CN105823468A - Baseline distance-adjustable binocular barrier detection method, and apparatus and system thereof - Google Patents
Baseline distance-adjustable binocular barrier detection method, and apparatus and system thereof Download PDFInfo
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- CN105823468A CN105823468A CN201610116091.4A CN201610116091A CN105823468A CN 105823468 A CN105823468 A CN 105823468A CN 201610116091 A CN201610116091 A CN 201610116091A CN 105823468 A CN105823468 A CN 105823468A
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
Abstract
The embodiment of the invention provides a baseline distance-adjustable binocular barrier detection method, and an apparatus and a system thereof. The baseline distance-adjustable binocular barrier detection method comprises the following steps: acquiring the driving speed and/or shift information of a vehicle; determining the target baseline distance of a binocular camera according to the driving speed and/or the shift information; and adjusting the current baseline distance of the binocular camera according to the target baseline distance, and carrying out barrier detection by adopting a baseline distance adjusted binocular camera. The baseline distance of the binocular camera is dynamically adjusted according to the speed and/or the shift information in order to realize baseline distance-adjustable binocular barrier detection, solve the problem of a fixed detection range caused by the fixed baseline distance of the binocular camera in the prior art and substantially enhance users' experiences.
Description
Technical field
The present embodiments relate to technical field of visual measurement, particularly relate to a kind of parallax range adjustable binocular obstacle detection method, Apparatus and system.
Background technology
At present, development along with intelligence auxiliary security, laser radar, camera and infrared camera, infrared heat sensor technology are the most increasingly common on family-sized car, strengthen driver to obstacle distance, the timely acquisition of the information such as speed, realizes driving mainly by people from original by automobile, becomes various intelligence sensor auxiliary people and realizes driving.
Binocular camera, as the cheapest sensor of a kind of price, is mainly used in obtaining the depth of field in scene and image content information.Scene content information can also be obtained while obtaining object distance compared to laser radar.The coverage of object can be obtained compared to monocular camera.
But, the binocular obstacle detection method of existing use binocular camera typically uses hard-wired mode, in the case of camera focus is fixing, parallax range between camera is fixing, wherein, baseline is line between two camera photocentres, as shown in Figure 1, in this case problem below can be there is: the nearlyest then effectively detection of obstacles distance of parallax range between binocular camera is the nearest, and blind area is the least；The most remote then effectively detection of obstacles distance of parallax range is the most remote, and blind area is the biggest.Once the parallax range between binocular camera determines, then detection range also determines that, causes detection range to be fixed.
Summary of the invention
The embodiment of the present invention provides a kind of parallax range adjustable binocular obstacle detection method, Apparatus and system, the defect fixing in order to solve in prior art parallax range between binocular camera, realize parallax range adjustable binocular detection of obstacles, improve the experience of user.
The embodiment of the present invention provides a kind of parallax range adjustable binocular obstacle detection method, including:
Obtain travel speed and/or the gear information of vehicle；
The target baseline distance between binocular camera is determined according to described travel speed and/or gear information；
According to the current basic line distance between described target baseline distance regulation binocular camera, and the binocular camera after parallax range regulation is used to carry out detection of obstacles.
The embodiment of the present invention provides a kind of parallax range adjustable binocular obstacle detector, including:
Acquiring unit, for obtaining travel speed and/or the gear information of vehicle；
Determine unit, the target baseline distance determining between binocular camera for the travel speed obtained according to described acquiring unit and/or gear information；
Control unit, for according to the described current basic line distance determined between the target baseline distance regulation binocular camera that unit determines；
Detector unit, the binocular camera after using parallax range regulation carries out detection of obstacles.
The embodiment of the present invention provides a kind of parallax range adjustable binocular obstacle detection system, including being installed on the binocular camera of vehicle and the parallax range adjustable binocular obstacle detector as described in above-described embodiment.
The parallax range adjustable binocular obstacle detection method of embodiment of the present invention offer, Apparatus and system, by dynamically adjusting the parallax range between binocular camera according to speed or gear information, realize parallax range adjustable binocular detection of obstacles, and then realize dynamically adjusting binocular detection of obstacles scope, solve the problem that the detection range fixed due to the parallax range between binocular camera in prior art and cause is fixing, greatly strengthen the experience of user.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, the accompanying drawing used required in embodiment or description of the prior art will be briefly described below, apparently, accompanying drawing in describing below is some embodiments of the present invention, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the relation schematic diagram between different parallax range and blind area and detection region；
Fig. 2 is parallax range of the present invention adjustable binocular obstacle detection method embodiment flow chart；
Fig. 3 is parallax range of the present invention another embodiment flow chart of adjustable binocular obstacle detection method；
Fig. 4 is parallax range of the present invention adjustable binocular obstacle detector example structure schematic diagram；
Fig. 5 is parallax range of the present invention another example structure schematic diagram of adjustable binocular obstacle detector.
Detailed description of the invention
For making the purpose of the embodiment of the present invention, technical scheme and advantage clearer, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art are obtained under not making creative work premise, broadly fall into the scope of protection of the invention.
Those skilled in the art of the present technique are appreciated that unless expressly stated, and singulative used herein " ", " one ", " described " and " being somebody's turn to do " may also comprise plural form.Should be further understood that, the wording used in the description of the present invention " includes " referring to there is described feature, integer, step, operation, element and/or assembly, but it is not excluded that existence or adds other features one or more, integer, step, operation, element, assembly and/or their group.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, and all terms used herein (include technical term and scientific terminology), have with the those of ordinary skill in art of the present invention be commonly understood by identical meaning.Should also be understood that those terms defined in such as general dictionary, it should be understood that there is the meaning consistent with the meaning in the context of prior art, and unless by specific definitions, otherwise will not explain by idealization or the most formal implication.
The problem fixing in order to solve the detection range fixed in prior art and cause due to the parallax range between binocular camera, the embodiment of the present invention proposes a kind of parallax range adjustable binocular obstacle detection method.
Fig. 2 shows the flow chart of a kind of parallax range adjustable binocular obstacle detection method of the embodiment of the present invention.
With reference to Fig. 2, the parallax range adjustable binocular obstacle detection method that the embodiment of the present invention proposes, specifically include following steps:
S11, the travel speed obtaining vehicle and/or gear information.
In a particular application, the Vehicle Speed can uploaded in real time by the CAN receiving vehicle and/or gear information, it is achieved the travel speed of vehicle and/or the acquisition of gear information.
S12, determine the target baseline distance between binocular camera according to described travel speed and/or gear information.
Wherein, parallax range specifically refers to the line between two camera photocentres of binocular camera.Target baseline distance specifically refers to, and detects, according to the binocular camera that makes that vehicle current driving speed and/or gear information are determined, the parallax range that scene is optimal.
It should be noted that, in a particular application, can be individually according to travel speed or gear information, determine the target baseline distance between binocular camera, the target baseline distance that the mode combined also dependent on travel speed and gear information determines between binocular camera, this is not specifically limited by the present invention, and those skilled in the art can carry out specific implementation according to practical application request.
S13, according to described target baseline distance regulation binocular camera between current basic line distance, and use parallax range regulation after binocular camera carry out detection of obstacles.
The parallax range adjustable binocular obstacle detection method that the embodiment of the present invention provides, by dynamically adjusting the parallax range between binocular camera according to the speed obtained or gear information, realize parallax range adjustable binocular detection of obstacles, and then realize dynamically adjusting binocular detection of obstacles scope, in the case of speed is relatively slow, reduce blind area reduce detection range and make vehicle parking or by obtaining more closely obstacle information during compared with narrow road section, increase detection range in the case of faster in speed and ignore more closely detection region so that driver can more early find the information such as front vehicles lane change or deceleration, the appearance of perception preceding object thing as early as possible, enable to current binocular obstacle detection system and tackle more scene, greatly strengthen the experience of user.
Fig. 3 shows the flow chart of a kind of parallax range adjustable binocular obstacle detection method of another embodiment of the present invention.
With reference to Fig. 3, the parallax range adjustable binocular obstacle detection method that the embodiment of the present invention proposes, specifically include following steps:
S21, the travel speed obtaining vehicle and/or gear information.
In a particular application, the Vehicle Speed can uploaded in real time by the CAN receiving vehicle and/or gear information, it is achieved the travel speed of vehicle and/or the acquisition of gear information.
S22, search the first mapping relations according to described travel speed and/or gear information, obtaining described travel speed and/or parallax range corresponding to gear information, described first mapping relations include the corresponding relation between travel speed and/or gear information and parallax range.
S22, the target baseline distance determining between binocular camera according to the parallax range found.
It will be appreciated that described first mapping relations are pre-set, can be realized by relation table or relational database.In a concrete example, in the way of relation table, realize the corresponding relation between travel speed and/or gear information and parallax range.
The embodiment of the present invention realizes target baseline determination of distance by the way of pre-building mapping relations, it is possible not only to quickly determine suitable target baseline distance according to travel speed and/or gear information, and can effectively ensure to find the accuracy of target baseline distance.
S22, according to described target baseline distance regulation binocular camera between current basic line distance, and use parallax range regulation after binocular camera carry out detection of obstacles.
The embodiment of the present invention realizes determining fast and accurately of target baseline distance by the way of pre-building mapping relations, by dynamically adjusting the parallax range between binocular camera according to speed and/or gear information, achieve parallax range adjustable binocular detection of obstacles efficiently, further enhancing the experience of user.
In an alternate embodiment of the present invention where, the binocular camera after step uses parallax range regulation carries out detection of obstacles, farther includes with the step not shown in figure below:
A1, according to described target baseline distance update binocular camera current relative position matrix.
It should be noted that in the embodiment of the present invention, be specially relative to location matrix and relative to the D translation t of left photographic head and rotate the matrix that R parameter determines according to right photographic head, mainly include the spin matrix between two cameras and translation matrix.
In actual applications, before generating corresponding depth map according to binocular image, need binocular camera is demarcated, demarcate the inner parameter not only needing each photographic head, also need to measure the relative position between two photographic head by demarcation, obtain the current relative position matrix of binocular camera, after the travel speed of vehicle and/or gear information change, the parallax range between binocular camera can be redefined according to travel speed and/or gear information, and the parallax range between binocular camera is adjusted, after parallax range between binocular camera dynamically adjusts, the parallax range according to current time is needed to update the current relative position matrix of binocular camera.
Relative location matrix after A2, employing renewal carries out binocular correction to binocular image.
The parallax that target obstacle to be calculated is formed on two views about binocular camera, generate corresponding depth map, first have to this barrier two corresponding Pixel matchings on the view of left and right, in the embodiment of the present invention, by binocular image is carried out binocular correction, eliminating, two width images after distorting are the most corresponding, make the lucky the most in the same horizontal line to polar curve of two width images, realizing any point and its corresponding point on another piece image on piece image and the most necessarily have identical line number, only need to carry out linear search at this row can match corresponding point.
A3, correct according to binocular after binocular image generate corresponding depth map.
In the embodiment of the present invention, when confirming target baseline distance, and after carrying out parallax range adjustment, parallax range according to current time updates the relative location matrix of binocular camera, recalculate depth map, further increase the accuracy of detection of barrier, add detection motility.
In embodiments of the present invention, step updates the current relative position matrix of binocular camera according to described target baseline distance, farther includes with the step not shown in figure below:
A11, search the second mapping relations according to described target baseline distance, obtain target corresponding to described target baseline distance relative to location matrix, described second mapping relations include target baseline distance with target relative to the corresponding relation between location matrix.
It will be appreciated that described second mapping relations are pre-set, can be realized by relation table or relational database.In a concrete example, in the way of relation table, realize the corresponding relation between travel speed and/or gear information and parallax range.
The embodiment of the present invention realizes the target determination relative to location matrix by the way of pre-building mapping relations, it is possible not only to quickly determine that the target of correspondence, relative to location matrix, and can ensure the accuracy finding target relative to location matrix effectively according to target baseline distance.
The target that A12, basis get updates the current relative position matrix of binocular camera relative to location matrix.
The embodiment of the present invention can realize the target determination relative to location matrix by the way of pre-building mapping relations fast and accurately, realizes the renewal of relative location matrix efficiently, thus enhances the experience of user.
In another alternative embodiment of the present invention, step updates the current relative position matrix of binocular camera according to described target baseline distance, farther includes with the step not shown in figure below:
The difference of A11 ', the current basic line distance obtained between binocular camera and target baseline distance；
A12 ', according to described difference and preset adjust model, adjust binocular camera current relative position matrix.
In actual applications, by repeatedly rating test, the adjustment model carrying out relative location matrix adjustment according to current basic line distance with the difference of target baseline distance is determined.When parallax range between binocular camera changes, according to current basic line distance and the difference of target baseline distance and the default adjustment model that obtains, the current relative position matrix of binocular camera is updated in real time.
The embodiment of the present invention is by pre-building the adjustment model of relative location matrix, it is possible to realize the target determination relative to location matrix precisely in real time, realizes the renewal of relative location matrix accurately, thus enhances the experience of user.
It should be noted that the parallax range adjustable binocular obstacle detection method that the embodiment of the present invention proposes, the detection of obstacles being applicable not only in vehicle travel process, it is equally applicable to the detection for target object of other field.
Additionally, for said method embodiment, in order to be briefly described, therefore it is all expressed as a series of combination of actions, but those skilled in the art should know, the present invention is not limited by described sequence of movement, secondly, those skilled in the art also should know, embodiment described in this description belongs to preferred embodiment, necessary to the involved action not necessarily present invention.
Based on the inventive concept as method, the embodiment of the present invention also provides for a kind of parallax range adjustable binocular obstacle detector, and Fig. 4 shows the structural representation of the parallax range adjustable binocular obstacle detector of the embodiment of the present invention.
With reference to Fig. 4, the parallax range adjustable binocular obstacle detector that the embodiment of the present invention proposes, specifically include acquiring unit 301, determine unit 302, control unit 303 and detector unit 304, wherein:
Described acquiring unit 301, for obtaining travel speed and/or the gear information of vehicle；
Described determine unit 302, determine the target baseline distance between binocular camera for travel speed and/or the gear information obtained according to described acquiring unit 301；
Described control unit 303, for according to the described current basic line distance determined between the target baseline distance regulation binocular camera that unit 302 determines；
Described detector unit 304, the binocular camera after using parallax range regulation carries out detection of obstacles.
The parallax range adjustable binocular obstacle detector that the embodiment of the present invention provides, speed or gear information that control unit obtains according to acquiring unit dynamically adjust the parallax range between binocular camera, realize parallax range adjustable binocular detection of obstacles, and then realize dynamically adjusting binocular detection of obstacles scope, solve the problem that the detection range fixed due to the parallax range between binocular camera in prior art and cause is fixing, greatly strengthen the experience of user.
Fig. 5 shows the structural representation of the parallax range adjustable binocular obstacle detector of another embodiment of the present invention.
With reference to Fig. 5, the parallax range adjustable binocular obstacle detector that another embodiment of the present invention proposes, specifically include acquiring unit 401, determine unit 402, control unit 403 and detector unit 404, wherein:
Described acquiring unit 401, for obtaining travel speed and/or the gear information of vehicle；
Described determine unit 402, farther include search module 4021 and determine module 4022, concrete: search module 4021, for searching the first mapping relations according to described travel speed and/or gear information, obtaining described travel speed and/or parallax range corresponding to gear information, described first mapping relations include the corresponding relation between travel speed and/or gear information and parallax range；Determine module 4022, for the target baseline distance determining between binocular camera according to the parallax range found.
Described control unit 403, for according to the described current basic line distance determined between the target baseline distance regulation binocular camera that unit 302 determines；
Described detector unit 404, the binocular camera after using parallax range regulation carries out detection of obstacles.
In an alternate embodiment of the present invention where, described detector unit, farther include more new module, correction module and generation module, wherein:
Described more new module, for updating the current relative position matrix of binocular camera according to described target baseline distance；
Described correction module, the relative location matrix after using renewal carries out binocular correction to binocular image；
Described generation module, the binocular image after correcting according to binocular generates corresponding depth map.
In the embodiment of the present invention, described more new module, specifically for searching the second mapping relations according to described target baseline distance, obtain target corresponding to described target baseline distance relative to location matrix, described second mapping relations include target baseline distance with target relative to the corresponding relation between location matrix, and update the current relative position matrix of binocular camera relative to location matrix according to the target got.
In another alternative embodiment of the invention, described more new module, specifically for obtaining the difference of the current basic line distance between binocular camera and target baseline distance, and according to described difference and the default model that adjusts, the current relative position matrix of adjustment binocular camera.
The embodiment of the present invention can be passed through hardware processor (hardwareprocessor) and realize related function module.
For device embodiment, due to itself and embodiment of the method basic simlarity, so describe is fairly simple, relevant part sees the part of embodiment of the method and illustrates.
Additionally, the embodiment of the present invention also provides for a kind of parallax range adjustable binocular obstacle detection system, described system includes the binocular camera being installed on vehicle and the parallax range adjustable binocular obstacle detector as described in aforementioned any embodiment.Illustrate as a example by the adjustable binocular obstacle detector of parallax range as shown in Figure 4, described parallax range adjustable binocular obstacle detector, specifically include acquiring unit 301, determine unit 302, control unit 303 and detector unit 304, wherein, described acquiring unit 301, for obtaining travel speed and/or the gear information of vehicle；Described determine unit 302, determine the target baseline distance between binocular camera for travel speed and/or the gear information obtained according to described acquiring unit 301；Described control unit 303, for according to the described current basic line distance determined between the target baseline distance regulation binocular camera that unit 302 determines；Described detector unit 304, the binocular camera after using parallax range regulation carries out detection of obstacles.
In embodiments of the present invention, described parallax range adjustable binocular obstacle detection system also includes the CAN being placed in vehicle, obtained travel speed and/or the gear information of vehicle by CAN in real time, and be uploaded to the acquiring unit 301 of parallax range adjustable binocular obstacle detector.
In embodiments of the present invention, described parallax range adjustable binocular obstacle detection system also includes parallax range adjustment actuating mechanism, the at least side camera in binocular camera is moved under the control of parallax range adjustable binocular obstacle detector, it is achieved the regulation of the parallax range between binocular camera.
nullIn a particular application，Described parallax range adjustment actuating mechanism can realize by the way of motor driven gear，In the target baseline distance determined according to travel speed and/or gear information between binocular camera afterwards，The parallax range reduced by motor driven gear or expand between binocular camera，Reach described target baseline distance，Realize parallax range adjustable binocular detection of obstacles，And then realize dynamically adjusting binocular detection of obstacles scope，In the case of speed is relatively slow, reduce blind area reduce detection range and make vehicle parking or by obtaining more closely obstacle information during compared with narrow road section，Increase detection range in the case of faster in speed and ignore more closely detection region so that driver can more early find the information such as front vehicles lane change or deceleration，The appearance of perception preceding object thing as early as possible，Enable to current binocular obstacle detection system and tackle more scene，Strengthen the experience of user.
The parallax range adjustable binocular obstacle detection system that the embodiment of the present invention provides, parallax range adjustable binocular obstacle detector is by dynamically adjusting the parallax range between binocular camera according to the speed obtained or gear information, realize parallax range adjustable binocular detection of obstacles, and then realize dynamically adjusting binocular detection of obstacles scope, solve the problem that the detection range fixed due to the parallax range between binocular camera in prior art and cause is fixing, greatly strengthen the experience of user.
To sum up, the parallax range adjustable binocular obstacle detection method of embodiment of the present invention offer, Apparatus and system, by dynamically adjusting the parallax range between binocular camera according to speed or gear information, realize parallax range adjustable binocular detection of obstacles, and then realize dynamically adjusting binocular detection of obstacles scope, solve the problem that the detection range fixed due to the parallax range between binocular camera in prior art and cause is fixing, greatly strengthen the experience of user.
Device embodiment described above is only schematically, the wherein said unit illustrated as separating component can be or may not be physically separate, the parts shown as unit can be or may not be physical location, i.e. may be located at a place, or can also be distributed on multiple NE.Some or all of module therein can be selected according to the actual needs to realize the purpose of the present embodiment scheme.Those of ordinary skill in the art, in the case of not paying performing creative labour, are i.e. appreciated that and implement.
Through the above description of the embodiments, those skilled in the art is it can be understood that can add the mode of required general hardware platform by software to each embodiment and realize, naturally it is also possible to pass through hardware.Based on such understanding, the part that prior art is contributed by technique scheme the most in other words can embody with the form of software product, this computer software product can store in a computer-readable storage medium, such as ROM/RAM, magnetic disc, CD etc., including some instructions with so that a computer equipment (can be personal computer, server, or the network equipment etc.) perform the method described in some part of each embodiment or embodiment.
Last it is noted that above example is only in order to illustrate technical scheme, it is not intended to limit；Although the present invention being described in detail with reference to previous embodiment, it will be understood by those within the art that: the technical scheme described in foregoing embodiments still can be modified by it, or wherein portion of techniques feature is carried out equivalent；And these amendments or replacement, do not make the essence of appropriate technical solution depart from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (11)
1. a parallax range adjustable binocular obstacle detection method, it is characterised in that including:
Obtain travel speed and/or the gear information of vehicle；
The target baseline distance between binocular camera is determined according to described travel speed and/or gear information；
According to the current basic line distance between described target baseline distance regulation binocular camera, and the binocular camera after parallax range regulation is used to carry out detection of obstacles.
Method the most according to claim 1, it is characterised in that described determine the target baseline distance between binocular camera according to described travel speed and/or gear information, farther includes:
Searching the first mapping relations according to described travel speed and/or gear information, obtain described travel speed and/or parallax range corresponding to gear information, described first mapping relations include the corresponding relation between travel speed and/or gear information and parallax range；
The target baseline distance between binocular camera is determined according to the parallax range found.
Method the most according to claim 1 and 2, it is characterised in that the binocular camera after the regulation of described employing parallax range carries out detection of obstacles, farther includes:
The current relative position matrix of binocular camera is updated according to described target baseline distance；
Use the relative location matrix after updating that binocular image is carried out binocular correction；
Binocular image after correcting according to binocular generates corresponding depth map.
Method the most according to claim 3, it is characterised in that the described current relative position matrix updating binocular camera according to described target baseline distance, farther includes:
Search the second mapping relations according to described target baseline distance, obtain target corresponding to described target baseline distance relative to location matrix, described second mapping relations include target baseline distance with target relative to the corresponding relation between location matrix；
Update the current relative position matrix of binocular camera relative to location matrix according to the target got.
Method the most according to claim 3, it is characterised in that the described current relative position matrix updating binocular camera according to described target baseline distance, farther includes:
Obtain the difference of the current basic line distance between binocular camera and target baseline distance；
According to described difference and the default model that adjusts, the current relative position matrix of adjustment binocular camera.
6. a parallax range adjustable binocular obstacle detector, it is characterised in that described device includes:
Acquiring unit, for obtaining travel speed and/or the gear information of vehicle；
Determine unit, the target baseline distance determining between binocular camera for the travel speed obtained according to described acquiring unit and/or gear information；
Control unit, for according to the described current basic line distance determined between the target baseline distance regulation binocular camera that unit determines；
Detector unit, the binocular camera after using parallax range regulation carries out detection of obstacles.
Device the most according to claim 6, it is characterised in that described determine unit, farther includes:
Search module, for searching the first mapping relations according to described travel speed and/or gear information, obtaining described travel speed and/or parallax range corresponding to gear information, described first mapping relations include the corresponding relation between travel speed and/or gear information and parallax range；
Determine module, for the target baseline distance determining between binocular camera according to the parallax range found.
8., according to the device described in claim 6 or 7, it is characterised in that described detector unit, farther include:
More new module, for updating the current relative position matrix of binocular camera according to described target baseline distance；
Correction module, the relative location matrix after using renewal carries out binocular correction to binocular image；
Generation module, the binocular image after correcting according to binocular generates corresponding depth map.
Device the most according to claim 8, it is characterized in that, described more new module, specifically for searching the second mapping relations according to described target baseline distance, obtain target corresponding to described target baseline distance relative to location matrix, described second mapping relations include target baseline distance with target relative to the corresponding relation between location matrix, and update the current relative position matrix of binocular camera relative to location matrix according to the target got.
Device the most according to claim 8, it is characterized in that, described more new module, specifically for obtaining the difference of the current basic line distance between binocular camera and target baseline distance, and according to described difference and the default model that adjusts, the current relative position matrix of adjustment binocular camera.
11. 1 kinds of parallax range adjustable binocular obstacle detection systems, it is characterised in that described system includes the binocular camera being installed on vehicle and the parallax range adjustable binocular obstacle detector as described in any one of claim 6 to 10.
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| CN111382591A (en) * | 2018-12-27 | 2020-07-07 | 海信集团有限公司 | Binocular camera ranging correction method and vehicle-mounted equipment |
| CN111402315A (en) * | 2020-03-03 | 2020-07-10 | 四川大学 | Three-dimensional distance measuring method for adaptively adjusting base line of binocular camera |
| CN111427383A (en) * | 2020-03-18 | 2020-07-17 | 青岛联合创智科技有限公司 | Control method for binocular holder variable base line |
| CN111950420A (en) * | 2020-08-04 | 2020-11-17 | 国以贤智能科技(上海)股份有限公司 | Obstacle avoidance method, device, equipment and storage medium |
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