CN105262946A - Three-dimensional binocular camera platform experimental device - Google Patents

Three-dimensional binocular camera platform experimental device Download PDF

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Publication number
CN105262946A
CN105262946A CN201510610328.XA CN201510610328A CN105262946A CN 105262946 A CN105262946 A CN 105262946A CN 201510610328 A CN201510610328 A CN 201510610328A CN 105262946 A CN105262946 A CN 105262946A
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CN
China
Prior art keywords
camera
servomotor
turntable
loading plate
experimental provision
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CN201510610328.XA
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Chinese (zh)
Inventor
高新闻
杨正哲
俞黎卿
张伟
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上海大学
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Priority to CN201510610328.XA priority Critical patent/CN105262946A/en
Publication of CN105262946A publication Critical patent/CN105262946A/en

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Abstract

The invention discloses a three-dimensional binocular camera platform experimental device, which comprising a base, a turntable, a support rack, a camera holder carrying plate, a straight rack and pinion distance adjustment mechanism, two camera holders, two camera turntables, two camera support plates, and five servo motors. A controller sends an instruction to a corresponding servo motor so as to control the above device to adjust the spacing between left and right cameras, the rotation angles of the left and right cameras and the overall pitch angles of the left and right cameras. The device is convenient in operation and strong in practicality.

Description

A kind of three-dimensional binocular camera The Cloud Terrace experimental provision

Technical field

The present invention relates to a kind of camera shooting experimental provision, particularly relate to a kind of binocular camera The Cloud Terrace experimental provision.

Background technology

Technique of binocular stereoscopic vision is a front subject with broad prospect of application, along with the investigation and application of contemporary optics, electronics and computer technology, to make constant progress, and it is practical gradually, not only will become the key technology of the high-tech areas such as biomedicine, industrial detection, virtual reality, the field such as Aero-Space remote measurement, military information scouting can also be applied to.Abroad, technique of binocular stereoscopic vision has been widely used in industrial production, resident living.Binocular stereo vision is called an important branch of computer vision, it is based on principle of parallax and utilize imaging device from two width images of different position acquisition testees, by the position deviation between computed image corresponding points, obtain the method for object dimensional geological information.Merge image the difference of observing between them that two eyes obtain, make us can obtain obvious depth perception, set up the corresponding relation between feature, the photosites of the same space physical points in different images is mapped, form disparity map.

Binocular stereo vision has that efficiency is high, precision is suitable, system configuration is simple, low cost and other advantages, is very suitable for manufacturing on-the-spot online, noncontact Product checking and quality control.In measuring moving object (comprising animal and human's bodily form body), because image acquisition completes instantaneously, therefore Stereo Vision is a kind of more effective method of measurement.Binocular Stereo Vision System is one of key technology of computer vision, and the range information obtaining space three-dimensional scene is also the content on basis in computer vision research.And obtaining the visual plant of binocular stereo vision---binocular camera also more and more receives publicity.

At present, binocular camera is mainly used in the visual pattern process field in machine, optical, electrical engineering, is especially used in and captures control aspect to mechanical arm.And in traditional binocular camera experimental provision, the simple motions such as left rotation and right rotation, up and down pitching can only be realized, action is few, and precision is not high, regulates difficulty, can not control in real time, and cost is expensive, poor universality.

Summary of the invention

The object of the invention is to the limitation solved the problem, a kind of three-dimensional binocular camera The Cloud Terrace experimental provision is provided, can two cameras be positioned on camera support plate respectively, need the luffing angle of the spacing of in real time two cameras in adjustment left and right, the integral left right rotation angle of two cameras in left and right, two, left and right camera independently left rotation and right rotation angle, two the camera entirety in left and right separately according to different experiments.

For achieving the above object, design of the present invention is: the present invention relates to a kind of three-dimensional binocular camera The Cloud Terrace experimental provision, belong to experimental setup, comprising from nature:

whether base: horizontal measuring instrument is equipped with in its front portion, be horizontal for measuring this device; Its four edges are respectively equipped with a level height vernier device, make it be horizontal for adjusting this device; Be provided with base turntable in the middle part of it, for realizing adjustment two camera integral-rotation angles, base turntable connects bracing frame.

bracing frame: its left end is equipped with luffing angle measuring instrument, for showing current luffing angle numerical value; Its right-hand member is provided with servomotor two, and servomotor two connects camera bearing loading plate 5, for regulating the integral pitch angle of two cameras be placed on camera bearing loading plate;

camera bearing loading plate: be furnished with guide rail and distance scale in it, guide rail is provided with two identical camera bearings; Camera bearing is provided with distance pointer, for intuitively reading current displacement; , servomotor three is by the spacing of spur rack gear mechanism adjusted in concert two camera bearings;

camera bearing: it is provided with camera turntable and angle index, camera turntable connects camera support plate, and camera support plate is provided with angle indicator, for intuitively reading the anglec of rotation; Servomotor four realizes the adjustment of camera left rotation and right rotation angle.Left and right two camera bearings, camera turntables have identical type of drive and structure.

According to the design of foregoing invention, the present invention adopts following technical proposals:

A kind of three-dimensional binocular camera The Cloud Terrace experimental provision, comprises base, turntable, bracing frame, camera bearing loading plate, spur gear tooth bar distance adjustor, two camera bearings, two camera turntables, two camera support plates, 5 servomotors.Base center is provided with servomotor one, and servomotor one connects and drives turntable to rotate; Turntable connects bracing frame, and bracing frame connects the camera bearing loading plate pitching driven by servomotor two; On camera bearing loading plate, left and right is each installs one is passed through spur gear rack-driving and roll adjustment two camera bearings by servomotor three; Each installation servomotor four on two camera bearings, servomotor four connects and the camera turntable driven rotates, each installation camera support plate on each camera turntable.

The front portion of described base is provided with horizontal measuring instrument, whether is positioned at horizontal level in order to detect this device; Base four edges are respectively provided with a level height vernier device, make it be horizontal for adjusting this device.

The present invention compared with prior art, has following apparent outstanding substantive distinguishing features and advantage:

1. the present invention can realize the change of binocular camera multi-angle, comprising: the change of integral pitch angle, integral left dextrorotation corner, single camera left-right rotary corner, can realize two camera pitch-synchronous changes.

2. the present invention has convenient operation, practical feature, in out-of-flatness desktop or non-horizontal equipment surface, still can complete corresponding experimental work by the horizontal measuring instrument worn and level height adjusting device.

3. the present invention adopts driven by servomotor to control, and has reliable operation, controls the feature simple, precision is high, exploitability is strong, can be carried out real-time monitoring and the adjustment of angle and spacing by man-machine interface.

Accompanying drawing explanation

Fig. 1 is three-dimensional binocular camera The Cloud Terrace experimental provision schematic perspective view in embodiment 1

Fig. 2 is three-dimensional binocular camera The Cloud Terrace experimental provision front view in embodiment 1

Fig. 3 is three-dimensional binocular camera The Cloud Terrace experimental provision turntable and support frame structure schematic diagram in embodiment 1

Fig. 4 is three-dimensional binocular camera The Cloud Terrace experimental provision spur rack gear mechanism transmission mode schematic diagram in embodiment 1

Fig. 5 is the vertical view that in Fig. 1, three-dimensional binocular camera The Cloud Terrace experimental provision does not comprise camera support plate

Fig. 6 is camera bearing transmission part sectioned view in three-dimensional binocular camera The Cloud Terrace experimental provision in Fig. 1

Fig. 7 is camera bearing loading plate schematic perspective view in three-dimensional binocular camera The Cloud Terrace experimental provision in Fig. 1

Fig. 8 is camera bearing schematic perspective view in three-dimensional binocular camera The Cloud Terrace experimental provision in Fig. 1

Fig. 9 is binocular vision imaging schematic diagram

Figure 10 is that Distance geometry camera angle changes binocular camera field range variation diagram

Figure 11 is Serve Motor Control hardware system structure figure

Figure 12 is Serve Motor Control algorithm flow chart.

Embodiment

Details are as follows by reference to the accompanying drawings for the preferred embodiments of the present invention:

embodiment one

See Fig. 1 ~ Fig. 9, this three-dimensional binocular camera The Cloud Terrace experimental provision, base 1 center is provided with servomotor 1, and servomotor 1 connects and drives turntable 2 to rotate, and realizes the left rotation and right rotation action of two camera entirety, carries out motion capture to mobile object; Turntable 2 connects bracing frame 4, bracing frame connects camera bearing loading plate 5 pitching driven by servomotor two, when giving servomotor 28 sending controling instruction, servomotor 28 drives camera bearing loading plate 5 can realize the pitching motion up and down of two camera entirety, increases the angular range that camera is dynamically taken; On camera bearing loading plate 5, left and right is each installs one is passed through spur rack gear mechanism 18 transmission and roll adjustment two camera bearings 9 by servomotor 3 13, by controlling the rotation of servomotor 3 13, can realize the change of two camera spacing fast; Each installation servomotor 4 21 on two camera bearings, servomotor 4 21 connects and the camera turntable 10 driven rotates, each installation camera support plate 11 on each camera turntable 10, servomotor 4 21 on each camera bearing 9 can work independently, when carrying out some angles levelling shooting, corresponding work can be coordinated.This device can realize the integral left right rotation angle adjustment of camera, integral pitch angle adjustment, two adjustment of camera spacing, two camera independent left right rotation angle adjustment etc. four kinds regulate action, greatly adds flexibility and the practicality of three-dimensional binocular camera The Cloud Terrace experimental provision.

embodiment two

The present embodiment is substantially identical with embodiment one, and feature part is as follows: the front portion of described base 1 is provided with horizontal measuring instrument 3, whether is positioned at horizontal level in order to detect this device; Base 1 four edges are respectively provided with a level height vernier device 6, make it be horizontal for adjusting this device.Carrying out in three-dimensional binocular camera shooting experiment, the image feature information that the angle of camera is chosen for obtaining has a great impact, and camera is to the shooting of same object different angles, and the characteristic information obtained differs greatly.Because some experimental situation is more severe, such as do not have smooth shooting platform, the old appearance of experimental bench desktop concavo-convex, capital causes the shooting angle of camera to change, easily cause the camera collimation error, the image obtained causes larger trouble for the process in later stage, and the determination of such as object dimensional space coordinates and the problem of calibrating of camera coordinates all can bring great error.Therefore, in this three-dimensional binocular camera The Cloud Terrace experimental provision front portion, horizontal measuring instrument 3 is set, whether horizontal level is positioned in order to detect this device, if not at horizontal level, the level height vernier device 6 of base four edges can be used, finely tune this experimental provision, be up to the standard position, to avoid or to reduce the collimation error brought due to camera angle problem and coordinate conversion error.

embodiment three

As shown in Fig. 1 ~ Fig. 8, this three-dimensional binocular camera The Cloud Terrace experimental provision is the example about regulating camera angle and distance in real time.Specifically can see Fig. 1 and Fig. 2, the horizontal measuring instrument 3 being positioned at base 1 front portion can detect whole experimental provision and whether be positioned at horizontal level, if not, the level height vernier device 6 being positioned at base 1 four drift angle places can be regulated to carry out horizontal adjustment.Be positioned at base turntable 3 position as shown in Figure 3 of base 1 middle position, it connects bracing frame 4, controller is to servomotor 1 sending controling instruction, servomotor 1 rotates, drive the left-hand rotation of base turntable 3 to move or turn right dynamic, two, the left and right camera be positioned on bracing frame 4 realizes the action that integral left is rotated or right-hand rotation is moved.

Camera bearing loading plate 5 is connected in bracing frame 4, bracing frame 4 left-external side connects pitch angle measurement instrument 16, right outside side connects servomotor two bearing 7, connected mode is as shown in Fig. 2, Fig. 3, Fig. 7, and servomotor 28 is positioned on servomotor two bearing 7, and servomotor 28 directly connects camera bearing loading plate 5, controller is to servomotor 28 sending controling instruction, servomotor 28 rotates, and camera bearing loading plate 5 rotates, and realizes the change of the angle of pitch of two the camera entirety in left and right; The pitch angle measurement instrument 16 being simultaneously positioned at bracing frame 4 left end intuitively can read the luffing angle of current location.

Camera bearing loading plate 5 inside is provided with guide rail, and two wall tops are provided with distance scale, as shown in Fig. 4, Fig. 5, Fig. 7, Fig. 8.Camera bearing loading plate 5 end positions connects two identical camera bearings 9, camera bearing 9 bottom connects a slide block, structure as shown in Figure 8, during installation, slide block is positioned on the guide rail in camera bearing loading plate 5, camera bearing 9 side connects spur rack mechanism, the servomotor 3 13 be positioned on camera bearing loading plate 5 connects a gear mechanism, both are common forms spur gear rackwork 18, as shown in Figure 4, controller is to servomotor 3 13 sending controling instruction, servomotor 3 13 rotates, the camera synchronization motion of two, left and right is realized by spur gear rackwork 18, change two the camera spacing in left and right, camera bearing 9 side connects distance pointer 15, and camera bearing 9, at moving on rails, intuitively can read the distance of current location camera bearing 9 movement by the distance scale 19 indicated by distance pointer 15.

Two camera bearing 9 centers connect a camera turntable 10 respectively, two camera turntables 10 connect an identical camera support plate 11 separately, two, left and right camera support plate 11 is respectively installed a camera and is fixed, controller is to servomotor 4 21 sending controling instruction, and the camera turntable 10 being positioned at left side realizes independently turning left to move or turning right moving; Controller is to servomotor 5 21 sending controling instruction, and the camera turntable 10 being positioned at right side realizes independently turning left to move or turning right moving; Be positioned at the angle indicator 12 below camera support plate 11 to change along with the rotation registration of camera turntable 10, intuitively can read the angle of current location single camera left rotation and right rotation.

Whole device has 5 servomotors, and controllers realizes the rotation of servomotor by sending instruction to controller, wherein servomotor 1 in the middle part of base 1 realizes the overall anticlockwise in horizontal plane of two cameras or right rotation; servomotor 28 on the right side of bracing frame 4 on servomotor two bearing 7 realizes the change of the angle of pitch of two camera entirety; servomotor 3 13 in the middle part of bracing frame 4 in servomotor three supporting bracket 14 realizes the change of the distance between two cameras, and the change of this distance is realized by spur gear rackwork 18; servomotor 4 21 in the middle part of camera bearing 9 and servomotor 5 21 control camera left rotation and right rotation, realize the left-hand rotation of single camera or the action of right-hand rotation.

Two camera bearings, 9, two camera support plates 11 are identical, are installed on camera bearing loading plate 5 in origin symmetry.

This three-dimensional binocular camera The Cloud Terrace experimental provision is furnished with servo motor control unit, and controllers, by every platform servomotor sending controling instruction, changes the angle and distance of camera.

embodiment four

As shown in Fig. 1 ~ Figure 12, this three-dimensional binocular camera The Cloud Terrace experimental provision, as follows about camera fields of view scope adjustment control algolithm.Specifically see Fig. 9 ~ Figure 12, in experimentation, two cameras can be placed in respectively on the camera bearing 9 of described three-dimensional binocular camera The Cloud Terrace experimental provision, and fixing.Two side image information of same object caught by two cameras from different angles, according to Binocular Vision Principle: stereo visual system is made up of two, left and right camera, as shown in Figure 9, mark the relevant parameter of left and right video camera respectively with subscript l and r, in world coordinate system YXZ a bit at the imaging surface of left and right cameras with on picture point be respectively with , make the photocentre of they and respective camera respectively with line, i.e. projection line with , their intersection point is the object-point in world coordinate system .

According to above-mentioned principle, because this contrive equipment adopts multiple driven by servomotor, adopt control system hardware structure diagram as shown in figure 11, adopt control algolithm process structure as shown in figure 12, control mode is divided into Artificial Control and automatic control mode.Wherein, Artificial Control refers to artificial input motion parameter, and automatic mode refers to the movement of the target object that combining camera catches, and this device automatically changes self attitude in real time so that the change in location of the object that follows the trail of the objective.Adopt Kalman Algorithm can effectively solve system motion control in nonlinear problem, for the motion control of servomotor in the present embodiment.Computer by CAN to controller sending controling instruction, control servomotor 4 21 and servomotor 5 21 laterally rotate simultaneously, the visual field change obtained is as shown in Figure 10 left part, and field range increases, simultaneously the intersection point of two camera imagings and camera photocentre with between line distance increase; Control servomotor 4 21 and servomotor 5 21 by controller to turn to the inside, the visual field change obtained is as shown in Fig. 9 right part, and field range reduces simultaneously, simultaneously the intersection point of two camera imagings and camera photocentre with between line distance reduce; Controller sending controling instruction is to servomotor 3 13, servomotor 3 13 realizes the change of two the camera spacing in left and right, as shown in Fig. 9 upper diagram, when its spacing reduces by spur gear rackwork 18, its field range reduces, simultaneously the intersection point of two camera imagings and camera photocentre with between line distance reduce; As shown in Fig. 9 bottom graph when its spacing increases, its field range increases, simultaneously the intersection point of two camera imagings and camera photocentre with between line distance increase.

Claims (6)

1. a three-dimensional binocular camera The Cloud Terrace experimental provision, comprises a base (1) and two camera support plates (11), it is characterized in that:
1) described base (1) center is provided with servomotor one (17), and servomotor one (17) connects and drives turntable (2) to rotate;
2) described turntable (2) connects bracing frame (4), and bracing frame (4) connects camera bearing loading plate (5) pitching driven by servomotor two (8);
3) the upper left and right of described camera bearing loading plate (5) each install one by servomotor three (13) by spur rack gear drive two camera bearings (9) of roll adjustment;
4) upper each installation servomotor four (21) of described two camera bearings (9), servomotor four (21) connects and the camera turntable (10) driven rotates, the upper each installation camera support plate (11) of each camera turntable (10).
2. three-dimensional binocular camera The Cloud Terrace experimental provision according to claim 1, is characterized in that, the front portion of described base (1) is provided with horizontal measuring instrument (3), whether is positioned at horizontal level in order to detect this device; Base (1) four edge is respectively provided with a level height vernier device (6), makes it be horizontal for adjusting this device.
3. three-dimensional binocular camera The Cloud Terrace experimental provision according to claim 1, is characterized in that, described servomotor one (17) is rotated by gear mechanism Direct driver turntable (2); Servomotor four (21) is rotated by gear mechanism Direct driver camera turntable (10).
4. three-dimensional binocular camera The Cloud Terrace experimental provision according to claim 1, it is characterized in that, described camera bearing loading plate (5) is provided with guide rail (23), camera bearing (9) is with spur rack and connection slide block (22) thereon, and servomotor three (13) is by the sliding motion of slide block (22) in the guide rail (23) of camera bearing loading plate (5) of spur rack gear mechanism (18) drives camera bearing (9).
5. three-dimensional binocular camera The Cloud Terrace experimental provision according to claim 1, it is characterized in that, support frame as described above (4) right-hand member connects servomotor two supporting bracket (7), servomotor two supporting bracket (7) is provided with servomotor two (8), and servomotor two (8) is directly connected with camera bearing loading plate (5) through the circular hole (24) in bracing frame (4) right end plate and drives its pitching.
6. three-dimensional binocular camera The Cloud Terrace experimental provision according to claim 5, it is characterized in that, support frame as described above (4) left and right two end plates is provided with circular hole (24), camera bearing loading plate (5) two ends are provided with pillar (25) and are rotationally connected this circular hole (24), and bracing frame (4) is supported and rotary camera bearing loading plate (5) by the inserting of this circular hole (24) and pillar (25).
CN201510610328.XA 2015-09-23 2015-09-23 Three-dimensional binocular camera platform experimental device CN105262946A (en)

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CN105806242A (en) * 2016-04-15 2016-07-27 同济大学 Surface type measuring device adopting laser rotary scanning
CN105959671A (en) * 2016-07-07 2016-09-21 中相(海南)信息科技有限公司 Adjustable multi-lens 3D (three-dimensional) photographing device
CN106027908A (en) * 2016-07-05 2016-10-12 深圳市迅雷网络技术有限公司 Shooting rod and shooting device using same
CN106060527A (en) * 2016-08-01 2016-10-26 北京小鸟看看科技有限公司 Method and apparatus for extending locating range of binocular camera
CN106352836A (en) * 2016-08-31 2017-01-25 无锡信欧光电科技有限公司 Precise rotary displacement stage
CN106481942A (en) * 2016-12-07 2017-03-08 浙江海洋大学 A kind of CCD that is based on imitates binocular three-dimensional alignment system
CN106678523A (en) * 2016-12-28 2017-05-17 上海交通大学 Three-degree-of-freedom electric camera adjusting and controlling device
WO2017148108A1 (en) * 2016-02-29 2017-09-08 华为技术有限公司 Camera array
WO2018145261A1 (en) * 2017-02-08 2018-08-16 深圳市大疆创新科技有限公司 Multifunctional camera and control method therefor, wearable device, pan-tilt, and aerial vehicle
WO2018149392A1 (en) * 2017-02-15 2018-08-23 邢天宜 Holographic image recording system, holographic display system, and three-dimensional image recording system and display method
CN109154765A (en) * 2016-02-24 2019-01-04 保罗·朱利亚尼 For using and while supporting the device of more than one camera
CN109883400A (en) * 2018-12-27 2019-06-14 南京国图信息产业有限公司 Fixed station Automatic Targets and space-location method based on YOLO-SITCOL
CN110121881A (en) * 2017-11-10 2019-08-13 陈加志 A kind of twin-lens intelligent camera apparatus and its image capture method
CN110225333A (en) * 2019-05-25 2019-09-10 深圳市华芯技研科技有限公司 A kind of binocular camera can accurate adjusting correction debugging apparatus with infrared operation
WO2020114043A1 (en) * 2018-12-03 2020-06-11 叠境数字科技(上海)有限公司 Camera, gimbal capable of adjusting angle of camera, and angle adjusting method for camera having gimbal

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Publication number Priority date Publication date Assignee Title
CN109154765A (en) * 2016-02-24 2019-01-04 保罗·朱利亚尼 For using and while supporting the device of more than one camera
WO2017148108A1 (en) * 2016-02-29 2017-09-08 华为技术有限公司 Camera array
CN105806242A (en) * 2016-04-15 2016-07-27 同济大学 Surface type measuring device adopting laser rotary scanning
CN105806242B (en) * 2016-04-15 2018-06-05 同济大学 Using the surface type measurement device of laser rotary scanning
CN106027908A (en) * 2016-07-05 2016-10-12 深圳市迅雷网络技术有限公司 Shooting rod and shooting device using same
CN106027908B (en) * 2016-07-05 2018-12-04 深圳市迅雷网文化有限公司 A kind of shooting bar and the filming apparatus using shooting bar
CN105959671A (en) * 2016-07-07 2016-09-21 中相(海南)信息科技有限公司 Adjustable multi-lens 3D (three-dimensional) photographing device
CN106060527A (en) * 2016-08-01 2016-10-26 北京小鸟看看科技有限公司 Method and apparatus for extending locating range of binocular camera
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CN106352836A (en) * 2016-08-31 2017-01-25 无锡信欧光电科技有限公司 Precise rotary displacement stage
CN106481942A (en) * 2016-12-07 2017-03-08 浙江海洋大学 A kind of CCD that is based on imitates binocular three-dimensional alignment system
CN106678523A (en) * 2016-12-28 2017-05-17 上海交通大学 Three-degree-of-freedom electric camera adjusting and controlling device
CN108476293A (en) * 2017-02-08 2018-08-31 深圳市大疆创新科技有限公司 Multifunction camera and its control method, wearable device, holder, aircraft
WO2018145261A1 (en) * 2017-02-08 2018-08-16 深圳市大疆创新科技有限公司 Multifunctional camera and control method therefor, wearable device, pan-tilt, and aerial vehicle
WO2018149392A1 (en) * 2017-02-15 2018-08-23 邢天宜 Holographic image recording system, holographic display system, and three-dimensional image recording system and display method
CN110121881A (en) * 2017-11-10 2019-08-13 陈加志 A kind of twin-lens intelligent camera apparatus and its image capture method
WO2020114043A1 (en) * 2018-12-03 2020-06-11 叠境数字科技(上海)有限公司 Camera, gimbal capable of adjusting angle of camera, and angle adjusting method for camera having gimbal
CN109883400A (en) * 2018-12-27 2019-06-14 南京国图信息产业有限公司 Fixed station Automatic Targets and space-location method based on YOLO-SITCOL
CN110225333A (en) * 2019-05-25 2019-09-10 深圳市华芯技研科技有限公司 A kind of binocular camera can accurate adjusting correction debugging apparatus with infrared operation

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