CN106131534A - Omnibearing stereo camera head and system and method thereof - Google Patents
Omnibearing stereo camera head and system and method thereof Download PDFInfo
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- CN106131534A CN106131534A CN201610576821.9A CN201610576821A CN106131534A CN 106131534 A CN106131534 A CN 106131534A CN 201610576821 A CN201610576821 A CN 201610576821A CN 106131534 A CN106131534 A CN 106131534A
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- camera
- video camera
- anaglyph
- omnibearing
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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
- H04N13/243—Image signal generators using stereoscopic image cameras using three or more 2D image sensors
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- Engineering & Computer Science (AREA)
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Abstract
The present invention relates to omnibearing stereo camera head and system and method thereof, this device includes several video cameras and for reflecting the comprehensive minute surface launching line of video camera, the surface of video camera connects comprehensive minute surface, and several video cameras are triangularly arranged.The present invention is by arranging several video cameras, video camera arranges comprehensive minute surface, the ray that video camera is launched is after comprehensive direct reflection, shoot the stereo-picture of 240 °, this stereo-picture has 120 ° of coincidences with the stereo-picture of adjacent shot by camera, automatically the stereo-picture of 120 ° overlapped is intercepted as anaglyph, each two video camera is one group, often group intercepts the anaglyph of 120 °, anaglyph is combined, just omnibearing stereopsis image can be generated, it is achieved comprehensive, precision is high and the shooting of low cost.
Description
Technical field
The present invention relates to camera head, more specifically refer to omnibearing stereo camera head and include this camera head
System and the image capture method of this system.
Background technology
Pilotless automobile is a kind of intelligent automobile, it is also possible to referred to as wheeled mobile robot, relies primarily in car
Intelligent driving instrument based on computer system realizes unmanned.Drive to realize comprising the Intelligent unattended turned to etc.,
Being also required to, at the side of intelligent automobile and rear equipped with the sensor monitored in real time, monitor pedestrian, bicycle etc. also prevents suddenly
Collision.
Need the multiple sensor that is arranged around at automobile to realize the function of picket surveillance, and cost price is non-
Chang Gao, further needs exist for the information of all the sensors to need quickly to integrate, and existing technology is to utilize 12 stereoscopic cameras
Realize carrying out full side's three-dimensional camera system and a moveable three-dimensional camera system has the similar side solving picket surveillance
Case, but it is arranged on around automobile with 12 stereoscopic cameras, and cost is high, additionally with a stereoscopic camera, allows it at automobile
Around moving mode shoots image, also cannot obtain image information if do not moved.
Chinese patent 201120186346.7 discloses a kind of vehicle-mounted pan/tilt camera with comprehensive camera function, main
Will be made up of video camera, The Cloud Terrace and base, described video camera is connected with base by The Cloud Terrace；It is characterized in that: described shooting
Machine has at least four, and in these four video cameras, the camera lens of the first video camera and the camera lens of the second video camera are being parallel to the first axle
To direction on opposing setting, the camera lens of the 3rd video camera and the camera lens of the 4th video camera are being parallel in the second axially direction
Opposing setting, and described first be axially axially mutually perpendicular to second.
In above-mentioned patent, shot by least four video camera, and must be in conjunction with the action of The Cloud Terrace, Cai Nengshi
Existing omnibearing shooting, cost is high, and precision is low.
Therefore, it is necessary to a kind of camera head of design, it is achieved comprehensive, precision is high and the shooting of low cost.
Summary of the invention
It is an object of the invention to overcome the defect of prior art, it is provided that omnibearing stereo camera head and system thereof and side
Method.
For achieving the above object, the present invention by the following technical solutions: omnibearing stereo camera head, take the photograph including several
Camera and for reflecting the comprehensive minute surface launching line of described video camera, the surface of described video camera connect have described entirely
Orientation minute surface, and several described video cameras are triangularly arranged.
Its further technical scheme is: described comprehensive minute surface is by link and described video camera.
Its further technical scheme is: described link includes several connecting rods and base, described comprehensive minute surface
Being connected to the upper end of described connecting rod, the lower end of described connecting rod is connected on described base, and described position for video camera is in the described end
On seat, several described connecting rods are triangularly arranged.
Its further technical scheme is: the number of described video camera is three.
Its further technical scheme is: the angle of adjacent described video camera is 120 °.
Its further technical scheme is: described comprehensive minute surface convex surface facing described camera arrangements.
Present invention also offers omnibearing stereo camera system, including above-mentioned omnibearing stereo camera head and image
Identification system, described image identification system includes analyzing module and processing module, described stereoscopic camera module and described analysis
Module connects, and described analysis module is connected with described processing module.
Present invention also offers the image capture method of omnibearing stereo camera system, specifically comprise the following steps that
Step one, foundation map from origin to destination；
Step 2, several video cameras shoot the stereo-picture in each orientation around simultaneously, and automatically intercept adjacent thereto
The stereo-picture of shot by camera overlap the image of 120 °, as anaglyph, anaglyph is combined, just may be used
Generate the anaglyph of omnibearing solid；
The map that step 3, integrating step one are set up, draws the environment of the position being presently in, analyzes gained simultaneously
After anaglyph, send corresponding process signal to processing module；
Step 4, when analyze drawn barrier after module analysis anaglyph time, processing module obtains this obstacle in time
The relative velocity of thing and distance signal, and send this signal and carry out turning to, retreating or other actions to relevant device；Work as analysis
When drawing clear after module analysis anaglyph, relevant device keeps original state.
Its further technical scheme is: in described step 3, is one group with two video cameras, needs each to often organize
Video camera makes corrections and calibrates.
The present invention compared with prior art provides the benefit that: the omnibearing stereo camera head of the present invention, by arranging
Several video cameras, arrange comprehensive minute surface on video camera, the ray that video camera is launched after comprehensive direct reflection,
Shooting the stereo-picture of 240 °, this stereo-picture has 120 ° of coincidences with the stereo-picture of adjacent shot by camera, automatically
The stereo-picture of 120 ° of intercepting coincidence is as anaglyph, and each two video camera is one group, and often group intercepts the disparity map of 120 °
Picture, combines anaglyph, just can generate omnibearing stereopsis image, it is achieved comprehensive, precision is high and become
This low shooting.
The invention will be further described with specific embodiment below in conjunction with the accompanying drawings.
Accompanying drawing explanation
The plan structure schematic diagram of the omnibearing stereo camera head that Fig. 1 provides for the specific embodiment of the invention；
The main TV structure schematic diagram of the omnibearing stereo camera head that Fig. 2 provides for the specific embodiment of the invention
Reference
10 video camera 20 bases
The 30 comprehensive minute surfaces of connecting rod 40
Detailed description of the invention
In order to more fully understand the technology contents of the present invention, below in conjunction with specific embodiment, technical scheme is entered
One step introduction and explanation, but it is not limited to this.
Specific embodiment as shown in Fig. 1～2, the omnibearing stereo camera head that the present embodiment provides, can be used in
In pilotless automobile, it is achieved to the automobile omnibearing intellectual monitoring such as all around, prevent from colliding suddenly；Or it is used in it
In his robot equipment, it is achieved the shooting of omnibearing stereo.
Omnibearing stereo camera head, including several video cameras 10 and for reflecting the complete of the transmitting line of video camera 10
Orientation minute surface 40, the surface of described video camera 10 connects described comprehensive minute surface 40, and several described video cameras 10 in
Triangular arrangement.
Above-mentioned omnibearing stereo camera head, by arranging several video cameras 10, arranges full side on video camera 10
Position minute surface 40, the ray that video camera 10 is launched, after comprehensive minute surface 40 reflects, shoots the stereo-picture of 240 °, this solid
Image has 120 ° of coincidences with the stereo-picture captured by adjacent video camera 10, automatically intercepts the stereo-picture of 120 ° overlapped
As anaglyph, each two video camera 10 is one group, and often group intercepts the anaglyph of 120 °, and anaglyph is combined in one
Rise, just can generate omnibearing stereopsis image, it is achieved be comprehensive, precision is high and the shooting of low cost.
Further, described comprehensive minute surface 40 is by link and described video camera 10.
Concrete, described link includes that several connecting rods 30 and base 20, described comprehensive minute surface 40 are connected to
The upper end of connecting rod 30, the lower end of connecting rod 30 is connected on base 20, and described video camera 10 is positioned on base 20, and several are even
Extension bar 30 is triangularly arranged, and so, splices several links at one piece, and then video camera 10 is spliced into triangle cloth
Put.
Most preferably, the number of described video camera 10 is three；Certainly, in other embodiments, above-mentioned video camera 10
Number can be more than four.
Most preferably, the angle of adjacent video camera 10 is 120 °, certainly, in other embodiments, adjacent video camera 10
Angle can be other angles, as long as meeting all of angle sum is 360 °.
Arranging convex surface facing described video camera 10 of described comprehensive minute surface 40, so, comprehensive minute surface 40 could will be taken the photograph
The transmitting line reflection of camera 10.
The omnibearing stereo camera system that the present embodiment also provides for, including above-mentioned omnibearing stereo camera head and figure
As identifying system, image identification system includes analyzing module and processing module, and described stereoscopic camera module is with analysis module even
Connect, analyze module and be connected with processing module.
The image capture method of omnibearing stereo camera system, specifically comprises the following steps that
Step one, foundation map from origin to destination；
Step 2, several video cameras 10 shoot the stereo-picture in each orientation around simultaneously, and automatically intercept phase therewith
The image of the adjacent coincidence of the stereo-picture captured by video camera 10 120 °, as anaglyph, combines anaglyph,
Just the anaglyph of omnibearing solid can be generated；
The map that step 3, integrating step one are set up, draws the environment of the position being presently in, analyzes gained simultaneously
After anaglyph, send corresponding process signal to processing module；
Step 4, when analyze drawn barrier after module analysis anaglyph time, processing module obtains this obstacle in time
The relative velocity of thing and distance signal, and send this signal and carry out turning to, retreating or other actions to relevant device；Work as analysis
When drawing clear after module analysis anaglyph, relevant device keeps original state.
It addition, in above-mentioned steps three, be one group with two video cameras 10, need each video camera 10 often organized is carried out
Correction and calibration.
General camera lens, with the precision of 0.1 picture element, makes the highly consistent of left and right boost line, the anaglyph of video camera 10 be
The trellis diagram picture of similar arc-shaped, grid picture element has the biggest revolution, the interval of the grid of visual field end to be central authorities' grid intervals
1/2, even if the most not diminishing with the camera lens of general Radix Rumicis, from the point of view of the fact, use comprehensive minute surface 40 to combine video camera 10
Mode, in the case of the visual angle of 120 °, two ends, anaglyph left and right grid be spaced apart central authorities 1/2, use comprehensive mirror
Face 40 is gathered video camera 10 and is also reached the precision of same 0.1 picture element.
The above-mentioned technology contents only further illustrating the present invention with embodiment, in order to reader is easier to understand, but not
Representing embodiments of the present invention and be only limitted to this, any technology done according to the present invention extends or recreation, all by the present invention's
Protection.Protection scope of the present invention is as the criterion with claims.
Claims (9)
1. omnibearing stereo camera head, it is characterised in that include several video cameras and for reflecting described video camera
Launching the comprehensive minute surface of line, the surface of described video camera connects described comprehensive minute surface, and several described video cameras
It is triangularly arranged.
Omnibearing stereo camera head the most according to claim 1, it is characterised in that described comprehensive minute surface is by connecting
Frame and described video camera.
Omnibearing stereo camera head the most according to claim 2, it is characterised in that described link includes that several are even
Extension bar and base, described comprehensive minute surface is connected to the upper end of described connecting rod, and the lower end of described connecting rod is connected to described
On base, described position for video camera is on described base, and several described connecting rods are triangularly arranged.
4. according to the omnibearing stereo camera head described in any one of claims 1 to 3, it is characterised in that described video camera
Number is three.
5. according to the omnibearing stereo camera head described in any one of claims 1 to 3, it is characterised in that take the photograph described in adjacent
The angle of camera is 120 °.
6. according to the omnibearing stereo camera head described in any one of claims 1 to 3, it is characterised in that described comprehensive mirror
Face convex surface facing described camera arrangements.
7. omnibearing stereo camera system, it is characterised in that include claim 1 to 6 any one omnibearing stereo camera head
And image identification system, described image identification system includes analyzing module and processing module, described stereoscopic camera module with
Described analysis module connects, and described analysis module is connected with described processing module.
8. the image capture method of the omnibearing stereo camera system described in claim 7, it is characterised in that specifically comprise the following steps that
Step one, foundation map from origin to destination；
Step 2, several video cameras shoot the stereo-picture in each orientation around simultaneously, and automatically intercept adjacent thereto taking the photograph
The image of the stereo-picture coincidence 120 ° captured by camera, as anaglyph, combines anaglyph, just can generate
The anaglyph of omnibearing solid；
The map that step 3, integrating step one are set up, draws the environment of the position being presently in, analyzes the parallax of gained simultaneously
After image, send corresponding process signal to processing module；
Step 4, when analyze drawn barrier after module analysis anaglyph time, processing module obtains this barrier in time
Relative velocity and distance signal, and send this signal and carry out turning to, retreating or other actions to relevant device；When analyzing module
When drawing clear after analyzing anaglyph, relevant device keeps original state.
The image capture method of omnibearing stereo camera system the most according to claim 8, it is characterised in that in described step 3
In, it is one group with two video cameras, needs each video camera often organized is maked corrections and calibrated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610576821.9A CN106131534A (en) | 2016-07-21 | 2016-07-21 | Omnibearing stereo camera head and system and method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610576821.9A CN106131534A (en) | 2016-07-21 | 2016-07-21 | Omnibearing stereo camera head and system and method thereof |
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| CN106131534A true CN106131534A (en) | 2016-11-16 |
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| CN201610576821.9A Pending CN106131534A (en) | 2016-07-21 | 2016-07-21 | Omnibearing stereo camera head and system and method thereof |
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Cited By (3)
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| CN110213564A (en) * | 2019-05-06 | 2019-09-06 | 深圳市华芯技研科技有限公司 | A kind of omnibearing stereo photographic device and its system and method |
| CN110233963A (en) * | 2019-05-06 | 2019-09-13 | 深圳市华芯技研科技有限公司 | A kind of binocular camera spacing adjusting method and device |
| CN112128565A (en) * | 2020-09-27 | 2020-12-25 | 萧县润泽环保科技有限公司 | Real-time two-way adjusting device based on VR technique |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110213564A (en) * | 2019-05-06 | 2019-09-06 | 深圳市华芯技研科技有限公司 | A kind of omnibearing stereo photographic device and its system and method |
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| CN112128565A (en) * | 2020-09-27 | 2020-12-25 | 萧县润泽环保科技有限公司 | Real-time two-way adjusting device based on VR technique |
| CN112128565B (en) * | 2020-09-27 | 2021-12-24 | 深圳市走去科技集团有限公司 | Real-time two-way adjusting device based on VR technique |
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