-11) and formula (1-12) can be obtained：
Formula (1-13) and formula (1-14) can be obtained by similar triangle theory：
Formula (1-13) and formula (1-114) are subtracted each other into obtain formula (1-15)：
Formula (1-11) and formula (1-12) are substituted into formula (1-15) and obtain formula (1-16)：
Formula (1-13) and formula (1-14) are substituted into formula (1-16) and obtain formula (1-17)：
The image distance f and pixel dimension dx ratios f/ of the camera in binocular range unit can be calculated by formula (1-17)
dx.In binocular range unit, for left and right camera after pitch regulation, same object is formed in the camera of left and right two
As in same level height, only existing the error of horizontal direction.
The effect of the present invention can be further illustrated by following result：
Binocular range unit is built as the left and right camera of device using two WAT-902H cameras, left and right camera uses
Focal length is camera lens of the 25mm camera lens as left and right camera, and being in conplane mode by the front end of left and right camera disposes phase
Machine, by adjusting pitching, camera position is fixed, make its parallax without vertical direction.
At twice the shooting of left camera within sweep of the eye any attitude place gridiron pattern scaling board gridiron pattern and camera away from
From data u1=240cm, u2=150cm, measures gridiron pattern scaling board 9 with graduated scale respectively, 5,3 tessellated reality
Length, shown in physical length data physical length A (cm), read by computer in image and correspond to the gridiron pattern of length in left and right
Camera into image in shared pixel count, corresponding image pixel length data image length m1,m2It is shown, according to formula (1-
17) calculating can obtain obtaining the image distance f of left cameralThe actual size value dx ratios of each pixel in the image shot with it
fl/dxl, repeatedly measure the average value f tried to achievel/dxl=933；
In the shooting of right camera, any attitude places gridiron pattern scaling board, range data u within sweep of the eye at twice1'=
240cm,u2'=150cm, gridiron pattern scaling board 9 is measured with graduated scale, 5,3 tessellated physical lengths, physical length
Shown in data physical length A (cm), read by computer corresponded in image the gridiron pattern of length left and right camera into image
In shared pixel count, corresponding image pixel length data image length m1',m2' shown in, being calculated according to formula (1-17) can be with
Obtain obtaining the image distance f of right camerarThe actual size value dx ratios f of each pixel in the image shot with itr/dxr, repeatedly
Measure the average value f tried to achiever/dxr=926.
In the shooting of left and right camera, any attitude places gridiron pattern scaling board, gridiron pattern within sweep of the eye in five times for this experiment
Shown in the range data recording distance Z in scaling board and left camera imaging face, same X-comers are sat in left magazine image
The abscissa data record x of cursor positionlShown in pixel, in right magazine image coordinate location abscissa data record xrPixel
It is shown.
The camera imaging resolution ratio that the present embodiment uses is 720 × 576, it is thus determined that Ol' and Or' initial value for image it is wide
The half 360 of degree, determine optimal solution hunting zone be 360 ± 15, initial measurement camera spacing is 9cm, thus photocentre away from
Optimal solution scope is 9.00 ± 1.00cm, the initial offset angle set as 0, due to installation level off to it is parallel, so position is inclined
Shifting should be a less offset, set two deviation angle optimal value and be within 0 ° ± 5 °.These models are determined
Enclose, in known distance information and the image space of gridiron pattern scaling board angle point, several ginsengs have been searched by nonlinear optimization
The photocentre of several optimal solution, binocular solid device or so camera is away from B, left and right camera photocentre OlAnd OrSubpoint on imaging surface
Ol' and Or' image coordinate location abscissa value, left camera lens photocentre OlWith the photocentre O of right camera lensrLine with
Left camera lens plane LlAngle α, shown in the value of the angle theta of left and right camera optical axis.
Camera relevant parameter is being obtained, is substituting into the ranging formula (1- that formula (1-10) composition only includes two unknown numbers
10).Then actual ranging application, abscissa value difference of the scene objects in the image coordinate location of the magazine imaging in left and right are carried out
Shown in the parallax value (D) of different data record, the actual range of scene objects and camera is obtained by meter ruler measurement, the reality of data record
Border distance Z0Shown, the range data being calculated as ranging formula (1-10) calculates the distance Z shown in distance Z, being calculated
With actual range Z0Error information error E shown in.The result of embodiment shows, using the scaling method of the present invention device and
Non-parallel ranging formula has higher range accuracy, while has more practical value in engineer applied.
Claims (1)
1. a kind of non-parallel binocular distance-finding method of optical axis, it is characterised in that build binocular range unit, and foundation and binocular first
The ranging formula that range unit is used cooperatively when left and right camera optical axis is non-ideal parallel；Then the ginseng demarcated in ranging formula
Number, obtaining unknown quantity, only the ranging comprising image space of the scene objects to be measured in binocular range unit or so camera image is public
Formula；During practical application, image space data of the scene objects to be measured directly read in the camera image of left and right are substituted into demarcation
Ranging formula afterwards, which calculates, obtains scene objects to be measured and the distance of reference camera in binocular range unit；
The binocular range unit is：Using left and right camera of two model identical cameras as binocular range unit, use
Camera lens of the focal length identical camera lens as left and right camera, left and right camera is arranged in identical platform so that two cameras are in
Sustained height, the front end minute surface of left and right camera are in same plane, and the picture for being shot left and right camera by image pick-up card is real
When adopt into computer；
Shown in the ranging formula such as formula (1),
In formula (1), Z is the distance of scene objects reference camera in binocular camera；frFor the image distance of right camera, B is left and right phase
Machine photocentre is away from θ is right camera imaging plane and the angle of reference camera imaging plane, if angle value is counterclockwise for just；Ol' and Or'
Respectively left and right photocentre OlAnd OrThe abscissa value of the image coordinate of subpoint on imaging surface, α are the photocentre O of left and right cameral
And OrThe angle of line and reference camera imaging plane, if angle value is counterclockwise for just；xlIt is scene objects in reference camera
On imaging surface into picture image coordinate abscissa value, xrFor scene objects on right magazine imaging surface into picture figure
As the abscissa value of coordinate；dxrFor the actual size of each pixel of right camera；, it is necessary to which the parameter of demarcation is in formula (1)：B、
fr/dxr、α、Ol'、Or' and θ, calibrating parameters B, fr/dxr、α、Ol'、Or' and θ method be：
Step 1: gridiron pattern scaling board is placed on the optional position in the cameras line of left and right, according to gridiron pattern scaling board
In same angle point respectively left and right camera shooting image in corresponding height and position relation, adjust left and right camera heights, make mark
Same angle point is in identical height in the image that left and right camera is shot in fixed board, then fixes left and right camera；
Step 2: the N number of adjacent gridiron pattern of selected gridiron pattern scaling board horizontal direction, N number of adjacent chess is measured with graduated scale
The physical length A of disk lattice；
The different position of any two that scaling board is placed in left cameras line, and scaling board is measured respectively to left phase
The object distance u of machine1And u2, obtained and recorded selected N number of adjacent respectively by image acquisition procedure corresponding to image pick-up card
The number m of gridiron pattern shared pixel in the image that left camera is shot1And m2；
Calculate the image distance f of left cameralThe actual size value dx ratios f of each pixel in the image shot with itl/ dx, calculating side
Shown in formula such as formula (2),
The different position of any two that scaling board is placed in right cameras line, and scaling board is measured respectively to right phase
The object distance u of machine1' and u2', obtained respectively by image acquisition procedure corresponding to image pick-up card and record N' selected phase
The number m of adjacent gridiron pattern shared pixel in the image that right camera is shot1' and m2', calculate the image distance f of right camerarClapped with it
The actual size value dx ratio fr/dx of each pixel in the image taken the photograph, shown in calculation such as formula (3),
Step 3: using left camera as reference camera, laid in the way of gridiron pattern scaling board plane is parallel to camera imaging plane
Gridiron pattern scaling board is demarcated, records the distance Z of scaling board and reference camera when multigroup scaling board is located at diverse location0, same chess
Disk lattice angle point is located at the abscissa value x of position coordinates in the camera image of left and rightlAnd xr, by multigroup Z of record0、xl、xrSubstitute into binocular
Ranging formula (1), with nonlinear optimization, the photocentre of left and right camera is solved away from B, left and right camera photocentre OlAnd OrIn imaging surface
On subpoint Ol' and Or' the abscissa value of image coordinate location, left camera lens photocentre OlWith the photocentre of right camera lens
OrLine and left camera lens plane LlAngle α, the angle theta of left and right camera optical axis.
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| CN1971206A (en) * | 2006-12-20 | 2007-05-30 | 北京航空航天大学 | Calibration method for binocular vision sensor based on one-dimension target |
| CN101294801A (en) * | 2007-07-13 | 2008-10-29 | 东南大学 | Vehicle distance measuring method based on binocular vision |
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