CN106131448A - The 3 d stereoscopic vision system of brightness of image can be automatically adjusted - Google Patents
The 3 d stereoscopic vision system of brightness of image can be automatically adjusted Download PDFInfo
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- CN106131448A CN106131448A CN201610584007.1A CN201610584007A CN106131448A CN 106131448 A CN106131448 A CN 106131448A CN 201610584007 A CN201610584007 A CN 201610584007A CN 106131448 A CN106131448 A CN 106131448A
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- 238000000034 method Methods 0.000 claims description 15
- 238000003384 imaging method Methods 0.000 abstract description 11
- 230000000694 effects Effects 0.000 abstract description 5
- 238000005286 illumination Methods 0.000 abstract description 4
- 230000000007 visual effect Effects 0.000 description 8
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/73—Circuitry for compensating brightness variation in the scene by influencing the exposure time
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
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Abstract
A kind of 3 d stereoscopic vision system being automatically adjusted brightness of image, the illumination condition automatically according to scene regulates camera parameters, makes video camera imaging effect reach optimal.Including: time of exposure setup unit, set time of exposure sequence；Time of exposure extraction unit, selects time of exposure from time of exposure sequence successively；Left camera shutter time arranges unit, arranges the time of exposure of left video camera according to the time of exposure extracted；Right camera shutter time regulation unit, is finely adjusted the time of exposure of right video camera according to the time of exposure of left video camera；Computing unit, calculates the accuracy rate of anaglyph；Record unit, the peak value of the accuracy rate of record anaglyph and the time of exposure of the left and right cameras of correspondence thereof；Judging unit, it is judged that all exposure time parameter in time of exposure sequence have been set the most；Comparing unit, the accuracy rate peak value that relatively each time of exposure is corresponding, finds the time of exposure corresponding to the highest peak value as time of exposure.
Description
Technical field
The present invention relates to a kind of 3 d stereoscopic vision system, especially can be automatically adjusted the three-dimensional stereoscopic visual of brightness of image
System.
Background technology
From consumer electronics market to commercial Application, along with new opplication is in the continuous appearance in each field, the city of 3D sensing technology
Field is developed constantly.The most almost all of intelligent television and operating system the most can utilize 3D sensing technology support
The correlation function of action recognition, completes the such as function such as picture scaling and channel switch；3D sensor can be produced by detection
The movement of line and surface quality, thus control the product flow direction in production line；Complicated shape can also be entered by designer
Row 3D scans, and is replicated by 3D printer；Monitoring system can utilize 3D sensing technology the most, it is ensured that animals and humans are remote
From dangerous region.
Stereovision technique is one of most widely used 3D sensing technology, has the spies such as strong adaptability, equipment cost be low
Point.The ultimate principle of stereovision technique, is similar to the principle of human eye perceived distance, i.e. " parallax " principle: due to two of people
There is spacing (meansigma methods is 6.5cm) in eyes, therefore for same scenery, the relative position of right and left eyes is different, and this just produces
Given birth to binocular parallax, i.e. right and left eyes is it is seen that discrepant image.The right and left eyes of people and the starting point on scenery are at geometry
On constitute a triangle determined.By this triangle we it may determine that go out observed scenery away from human eye away from
From.According to this principle, stereo visual system simulates the eyes of people with two video cameras, then with computer simulation human brain to field
Scape carries out depth calculation, it is possible to obtain the depth information of scene.
Fig. 1 gives the schematic diagram that distance measured by parallel binocular vision range sensor.As it can be seen, two focal lengths are f
Video camera be placed in parallel, the distance between optical axis is T, and two rectangles in Fig. 1 (a) differentiate the imaging representing left and right cameras
Plane, OlAnd OrFor the focus of left and right cameras, for any point P in scene, the one-tenth on left and right cameras imaging plane
Picture point is respectively plAnd pr, they imager coordinates (image coordinate) on imaging plane are xlAnd xr, then parallax is defined as d=
xl-xr(as shown in Fig. 1 (b)).
With the left camera focus O in Fig. 1lFor initial point, OlOrPlace straight line is X-axis, and left camera optical axis is Z axis, vertically
In XZ axle for Y-axis, then P point is at OlCoordinate in coordinate system can calculate according to formula (1):
Thus, each position in image reference frame can be mapped to O according to parallax information dlTrue reference frame, thus
Obtaining the three dimensional local information of target, wherein Z is the distance of target range video camera.
The input signal of stereo visual system is the image of two shot by camera in left and right, exists by comparing specific objective
Parallax (position difference) in two width images carrys out judging distance.The accuracy of stereo visual system is affected very by the brightness of scene
Big: under normal circumstances, scene brightness is the highest, and video camera imaging effect is the best, and stereo visual system accuracy rate is the highest.When scene relatively
Time dark, object imaging is unintelligible, just cannot make correct coupling in two images.But, scene brightness is not the highest
The best, if brightness is too high causes video camera imaging overexposure, also resulting in target cannot imaging.
Conventional stereo visual system scene brightness adaptability is poor, occur frequently in some scene effect preferably, some field
The most complete disabled situation of scape.
Summary of the invention
For the problems referred to above, it is an object of the invention to provide a kind of three-dimensional stereoscopic visual being automatically adjusted brightness of image
System and the method being automatically adjusted brightness of image, it is possible to the illumination condition automatically according to scene regulates camera parameters, makes to take the photograph
Camera imaging effect reaches optimal, thus ensures best disparity computation accuracy.
According to the first aspect of the invention, it is provided that a kind of 3 d stereoscopic vision system being automatically adjusted brightness of image,
Including: time of exposure setup unit, it is used for setting time of exposure sequence；Time of exposure extraction unit, for from time of exposure sequence
Row select time of exposure successively；Left camera shutter time arranges unit, for extract according to time of exposure extraction unit
Time of exposure arranges the time of exposure of left video camera；Right camera shutter time regulation unit, for according to left video camera
The time of exposure of right video camera is finely adjusted by time of exposure；Computing unit, for calculating the accuracy rate of anaglyph；Label
Unit, is used for recording the time of exposure of the left and right cameras of the peak value of the accuracy rate of anaglyph and correspondence thereof；Judging unit, is used for
Judge that all exposure time parameter in time of exposure sequence have been set the most；Comparing unit, when being used for comparing exposure
Between accuracy rate peak value corresponding to each time of exposure in sequence, find the time of exposure corresponding to the highest peak value, as finally
The time of exposure determined.
According to the second aspect of the invention, it is provided that the side being automatically adjusted brightness of image of a kind of 3 d stereoscopic vision system
Method, comprises the following steps: set time of exposure sequence；Time of exposure is selected to join successively from set time of exposure sequence
Number；The time of exposure of left video camera is set according to selected exposure time parameter；Time of exposure pair according to left video camera
The time of exposure of right video camera is finely adjusted；Calculate the accuracy rate of anaglyph；The peak value of record accuracy rate and a left side for correspondence thereof
The exposure time parameter of right video camera；The all exposure time parameter in time of exposure sequence set by judgement the most by
Set up；When being set, compare the accuracy rate peak value corresponding to each time of exposure in time of exposure sequence, find the highest
The time of exposure corresponding to peak value, as the time of exposure finally determined.
Furthermore it is preferred that the time of exposure in time of exposure sequence is incremented by by echelon, incremental steps according to actual needs and is taken the photograph
The adjustable extent of camera sets.
Furthermore it is preferred that the time of exposure of right video camera is finely adjusted according to the time of exposure of left video camera, it is to arrange
On the premise of the time of exposure of left video camera, the time of exposure of right video camera entered near the time of exposure of left video camera
Row fine setting.
The 3 d stereoscopic vision system of the be automatically adjusted brightness of image according to the present invention and be automatically adjusted brightness of image
Method, it is possible to according to the intensity of illumination of objective scene, be automatically adjusted the time of exposure of left and right cameras, make stereo visual system
The matching effect that can reach most preferably under any illumination condition.
Accompanying drawing explanation
Fig. 1 (a) and Fig. 1 (b) is the schematic diagram that distance measured by parallel binocular vision range sensor, and wherein Fig. 1 (a) is vertical
Stereogram, Fig. 1 (b) is top view.
Fig. 2 is the schematic diagram of the accuracy representing 3 d stereoscopic vision system and the correlation curve of scene brightness.
Fig. 3 is the block diagram of 3 d stereoscopic vision system according to an embodiment of the invention.
Fig. 4 is the stream of the method being automatically adjusted brightness of image of 3 d stereoscopic vision system according to an embodiment of the invention
Cheng Tu.
Fig. 5 is showing of the method being automatically adjusted brightness of image of 3 d stereoscopic vision system according to an embodiment of the invention
It is intended to.
Detailed description of the invention
The specific embodiment of the present invention is discussed in detail below in conjunction with accompanying drawing.
The accuracy of 3 d stereoscopic vision system and the correlation curve of the scene brightness Fig. 2 that can apply greatly describes.For
Different scenes, correlation curve all can be different, but general trend is identical.3 d stereoscopic vision system is for any scene, all
Can there is an optimal brightness condition, now the accuracy of 3 d stereoscopic vision system is the highest.
Owing to scene brightness belongs to objective condition, unadjustable.Therefore, the present invention uses the time of exposure of regulation video camera
Method, be adjusted to image brightness.The Principles of Regulation of camera shutter time are: time of exposure is the longest, and imaging is the brightest, in image
Scene the brightest；Otherwise, time of exposure is the shortest, and imaging is the darkest, and the scene in image is the darkest.According to such principle, when objective
When scene is brighter, camera shutter time is regulated in a relatively low scope；When objective scene is dark, video camera is exposed
The light time regulates in a higher scope.
Fig. 3 is the block diagram of 3 d stereoscopic vision system according to an embodiment of the invention.As it is shown on figure 3, according to the present invention
The 3 d stereoscopic vision system 100 of embodiment include: time of exposure setup unit 101, be used for setting time of exposure sequence, expose
Time of exposure in light time series is incremented by by echelon, and incremental steps adjustable extent with video camera according to actual needs sets
Fixed；Time of exposure extraction unit 102, for selecting time of exposure successively from time of exposure sequence；Left camera shutter time
Unit 103 is set, when the time of exposure for extracting according to time of exposure extraction unit 102 arranges the exposure of left video camera
Between；Right camera shutter time regulation unit 104, is used for the time of exposure to right video camera of the time of exposure according to left video camera
It is finely adjusted；Computing unit 105, for calculating the accuracy rate of anaglyph；Record unit 106, for recording anaglyph
The peak value of accuracy rate and the time of exposure of the left and right cameras of correspondence thereof；Judging unit 107, is used for judging that time of exposure sets single
All exposure time parameter in unit's time of exposure sequence set by 101 have been set the most；Comparing unit 108, uses
In comparing in time of exposure sequence the accuracy rate peak value corresponding to each time of exposure, when finding the exposure corresponding to the highest peak value
Between, as the time of exposure finally determined.
Fig. 4 is the stream of the method being automatically adjusted brightness of image of 3 d stereoscopic vision system according to an embodiment of the invention
Cheng Tu.Fig. 5 is the signal of the method being automatically adjusted brightness of image of 3 d stereoscopic vision system according to an embodiment of the invention
Figure.
As shown in Figure 4, the side being automatically adjusted brightness of image of 3 d stereoscopic vision system according to an embodiment of the invention
Method 200 starts from step S201, in step S201, first sets time of exposure sequence.Time of exposure in time of exposure sequence
Being incremented by by echelon, incremental steps adjustable extent with video camera according to actual needs sets.During as it is shown in figure 5, set exposure
Between sequence be T1, T2, T3...Tn.Step S201 can be performed by the time of exposure setup unit 101 in Fig. 3.
In step S202, from the time of exposure sequence set by step S201, select exposure time parameter successively.Step
S202 can be performed by the time of exposure extraction unit 102 in Fig. 3.
In step S203, the time of exposure of left video camera is set according to the exposure time parameter selected by step S202.
As it is shown in figure 5, arrange time of exposure T1, T2, T3...Tn to respectively left video camera.Step S203 can be by the left video camera in Fig. 3
Time of exposure arranges unit 103 and performs.
In step S204, according to the time of exposure of left video camera, the time of exposure of right video camera is finely adjusted.Such as Fig. 5 institute
Showing, when the time of exposure of left video camera is set to T1, the time of exposure of right video camera is finely tuned near T1.Such as with T1 as base
Standard, right video camera fine setting scope be ± t, in the range of [T1-t, T1+t], with t/m as step-length, take before and after T1 2m+1 altogether individual be worth into
Row fine setting.For time of exposure T2, T3...Tn, it is also carried out same operation.Step S204 can be exposed by the right video camera in Fig. 3
Light Timing unit 104 performs.
In step S205, calculate the accuracy rate of anaglyph.As it is shown in figure 5, when the time of exposure of left video camera is set to
During T1, the time of exposure of right video camera is finely tuned near T1, calculates the accuracy rate of anaglyph.For time of exposure T2,
T3...Tn, is also carried out same operation.Step S205 can be performed by the computing unit 105 in Fig. 3.
In step S206, the peak value of record accuracy rate and the exposure time parameter of the left and right cameras of correspondence thereof.Such as Fig. 5 institute
Showing, when the time of exposure of left video camera is set to T1, the time of exposure of right video camera is finely tuned near T1, from step S205 institute
The accuracy rate of the anaglyph calculated records the peak value of accuracy rate and the exposure time parameter of the left and right cameras of correspondence thereof.Pin
To time of exposure T2, T3...Tn, it is also carried out same operation.Step S206 can be performed by the record unit 106 in Fig. 3.
In step S207, it is judged that the exposure time parameter in time of exposure sequence set in step S201 the most all by
Setting is over.When judged result is "No", return step S202；When judged result is "Yes", enter step S208.Such as figure
Shown in 5, for time of exposure T1, T2, T3...Tn, left video camera and right video camera are all set up one time.Step S207 can be by
Judging unit 107 in Fig. 3 performs.
In step S208, the peak value of the accuracy rate recorded for step S206 and the exposure of the left and right cameras of correspondence thereof
Time, the relatively peak value of the accuracy rate corresponding to each time of exposure, thus find the time of exposure corresponding to the highest peak value, will
It is as the time of exposure finally determined.As it is shown in figure 5, from accuracy rate A1 corresponding to time of exposure, A2, A3...An look for
Arrive the time of exposure Tx corresponding to high-accuracy Ax, as the time of exposure finally determined.Step S208 can be by the ratio in Fig. 3
Relatively unit 108 performs.
More than describe the preferred embodiments of the present invention, but the spirit and scope of the present invention are not limited to disclosed herein
Particular content.Those skilled in the art can make more embodiment and application according to the teachings of the present invention, and these are real
Execute mode and application would be within the spirit and scope of the present invention.The spirit and scope of the present invention are not limited by specific embodiment,
And be defined by the claims.
Claims (6)
1. can be automatically adjusted a 3 d stereoscopic vision system for brightness of image, including:
Time of exposure setup unit, is used for setting time of exposure sequence；
Time of exposure extraction unit, for selecting time of exposure successively from time of exposure sequence；
Left camera shutter time arranges unit, and the time of exposure for extracting according to time of exposure extraction unit arranges a left side and takes the photograph
The time of exposure of camera；
Right camera shutter time regulation unit, for entering the time of exposure of right video camera according to the time of exposure of left video camera
Row fine setting；
Computing unit, for calculating the accuracy rate of anaglyph；
Record unit, is used for recording the time of exposure of the left and right cameras of the peak value of the accuracy rate of anaglyph and correspondence thereof；
Judging unit, for judging that all exposure time parameter in time of exposure sequence have been set the most；
Comparing unit, for comparing in time of exposure sequence the accuracy rate peak value corresponding to each time of exposure, finds the highest peak
Time of exposure corresponding to value, as the time of exposure finally determined.
The 3 d stereoscopic vision system being automatically adjusted brightness of image the most according to claim 1, wherein,
Time of exposure in described time of exposure sequence is incremented by by echelon, incremental steps adjustable with video camera according to actual needs
Scope sets.
The 3 d stereoscopic vision system being automatically adjusted brightness of image the most according to claim 1, wherein,
The time of exposure of right video camera is finely adjusted by the time of exposure according to left video camera, is in the exposure being provided with left video camera
On the premise of the light time, the time of exposure of right video camera is finely adjusted near the time of exposure of left video camera.
4. the method being automatically adjusted brightness of image of 3 d stereoscopic vision system, comprises the following steps:
Set time of exposure sequence；
Exposure time parameter is selected successively from set time of exposure sequence；
The time of exposure of left video camera is set according to selected exposure time parameter；
The time of exposure of right video camera is finely adjusted by the time of exposure according to left video camera；
Calculate the accuracy rate of anaglyph；
The peak value of record accuracy rate and the exposure time parameter of the left and right cameras of correspondence thereof；
The all exposure time parameter in time of exposure sequence set by judgement have been set the most；
When being set, compare the accuracy rate peak value corresponding to each time of exposure in time of exposure sequence, find the highest
Time of exposure corresponding to peak value, as the time of exposure finally determined.
The method being automatically adjusted brightness of image of 3 d stereoscopic vision system the most according to claim 4, wherein,
Time of exposure in described time of exposure sequence is incremented by by echelon, incremental steps adjustable with video camera according to actual needs
Scope sets.
The method being automatically adjusted brightness of image of 3 d stereoscopic vision system the most according to claim 4, wherein,
The time of exposure of right video camera is finely adjusted by the time of exposure according to left video camera, is in the exposure being provided with left video camera
On the premise of the light time, the time of exposure of right video camera is finely adjusted near the time of exposure of left video camera.
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| CN106131448B (en) | 2019-05-10 |
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