CN105469386A - Method and device for determining height and pitch angle of stereo camera - Google Patents
Method and device for determining height and pitch angle of stereo camera Download PDFInfo
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- CN105469386A CN105469386A CN201510775971.8A CN201510775971A CN105469386A CN 105469386 A CN105469386 A CN 105469386A CN 201510775971 A CN201510775971 A CN 201510775971A CN 105469386 A CN105469386 A CN 105469386A
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Abstract
The invention discloses a method and a device for determining the height and pitch angle of a stereo camera. The method comprises the steps of: using internal and external parameters, which are obtained by pre-calibration, of the stereo camera to carry out epipolar correction on a first image and a second image in an image pair shot by the stereo camera; determining a corresponding relation between parallax and vertical coordinates of an image coordinate system; according to the corresponding relation between the parallax and the vertical coordinates of the image coordinate system and a triangle method three-dimensional reconstruction principle, determining projection equations of camera optical axes on a reference surface; and according to the projection equations of the camera optical axes on the reference surface and triangle relations among the camera optical axes, determining the height and the pitch angle of the stereo camera relative to the reference surface. The method provided by the invention has the advantages that auxiliary tools such as a calibration board and a calibration block are not needed, the requirements on environment are low, the method is easy to realize, and the universality is high; in addition, there is no need to move a calibration object to obtain a plurality of groups of images, the height and the pitch angle of the stereo camera relative to the reference surface can be determined by only one group of image pair, and the efficiency is high.
Description
Technical field
The present invention relates to stereoscopic vision field, particularly relate to a kind of method and the device of determining stereoscopic camera height and the angle of pitch.
Background technology
Stereoscopic camera can obtain the three-dimensional information of observed object, and in three dimensions, on a lot of two dimensional image, reluctant problem can more easily solve, as target accurately locate, physical size, distance, speed etc.Stereoscopic camera is a kind of main policies realizing stereo visual system, has important using value and development potentiality at the safety-security area such as intelligent transportation, smart city.The 3-D view that stereoscopic camera is rebuild is typically implemented in the camera coordinates system set up for initial point with certain camera photocentre of stereoscopic camera.Need to obtain the foreground target relative position in the environment in 3-D view in some practical applications, this just needs to select a frame of reference to describe the position of stereoscopic camera in the environment, this coordinate system becomes world coordinate system, and need the mapping relations calculating the relative world coordinate system of camera coordinates system, thus determine foreground target relative position in the environment.Mapping relations between camera coordinates system and world coordinate system comprise height and 6 degree of freedom of the angle of pitch.Further, in most applications, only need stereoscopic camera relative to the height of reference surface in world coordinate system and angle of pitch information.
Traditional use scaling board and other method of demarcating thing obtain camera coordinates system and the world coordinate system corresponding relation of 6 complete degree of freedom.The method needs, by demarcation thing, and to need repeatedly to move demarcation thing, with obtain multiple series of images to thus process, efficiency is low.
Summary of the invention
The object of this invention is to provide a kind of method and the device of determining stereoscopic camera height and the angle of pitch, need by demarcation thing to solve prior art, the problem that treatment effeciency is low.
The object of the invention is to be achieved through the following technical solutions:
Embodiments provide a kind of method determining stereoscopic camera height and the angle of pitch, the baseline of stereoscopic camera is parallel with reference surface, and each optical axis of stereoscopic camera is parallel and comprise described reference surface in the visual field, comprising:
Use and demarcate the inside and outside parameter of the described stereoscopic camera obtained in advance, EP point correction is carried out to the first image of the image pair that described stereoscopic camera is taken and the second image;
Determine the corresponding relation of parallax and image coordinate system ordinate, described parallax is the parallax in pixel in the first image after EP point corrects in the reference zone selected the second image after EP point corrects, and described reference zone is the region of the image comprising described reference surface;
According to the corresponding relation of described parallax and image coordinate system ordinate, and trigonometry three-dimensional reconstruction principle, determine the projection equation of camera optical axis on described reference surface;
According to the triangle relation between the projection equation of described camera optical axis on described reference surface and described camera optical axis, determine height and the angle of pitch of the relatively described reference surface of described stereoscopic camera.
Based on the inventive concept same with method, the embodiment of the present invention also provides a kind of device determining stereoscopic camera height and the angle of pitch, the baseline of stereoscopic camera is parallel with reference surface, and each optical axis of stereoscopic camera is parallel and comprise described reference surface in the visual field, and this device comprises:
EP point correction module, for using the inside and outside parameter of demarcating the described stereoscopic camera obtained in advance, carries out EP point correction to the first image of the image pair that described stereoscopic camera is taken and the second image;
Corresponding relation determination module, for determining the corresponding relation of parallax and image coordinate system ordinate, described parallax is the parallax in pixel in the first image after EP point corrects in the reference zone selected the second image after EP point corrects, and described reference zone is the region of the image comprising described reference surface;
Projection equation's determination module, for the corresponding relation according to described parallax and image coordinate system ordinate, and trigonometry three-dimensional reconstruction principle, determine the projection equation of camera optical axis on described reference surface;
Height and angle of pitch determination module, for according to the triangle relation between the projection equation of described camera optical axis on described reference surface and described camera optical axis, determine height and the angle of pitch of the relatively described reference surface of described stereoscopic camera.
The method that the embodiment of the present invention proposes and device only need to analyze to carrying out height and the angle of pitch that just can determine stereoscopic camera relative reference face to an image, do not use the aid such as scaling board, calibrating block, low to environmental requirement, be easy to realize, highly versatile.In addition, not needing to demarcate thing acquisition multiple series of images pair by moving, improve treatment effeciency.
Accompanying drawing explanation
The method flow diagram of the determination stereoscopic camera height that Fig. 1 provides for the embodiment of the present invention and the angle of pitch;
Fig. 2 is in the embodiment of the present invention, the image pair that stereoscopic camera gathers;
Fig. 3 is in the embodiment of the present invention, G
vDschematic diagram;
Fig. 4 is in the embodiment of the present invention, at G
vDthe middle d determined
*(v) schematic diagram;
Fig. 5 is in the embodiment of the present invention, the d=k obtained by matching
*v+b
*schematic diagram;
Fig. 6 is in the embodiment of the present invention, camera coordinates system and world coordinate system relation schematic diagram;
Fig. 7 is in the embodiment of the present invention, the geometrical constraint schematic diagram that stereoscopic camera height and the angle of pitch meet;
The device process flow diagram of the determination stereoscopic camera height that Fig. 8 provides for the embodiment of the present invention and the angle of pitch.
Embodiment
The following condition of stereoscopic camera demand fulfillment of erection: the baseline of stereoscopic camera is parallel to reference surface, each optical axis is parallel and comprise reference surface in the visual field.And carry out the demarcation of following stereoscopic camera inside and outside parameter: the baseline B of stereoscopic camera, the focal distance f of stereoscopic camera, the coordinate (u of image center in image coordinate system
0, v
0).When needing to know foreground target that image detects relative position in the environment, needing the reference surface determined in environment, and setting up camera coordinates system and world coordinate system based on the reference surface determined.
Below to reference surface, camera coordinates system, world coordinate system, image coordinate system, and the embodiment of the present invention based on system architecture and camera parameter demarcate be described.
Reference surface: to need in Environment static, be arranged in the visual field of stereoscopic camera, and the larger face of area is as such as, with reference to face, ground level, desktop etc.
Camera coordinates system: the coordinate system taking the photocentre of certain camera (the left camera of such as binocular solid camera) in stereoscopic camera as initial point foundation.The optical axis that the coordinate axis (being called the z-axis of camera coordinates system in the embodiment of the present invention) of camera coordinates system is this camera; Another coordinate axis (being called the x-axis of camera coordinates system in the embodiment of the present invention) is parallel with reference surface, another coordinate axis (being called the y-axis of camera coordinates system in the embodiment of the present invention) and x-axis and z-axis place plane orthogonal.
Image coordinate system: with certain pixel (being generally left upper apex) in image for true origin, the line direction of image is transverse axis u, and the column direction of image is the coordinate system that longitudinal axis v sets up.The transverse axis of image coordinate system is corresponding with the x-axis of camera coordinates system, and the longitudinal axis of image coordinate system is corresponding with the y-axis of camera coordinates system.
World coordinate system: the coordinate system set up for initial point with certain the environment point on reference surface.The coordinate axis (in the embodiment of the present invention be called the Z axis of world coordinate system) that be projected as world coordinate system of z-axis on reference surface of camera coordinates system; The X-axis of world coordinate system (is called the Y-axis of world coordinate system) on reference surface in the embodiment of the present invention; The Y-axis of world coordinate system is perpendicular to reference surface.
Below in conjunction with accompanying drawing, the technical scheme that the embodiment of the present invention provides is described in detail.
Embodiments provide a kind of method determining stereoscopic camera height and the angle of pitch, the method is based on the stereoscopic camera set up according to above-mentioned condition, and as shown in Figure 1, the method comprises following operation:
Step 100, use and demarcate the inside and outside parameter of the stereoscopic camera obtained in advance, EP point correction is carried out to the first image of the image pair that above-mentioned stereoscopic camera is taken and the second image.
If stereoscopic camera is binocular camera, then the first image and the second image are the image that two cameras of binocular camera are taken simultaneously respectively.
If stereoscopic camera is three order cameras or more object cameras, then the first image is the image of selected camera, and the second image is the image having arbitrary camera in the public visual field simultaneously to take with selected camera in stereoscopic camera.
After EP point corrects, the ordinate of the pixel that same environment is corresponding o'clock in the first image is identical with the ordinate of pixel corresponding in the second image, and same environment difference of the horizontal ordinate of the pixel that the horizontal ordinate of the pixel of correspondence is corresponding with in the second image o'clock in the first image is called parallax.Ordinate is herein the ordinate in image coordinate system.
Step 110, determine the corresponding relation of parallax and image coordinate system ordinate, above-mentioned parallax is the parallax in pixel in the first image after EP point corrects in the reference zone selected the second image after EP point corrects, and above-mentioned reference zone is the region of the image comprising above-mentioned reference surface.
The horizontal ordinate difference of corresponding pixel in the second image after pixel in the first image after EP point corrects corrects with EP point, is the parallax d in this picture point in the first image after EP point correction the second image after EP point correction.Horizontal ordinate is herein the horizontal ordinate in image coordinate system.
In the embodiment of the present invention, the pixel that same environment point is corresponding in both images, pixel corresponding each other.
Step 120, corresponding relation according to above-mentioned parallax and image coordinate system ordinate, and trigonometry three-dimensional reconstruction principle, determine the projection equation of camera optical axis on above-mentioned reference surface.
Above-mentioned parallax and image coordinate system ordinate have linear corresponding relation, can be represented: d=k by following linear equation
*v+b
*.
Trigonometry three-dimensional reconstruction principle reflects following corresponding relation:
The relation of the y-axis coordinate of camera coordinates system and parallax, the ordinate of image coordinate system and the baseline of stereoscopic camera is expressed by following relational expression:
There is linear relationship in baseline and the focal length of the z-axis coordinate of camera coordinates system and parallax, stereoscopic camera, expresses by following relational expression:
In conjunction with above-mentioned three expression formulas, the projection equation z=k of camera optical axis on above-mentioned reference surface can be determined
gy+b
gin parameter k
gand b
g:
Finally obtain the projection equation of camera optical axis on above-mentioned reference surface.
In this step, what determine is the projection equation of optical axis on above-mentioned reference surface of the camera taking the first image in stereoscopic camera.
Step 130, according to the triangle relation between the projection equation of above-mentioned camera optical axis on above-mentioned reference surface and above-mentioned camera optical axis, determine height and the angle of pitch of the relatively above-mentioned reference surface of above-mentioned stereoscopic camera.
Straight line corresponding to camera optical axis and above-mentioned projection equation has triangle relation as shown in Figure 7, can calculate the height h on the relative ground of camera
cand pitching angle theta:
The determination stereoscopic camera height that the embodiment of the present invention provides and the method for the angle of pitch, only need to analyze to carrying out height and the angle of pitch that just can determine stereoscopic camera relative reference face to an image, do not use the aid such as scaling board, calibrating block, low to environmental requirement, be easy to realize, highly versatile.In addition, not needing to demarcate thing acquisition multiple series of images pair by moving, improve treatment effeciency.
In the embodiment of the present invention, step 110 has multiple implementation to determine the corresponding relation of parallax and image coordinate system ordinate.
Wherein, a kind of implementation is:
Step one, EP point correct after the first image in select reference zone.
In the embodiment of the present invention, reference zone can be selected according to the instruction of user, also can by the way selection reference zone of image recognition.Such as, recognized the image of reference surface by image recognition technology, from the image of reference surface, select reference zone.
Matching power flow space (the G of step 2, the pixel determined in above-mentioned reference zone
u-V-D), G
u-V-Din value represent that in a pixel in this reference zone the second image after EP point corrects, parallax is the Matching power flow of d, d be not less than 0 integer.
Step 3, by G
u-V-Dboil down to V-D space (G
vD), G
vDin value represent that in one-row pixels point in this reference zone on u direction the second image after EP point corrects, parallax is the Mean match cost of d.
In the embodiment of the present invention, think that the parallax in one-row pixels point in reference zone on u direction the second image after EP point corrects is identical, therefore, by G
u-V-Dboil down to V-D space G
vD, avoid the Stereo matching carrying out point-to-point, improve treatment effeciency, reduce the operand of process.
Step 4, at G
vDin search the minimum value of every a line on d direction.
On the d direction that step 5, basis find, the minimum value of every a line carries out fitting a straight line.
Step 6, corresponding relation according to fitting a straight line result determination parallax and image coordinate system ordinate.
The second implementation is:
Reference zone is selected in the first image after EP point corrects;
By carrying out point-to-point Stereo matching to the pixel in this reference zone, obtain the corresponding relation of parallax and image coordinate system ordinate.
In the embodiment of the present invention, existing point-to-point matching process can be adopted to realize.
The third implementation is:
Reference zone is selected in the first image after EP point corrects;
By carrying out Stereo matching to the pixel of the unique point in this reference zone, obtain the corresponding relation of parallax and image coordinate system ordinate.
In the embodiment of the present invention, the method for existing Feature Points Matching can be adopted to realize.
Below in conjunction with embody rule scene, the technical scheme that the embodiment of the present invention provides is described in detail:
In the present embodiment, choose the camera that two, left and right is installed side by side, reference surface chooses ground level, and the baseline of two cameras in left and right is parallel to ground level, and the optical axis of two cameras is parallel, and comprises above-mentioned reference surface in the visual field.The focal length of stereoscopic camera is apart from f, image center (u
0, v
0), base length B.
Above-mentioned binocular solid camera is used to take, obtain an image pair, this image is to comprising left camera image (and first image) and right camera image (i.e. the second image), use and demarcate the binocular camera inside and outside parameter obtained in advance, EP point correction is carried out to left camera image and right camera image, as shown in Figure 2, the left camera image (I after correcting is obtained
l) and right camera image (I
r).After EP point corrects, same environment point is at I
lin subpoint (namely corresponding pixel) p
l(u
l, v
l) and at I
rin subpoint (namely corresponding pixel) p
r(u
r, v
r) meet v
l=v
r, and define d=u
l-u
rfor parallax.
At I
lchoose reference zone (G
l) (as shown in Figure 2), to each pixel I in this reference zone
l(u, v) calculates it at I
rmatching power flow c (u, v, d) when middle parallax is d, namely
with I
rthe Matching power flow of (u-d, v), obtains about G
lstereo matching cost spatial (G
u-V-D).In the present embodiment, by SAD operator representation Matching power flow, be formulated as:
Wherein, W is adjustable preset value, represents match window size.
It should be pointed out that also can by other operator representation Matching power flow, and the present invention is not construed as limiting this.
Will about G
lstereo matching cost spatial (G
u-V-D) along u direction summation also computation of mean values, obtain as V-D space (G
vD), the image in this space as shown in Figure 3, the every bit G in this image
vD(d, v) meets:
Wherein W
lwith W
rg
lalong the right boundary of u direction.
Find G
vDin the position of Least-cost point in every a line, be expressed as:
D
*v () as shown in Figure 4.
As can see from Figure 4, reference zone (G
l) corresponding d
*v () ideal situation is straight line, be designated as d=kv+b, and due to the impact of matching error, this straight-line equation needs from the d comprising partial noise
*v in (), matching obtains.In the present embodiment, RANSAC method is used to remove noise spot to the impact of fitting a straight line result.Concrete:
First from d
*v Stochastic choice two points in (), are designated as p
1(d
1, v
1) and p
2(d
2, v
2), if v
1=v
2, then again choose, if v
1≠ v
2, then straight-line equation parameter is:
b＝d
1-kv
1
If d
*certain 1 p in (v)
0(d
0, v
0) be less than predetermined threshold value to the distance of straight line d=kv+b, namely meet:
Then this point is designated as the interior point of this straight line model (k, b).Traversal d
*v the institute in () a little, adds up interior some number of current straight line model (k, b), enough repeatedly (multiplicity can be taken as G to repeat above-mentioned two steps
lheight × 10), in selecting, the maximum straight line model of some number is as final straight line model, is designated as (k
*, b
*), d=k
*v+b
*as shown in Figure 5.
Under camera coordinates system, ask camera optical axis at the projection equation z=k of ground level
gy+b
g.
In the present embodiment, as shown in Figure 6, camera coordinates system z-axis is along camera light direction of principal axis, and the vertical z-axis of y-axis points to ground level.
According to trigonometry binocular three-dimensional reconstruction principle:
Again in conjunction with d=k
*v+b
*, substitute into also abbreviation and obtain:
As shown in Figure 6, with straight line z=k
gy+b
gas the Z axis of world coordinate system, vertically plane is upwards for the Y-axis of world coordinate system.Calculate the height h on the relative ground of camera
cand pitching angle theta:
Wherein, h
cthe geometrical constraint schematic diagram met with θ as shown in Figure 7.
Based on the inventive concept same with method, the embodiment of the present invention also provides a kind of device determining stereoscopic camera height and the angle of pitch, and the baseline of stereoscopic camera is parallel with reference surface, and each optical axis of stereoscopic camera is parallel and comprise above-mentioned reference surface in the visual field, as shown in Figure 8, comprising::
EP point correction module 801, for using the inside and outside parameter of demarcating the above-mentioned stereoscopic camera obtained in advance, carries out EP point correction to the first image of the image pair that above-mentioned stereoscopic camera is taken and the second image.
Corresponding relation determination module 802, for determining the corresponding relation of parallax and image coordinate system ordinate, above-mentioned parallax is the parallax in pixel in the first image after EP point corrects in the reference zone selected the second image after EP point corrects, and above-mentioned reference zone is the region of the image comprising above-mentioned reference surface.
Projection equation's determination module 803, for the corresponding relation according to above-mentioned parallax and image coordinate system ordinate, and trigonometry three-dimensional reconstruction principle, determine the projection equation of camera optical axis on above-mentioned reference surface.
Height and angle of pitch determination module 804, for according to the triangle relation between the projection equation of above-mentioned camera optical axis on above-mentioned reference surface and above-mentioned camera optical axis, determine height and the angle of pitch of the relatively above-mentioned reference surface of above-mentioned stereoscopic camera.
The determination stereoscopic camera height that the embodiment of the present invention provides and the device of the angle of pitch, obtain stereoscopic camera as the height in relative reference face and the angle of pitch.Further, the baseline of stereoscopic camera is parallel with reference surface, each optical axis of stereoscopic camera is parallel and comprise above-mentioned reference surface in the visual field, first by the inside and outside parameter of to demarcate the stereoscopic camera obtained in advance, EP point correction is carried out to the first image of an image pair of stereoscopic camera shooting and the second image, obtains the stereographic map after correcting, same three-dimensional environment point is between the pixel of stereographic map centering, the difference of u direction, is parallax d, determines the corresponding relation of parallax and the total coordinate of image coordinate system; Then according to the corresponding relation of parallax and image coordinate system ordinate, and trigonometry three-dimensional reconstruction principle, determine the projection equation of camera optical axis on above-mentioned reference surface; Finally according to the triangle relation between the projection equation of above-mentioned camera optical axis on above-mentioned reference surface and camera optical axis, determine height and the angle of pitch in above-mentioned stereoscopic camera relative reference face.The device that the embodiment of the present invention proposes only needs to analyze to carrying out height and the angle of pitch that just can determine stereoscopic camera relative reference face to an image, does not use the aid such as scaling board, calibrating block, low to environmental requirement, is easy to realize, highly versatile.In addition, not needing to demarcate thing acquisition multiple series of images pair by moving, improve treatment effeciency.
Optionally, based on above-mentioned any embodiment, in order to determine the corresponding relation of parallax and image coordinate system ordinate, above-mentioned corresponding relation determination module is used for:
Reference zone is selected in the first image after EP point corrects;
Determine the Matching power flow space (G of the pixel in above-mentioned reference zone
u-V-D), above-mentioned G
u-V-Din value represent that in a pixel in above-mentioned reference zone the second image after EP point corrects, parallax is the Matching power flow of d, d be not less than 0 integer;
By above-mentioned G
u-V-Dboil down to V-D space G
vD, above-mentioned G
vDin value represent that in one-row pixels point in above-mentioned reference zone on u direction the second image after EP point corrects, parallax is the Mean match cost of d;
At G
vDin search the minimum value of every a line on d direction;
Fitting a straight line is carried out to the minimum value of a line every on the d direction found;
According to the corresponding relation of fitting a straight line result determination parallax and image coordinate system ordinate.
Optionally, based on above-mentioned any embodiment, in order to determine the corresponding relation of parallax and image coordinate system ordinate, above-mentioned corresponding relation determination module is used for:
Reference zone is selected in the first image after EP point corrects;
By carrying out point-to-point Stereo matching to the pixel in above-mentioned reference zone, obtain the corresponding relation of parallax and image coordinate system ordinate.
Optionally, based on above-mentioned any embodiment, in order to determine the corresponding relation of parallax and image coordinate system ordinate, above-mentioned corresponding relation determination module is used for:
Reference zone is selected in the first image after EP point corrects;
By carrying out Stereo matching to the pixel of the unique point in above-mentioned reference zone, obtain the corresponding relation of parallax and image coordinate system ordinate.
Those skilled in the art should understand, embodiments of the invention can be provided as method, system or computer program.Therefore, the present invention can adopt the form of complete hardware embodiment, completely software implementation or the embodiment in conjunction with software and hardware aspect.And the present invention can adopt in one or more form wherein including the upper computer program implemented of computer-usable storage medium (including but not limited to magnetic disk memory, CD-ROM, optical memory etc.) of computer usable program code.
The present invention describes with reference to according to the process flow diagram of the method for the embodiment of the present invention, equipment (system) and computer program and/or block scheme.Should understand can by the combination of the flow process in each flow process in computer program instructions realization flow figure and/or block scheme and/or square frame and process flow diagram and/or block scheme and/or square frame.These computer program instructions can being provided to the processor of multi-purpose computer, special purpose computer, Embedded Processor or other programmable data processing device to produce a machine, making the instruction performed by the processor of computing machine or other programmable data processing device produce device for realizing the function of specifying in process flow diagram flow process or multiple flow process and/or block scheme square frame or multiple square frame.
These computer program instructions also can be stored in can in the computer-readable memory that works in a specific way of vectoring computer or other programmable data processing device, the instruction making to be stored in this computer-readable memory produces the manufacture comprising command device, and this command device realizes the function of specifying in process flow diagram flow process or multiple flow process and/or block scheme square frame or multiple square frame.
These computer program instructions also can be loaded in computing machine or other programmable data processing device, make on computing machine or other programmable devices, to perform sequence of operations step to produce computer implemented process, thus the instruction performed on computing machine or other programmable devices is provided for the step realizing the function of specifying in process flow diagram flow process or multiple flow process and/or block scheme square frame or multiple square frame.
Although describe the preferred embodiments of the present invention, those skilled in the art once obtain the basic creative concept of cicada, then can make other change and amendment to these embodiments.So claims are intended to be interpreted as comprising preferred embodiment and falling into all changes and the amendment of the scope of the invention.
Obviously, those skilled in the art can carry out various change and modification to the present invention and not depart from the spirit and scope of the present invention.Like this, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these change and modification.
Claims (10)
1. determine a method for stereoscopic camera height and the angle of pitch, it is characterized in that, the baseline of stereoscopic camera is parallel with reference surface, and each optical axis of stereoscopic camera is parallel and comprise described reference surface in the visual field, and the method comprises:
Use and demarcate the inside and outside parameter of the described stereoscopic camera obtained in advance, EP point correction is carried out to the first image of the image pair that described stereoscopic camera is taken and the second image;
Determine the corresponding relation of parallax and image coordinate system ordinate, described parallax is the parallax in pixel in the first image after EP point corrects in the reference zone selected the second image after EP point corrects, and described reference zone is the region of the image comprising described reference surface;
According to the corresponding relation of described parallax and image coordinate system ordinate, and trigonometry three-dimensional reconstruction principle, determine the projection equation of camera optical axis on described reference surface;
According to the triangle relation between the projection equation of described camera optical axis on described reference surface and described camera optical axis, determine height and the angle of pitch of the relatively described reference surface of described stereoscopic camera.
2. method according to claim 1, is characterized in that, the described corresponding relation determining parallax and image coordinate system ordinate, comprising:
Reference zone is selected in the first image after EP point corrects;
Determine the Matching power flow space G of the pixel in described reference zone
u-V-D, described G
u-V-Din value represent that coordinate in described reference zone is that in the pixel of (u, v) the second image after EP point corrects, parallax is the Matching power flow of d, d be not less than 0 integer;
By described G
u-V-Dboil down to V-D space G
vD, described G
vDin value represent that in one-row pixels point in described reference zone on u direction the second image after EP point corrects, parallax is the Mean match cost of d;
At G
vDin search the minimum value of every a line on d direction;
Fitting a straight line is carried out to the minimum value of a line every on the d direction found;
According to the corresponding relation of fitting a straight line result determination parallax and image coordinate system ordinate.
3. method according to claim 1, is characterized in that, the described corresponding relation determining parallax and image coordinate system ordinate, comprising:
Reference zone is selected in the first image after EP point corrects;
By carrying out point-to-point Stereo matching to the pixel in described reference zone, obtain the corresponding relation of parallax and image coordinate system ordinate.
4. method according to claim 1, is characterized in that, the described corresponding relation determining parallax and image coordinate system ordinate, comprising:
Reference zone is selected in the first image after EP point corrects;
By carrying out Stereo matching to the pixel of the unique point in described reference zone, obtain the corresponding relation of parallax and image coordinate system ordinate.
5. the method according to any one of Claims 1 to 4, is characterized in that, comprising: described reference surface is ground level.
6. determine a device for stereoscopic camera height and the angle of pitch, it is characterized in that, the baseline of stereoscopic camera is parallel with reference surface, and each optical axis of stereoscopic camera is parallel and comprise described reference surface in the visual field, and this device comprises:
EP point correction module, for using the inside and outside parameter of demarcating the described stereoscopic camera obtained in advance, carries out EP point correction to the first image of the image pair that described stereoscopic camera is taken and the second image;
Corresponding relation determination module, for determining the corresponding relation of parallax and image coordinate system ordinate, described parallax is the parallax in pixel in the first image after EP point corrects in the reference zone selected the second image after EP point corrects, and described reference zone is the region of the image comprising described reference surface;
Projection equation's determination module, for the corresponding relation according to described parallax and image coordinate system ordinate, and trigonometry three-dimensional reconstruction principle, determine the projection equation of camera optical axis on described reference surface;
Height and angle of pitch determination module, for according to the triangle relation between the projection equation of described camera optical axis on described reference surface and described camera optical axis, determine height and the angle of pitch of the relatively described reference surface of described stereoscopic camera.
7. device according to claim 6, is characterized in that, in order to determine the corresponding relation of parallax and image coordinate system ordinate, described corresponding relation determination module is used for:
Reference zone is selected in the first image after EP point corrects;
Determine the Matching power flow space G of the pixel in described reference zone
u-V-D, described G
u-V-Din value represent that in a pixel in described reference zone the second image after EP point corrects, parallax is the Matching power flow of d, d be not less than 0 integer;
By described G
u-V-Dboil down to V-D space G
vD, described G
vDin value represent that in one-row pixels point in described reference zone on u direction the second image after EP point corrects, parallax is the Mean match cost of d;
At G
vDin search the minimum value of every a line on d direction;
Fitting a straight line is carried out to the minimum value of a line every on the d direction found;
According to the corresponding relation of fitting a straight line result determination parallax and image coordinate system ordinate.
8. device according to claim 6, is characterized in that, in order to determine the corresponding relation of parallax and image coordinate system ordinate, described corresponding relation determination module is used for:
Reference zone is selected in the first image after EP point corrects;
By carrying out point-to-point Stereo matching to the pixel in described reference zone, obtain the corresponding relation of parallax and image coordinate system ordinate.
9. device according to claim 6, is characterized in that, in order to determine the corresponding relation of parallax and image coordinate system ordinate, described corresponding relation determination module is used for:
Reference zone is selected in the first image after EP point corrects;
By carrying out Stereo matching to the pixel of the unique point in described reference zone, obtain the corresponding relation of parallax and image coordinate system ordinate.
10. the device according to any one of claim 6 ~ 9, is characterized in that, comprising: described reference surface is ground level.
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| EP16863627.2A EP3374967B1 (en) | 2015-11-11 | 2016-11-09 | Methods and systems for binocular stereo vision |
| US15/775,800 US10861177B2 (en) | 2015-11-11 | 2016-11-09 | Methods and systems for binocular stereo vision |
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