CN106524922A - Distance measurement calibration method, device and electronic equipment - Google Patents
Distance measurement calibration method, device and electronic equipment Download PDFInfo
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- CN106524922A CN106524922A CN201610976996.9A CN201610976996A CN106524922A CN 106524922 A CN106524922 A CN 106524922A CN 201610976996 A CN201610976996 A CN 201610976996A CN 106524922 A CN106524922 A CN 106524922A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/022—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by means of tv-camera scanning
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Abstract
The invention discloses a distance measurement calibration method, device and electronic equipment. The method comprises steps that test images about at least one pair of directive light beams acquired by an imaging device are received, and the at least one pair of directive light beams is emitted by a light source on a fixing position of the electronic equipment according to at least one pre-determined included angle; a present distance between an intersection point of the at least one pair of directive light beams and a reference point on the electronic equipment is estimated according to the test images; an actual distance between the intersection point and the reference point is acquired; a distance measurement calibration parameter is determined according to the present distance and the actual distance, and the distance measurement calibration parameter is used for calibrating a distance measurement result acquired on the basis of the acquired images of the imaging device. The method is advantaged in that the distance measurement result acquired on the basis of the acquired images of the imaging device can be dynamically calibrated.
Description
Technical field
The application is related to range measurement field, and more particularly, to a kind of range finding calibration steps, device, electronic equipment,
Computer program and computer-readable recording medium.
Background technology
It is one of distance measuring method conventional at present to carry out finding range based on image device, and which is used as a kind of intuitively environment sense
Know means, have a wide range of applications scene.
As a rule, the estimation precision that image device is adjusted the distance depends on Multiple factors, and one of key factor is exactly
Its installation site on an electronic device.In order to ensure the accuracy of range measurement, image device is being installed to electronics by needs
Initialization of calibration is carried out to the installation site when on equipment.Even if obtaining initialization of calibration, in the run duration of electronic equipment, should
In the event of changing, there is deviation in the distance estimations result for also leading to image device to installation site, this deviation then can shadow
Precision of the electronic equipment to environment sensing is rung, so as to cause electronic equipment to produce the judged result of mistake.Due to electronic equipment (example
Such as, the vehicles, mobile robot etc.) running environment be all often highly dynamic change, so the peace of image device
Holding position is probably due to the lasting shake of electronic equipment or changed due to the cold and hot change of surrounding.Also
It is to say, with the increase of use time, the position change of image device will become inevitable, simply degree weight.
Therefore, existing distance measurement technique is probably inaccurate and insecure.
The content of the invention
In order to solve above-mentioned technical problem, it is proposed that the application.Embodiments herein provides a kind of range finding calibration side
Method, device, electronic equipment, computer program and computer-readable recording medium, its can dynamically to based on it is described into
As the range measurement obtained by the acquisition image of device is calibrated.
According to the one side of the application, there is provided a kind of range finding calibration steps, including：Receive what is obtained by image device
With regard to the test image of at least one pair of direction beam, described at least one pair of direction beam is by the fixation for being arranged on electronic equipment
Light source on position is sent according at least one predetermined angle；At least one pair of directivity described in being estimated according to the test image
The current distance between a reference point on the intersection point of light beam and the electronic equipment；Obtain the intersection point and the reference point it
Between actual range；And according to the current distance and the actual range determining range finding calibration parameter, the range finding school
Quasi- parameter for based on the image device obtain image obtained by range measurement calibrate.
According to the another aspect of the application, there is provided a kind of range finding calibrating installation, including：Image receiving unit, for connecing
The test image with regard at least one pair of direction beam obtained by image device is received, described at least one pair of direction beam is by setting
The light source put on the fixed position of electronic equipment is sent according at least one predetermined angle；Distance estimations unit, for basis
The test image is estimating between the reference point on the intersection point and the electronic equipment of at least one pair of direction beam
Current distance；Distance acquiring unit, for obtaining the actual range between the intersection point and the reference point；And parameter is true
Order unit, determines range finding calibration parameter, the range finding calibration parameter for according to the current distance and the actual range
For calibrating to the range measurement obtained by the acquisition image based on the image device.
According to the another aspect of the application, there is provided a kind of electronic equipment, including：Processor；Memorizer；And be stored in
Computer program instructions in the memorizer, the computer program instructions cause the place when being run by the processor
Reason device performs above-mentioned range finding calibration steps.
It is according to the another aspect of the application, there is provided a kind of computer program, including computer program instructions, described
Computer program instructions cause the above-mentioned range finding calibration steps of the computing device when being run by processor.
According to the another aspect of the application, there is provided a kind of computer-readable recording medium, computer journey is stored thereon with
Sequence is instructed, and the computer program instructions cause the above-mentioned range finding calibration side of the computing device when being run by processor
Method.
Compared with prior art, using the range finding calibration steps according to the embodiment of the present application, device, electronic equipment, calculating
Machine program product and computer-readable recording medium, can receive by image device acquisition with regard to the fixed bit in electronic equipment
The test image of at least one pair of direction beam that the light source of setting is sent according at least one predetermined angle is put, according to institute
State test image to estimate between the reference point on the intersection point and the electronic equipment of at least one pair of direction beam
Current distance, the actual range between obtaining at 2 points, and according to the current distance and the actual range determining range finding
Calibration parameter, for calibrating to the range measurement obtained by the acquisition image based on the image device.Therefore, with such as
Distance measurement technique of the prior art is compared, can dynamically to the survey obtained by the acquisition image based on the image device
Calibrated away from result, reduce and made due to the motion perceived accuracy of image device of the reason to equipping on the vehicles such as jolt
Into impact.
Description of the drawings
The embodiment of the present application is described in more detail by combining accompanying drawing, the above-mentioned and other purposes of the application,
Feature and advantage will be apparent from.Accompanying drawing is used for providing further understanding the embodiment of the present application, and constitutes explanation
A part for book, together with the embodiment of the present application is used to explain the application, does not constitute the restriction to the application.In the accompanying drawings,
Identical reference number typically represents same parts or step.
The flow chart that Fig. 1 illustrates the range finding calibration steps according to the embodiment of the present application.
The flow chart that Fig. 2 illustrates the estimation current distance step according to the first example of the embodiment of the present application.
The flow chart that Fig. 3 illustrates the estimation current distance step according to the second example of the embodiment of the present application.
The flow chart that Fig. 4 illustrates the calibration range result step according to the embodiment of the present application.
Fig. 5 illustrates the schematic diagram applied in vehicle according to the range finding calibration steps of the embodiment of the present application.
Fig. 6 illustrates the block diagram of the range finding calibrating installation according to the embodiment of the present application.
Fig. 7 illustrates the block diagram of the electronic equipment according to the embodiment of the present application.
Specific embodiment
Below, the example embodiment according to the application will be described in detail by referring to the drawings.Obviously, described embodiment is only
Only it is a part of embodiment of the application, rather than the whole embodiments of the application, it should be appreciated that the application is by described herein
The restriction of example embodiment.
Application general introduction
As described above, the estimation precision that image device is adjusted the distance depends primarily on its installation site on an electronic device,
Need, when image device is installed on electronic equipment, to be carried out initially come the range operation to image device according to installation site
Change calibration, and in subsequent process, in addition it is also necessary to carried out come the range operation to image device according to the lasting change of the position
Dynamic calibration.
For the technical problem, the basic conception of the application is to propose that a kind of new range finding calibration steps, device, electronics set
Standby, computer program and computer-readable recording medium, which can utilize what is arranged on the fixed position of electronic equipment
Light source sends at least one pair of direction beam and refers to scale as one kind, for entering action to the range operation based on image device
State is calibrated.
Embodiments herein can apply to various scenes.For example, embodiments herein can be used for being equipped on
The range operation of the image device on the vehicles is calibrated.For example, the vehicles can be different types, and which can be with
It is vehicle, aircraft, spacecraft, vehicle etc. in water.For convenience of description, below by showing using vehicle as the vehicles
Example is specifically describing.
For example, in order to realize the purposes such as auxiliary driving, one or more image devices are generally equipped with vehicle.This
A little image devices can be used for gathering the image with regard to track, measure other object distances vehicle on road surface away from
From to prevent vehicle generation from colliding and guide vehicle to choose correct route etc..Tolerance or external condition during due to installing
Change, each car all has to carry out independent whole inspection line calibration or after market is adjusted, to guarantee based on image device
Accurate range operation is completed, and eventually for purposes such as auxiliary driving.
For example, it is assumed that there is another vehicle at 100 meters of the dead ahead of Current vehicle.It is located at what is calibrated in image device
During default installation position, according to graphical analyses and the result of object identification, another vehicle can be correctly identified out and be located at and be worked as
100 meters of the dead ahead of vehicle in front.However, once image device deviates the default installation position due to a variety of causes, then may
Cause to be identified as another vehicle error positioned at Current vehicle dead ahead is less than 100 meters or more than 100 meters or front is inclined
Left or to the right position, is so likely to result in the follow-up assisting driving operation for producing mistake, causes vehicle unnecessarily to be taken
The measures such as braking, alarm, lane change fail to take appropriate measures in time, so as to reducing Consumer's Experience, even producing traffic peace
Full hidden danger.
For this purpose, in embodiments herein, can receive by image device acquisition with regard to the fixation in electronic equipment
The test image of at least one pair of direction beam that the light source arranged on position is sent according at least one predetermined angle, according to
The test image is estimating between the reference point on the intersection point and the electronic equipment of at least one pair of direction beam
Current distance, the actual range between obtaining at 2 points, and according to the current distance and the actual range determining survey
Away from calibration parameter, for calibrating to the range measurement obtained by the acquisition image based on the image device, so as to reality
The dynamic calibration for range measurement is showed, has reduced and reason is jolted etc. to the image device equipped on the vehicles due to motion
The impact that causes of perceived accuracy.
Certainly, although being illustrated to embodiments herein by taking the vehicles as an example above, the application is not limited
In this.Embodiments herein can apply to the range operation of the image device to being equipped on various electronic equipments and enter action
State is calibrated.For example, embodiments herein may be equally applicable for being equipped on mobile robot, be arranged on fixed position use
In the range finding calibration operation of the image device in monitoring etc..
Below, by refer to the attached drawing being described more fully each embodiment according to the application.
Illustrative methods
The flow chart that Fig. 1 illustrates the range finding calibration steps according to the embodiment of the present application.
As shown in figure 1, can be included according to the range finding calibration steps of the embodiment of the present application：
In step s 110, the test image with regard at least one pair of direction beam obtained by image device, institute are received
State at least one pair of direction beam to be sent out according at least one predetermined angle by the light source being arranged on the fixed position of electronic equipment
Go out.
In order to calibrate to the range measurement obtained by the acquisition image based on the image device, can drive first
The light source sends described at least one pair of direction beam according to described at least one predetermined angle.
For example, there is predetermined angle and with predetermined projection to ensure the direction beam launched by light source
Pattern, the light source can be arranged on the fixed position of electronic equipment, so that the position of light source and shooting angle will not be received
To the impact of external environment.
Used as a kind of directivity light source, the light source can be realized using LASER Light Source.For example, the light source can be used as one
Plant additional device and extraly equip on an electronic device.Certainly, in the ideal case, the light source inherently can also be equipped in
On electronic equipment, while for specific function on electronic equipment is realized, the range finding school of image device is incidentally realized
Quasi- function.
In one case, the light source can be realized using single light source.In order to launch at least one pair of direction beam,
The single light beam of the single light source transmitting can be caused to pass through one or more beam splitters to form the sensing with predetermined angle
Property light beam.Alternatively, the light source can also adopt two or two groups of single light sources to realize, can between each or every group of light source
To form predetermined shooting angle, each to launch single light beam, so as to form the direction beam with predetermined angle.
For example, the light source can launch the only only a pair of direction beam with predetermined angle.Alternatively, the light source also may be used
To launch multipair direction beam, for example, there can be the predetermined angle of identical between each pair direction beam, to form grid
Shape pattern, i.e., be parallel to each other between multipair direction beam.Or, in order to realize different test patterns and test purpose, often
To having different predetermined angles between direction beam, i.e., intersect between multipair direction beam.
In one example, the range finding calibration steps can be automatically promoted to hold on an electronic device based on trigger condition
OK.For example, can be set so that in response to reaching the predetermined calibration time limit, drive institute the calibration time limit in advance in the electronic device
State light source and perform predetermined light emission operation, to trigger range finding calibration operation.For example, can periodically (for example, every one
Month) triggering electronic equipment performs and once find range calibration operation.
In another example, it is also possible to which the manual request based on user performs the range finding calibration steps on an electronic device.
For example, the input equipment of such as button, touch screen, mike etc can be provided on an electronic device so that in response to receiving
The calibration command of such as pressing, touch, voice to user etc, drives the light source to perform predetermined light emission operation, to touch
Send out range finding calibration operation.
In another example, consider for efficiency comes first, it is also possible to according to practical situation, incidentally perform the range finding and calibrate
Method.For example, the light source inherently equip on an electronic device for realizing such as illumination, indicate etc certain is specific
During function, can depending on the present situation, need the light source according to described at least one predetermined angle send it is described at least
During a pair of direction beams, the intersection point that image device gathers the direction beam is incidentally triggered, to perform range finding calibration operation.
Below, for convenience of description, will continue by taking vehicle as an example being described in detail.
For example, in the case where electronic equipment is vehicle, in order to launch direction beam, the light source can be any types
Vehicle-mounted laser light source, which can be fixedly provided in any position of vehicle.In one example, the light source can be vehicle-mounted
The light source of laser headlight.For example, the light source can adopt matrix form laser lamp array.So-called matrix form laser lamp array is referred to
The quantity of luminescence unit is a lot, and up to dozens of, they are arranged according to certain mode, define a kind of matrix.By control
The angle of the parts such as illuminator, lens in the switch of luminescence unit in matrix, and regulation lamp group, can accurately adjust photograph
The angle and scope of Mingguang City's beam.
In one kind of matrix form laser lamp array is implemented, can launch as the laser diode of luminescent device
Blue light beam of the wavelength for 450 nanometers (nm), is irradiated in the minitype reflector that thousands of diameters are only 3 millimeters (mm).
Each minitype reflector independently can be adjusted to angle on horizontal and vertical two axles.By these micro lens
Regulation, the light beam for reflecting can both keep concentrating, to obtain longer irradiation distance as distance light, it is also possible to become to send out
Dissipate, to obtain wider array of irradiating angle as dipped beam, meanwhile, light beam can also deflect certain angle, be intersected with being formed
At least one pair of direction beam, calibration or cover blind area etc. of bend for finding range.
For example, in order that image device is obtained in that the test chart with regard to intersection point between direction beam for becoming apparent from
Picture, can adjust each laser lamp irradiating angle of matrix form laser lamp so that the angle of cut is presented between each pair laser beam, and is projected
To on ground as flat as possible.
Under the application scenarios of vehicle, by the use of laser headlight as the advantage of directivity light source it is：1st, it is cost-effective, not
The automobile for coming shows up light source technology to LASER Light Source development, it means that in the case where extra cost is not increased, so that it may
To obtain LASER Light Source；2nd, coverage distance is remote, and laser headlight can be irradiated to 600 meters of remote distances；3rd, directivity is fabulous, laser
In several light sources, directionality are most strong, so divergence is minimum after irradiation, therefore the edge of its light source is than relatively sharp, after being conducive to
The range determination in face；4th, installation site and launch angle are fixed, it is not easy to by vehicle running environment and surrounding space it is cold
The impact of thermal change；5th, another significant advantage of laser lamp is the such as general light emitting diode (LED) in terms of luminous efficiency
The luminous efficiency of illuminating lamp can reach per watt of 100 lumens or so, and laser diode can reach per watt of 170 lumens left side
It is right；6th, as the big lamp assembly volume of laser is less, it is lower to generate heat, designer is left in aesthetics, aerodynamic, space layout etc.
Broader space；7th, laser headlight is often combined with adaptive technique, and especially when to meeting, light controlled range is more
Greatly, the dazzling potential danger brought can be avoided.
After driving the light source to send described at least one pair of direction beam, image device can be obtained with regard at least
The test image of a pair of direction beams.
For example, the image device could be for the imageing sensor for catching view data, and which can be photographic head or take the photograph
As head array.For example, the view data collected by imageing sensor can be consecutive image frame sequence (that is, video flowing) or from
Scattered picture frame sequence (that is, the image data set for arriving in predetermined sampling time point sampling) etc..For example, the photographic head can be such as list
Mesh camera, binocular camera, many mesh cameras etc., in addition, which can be used for catching gray-scale maps, it is also possible to catch with colouring information
Cromogram.Certainly, the camera of any other type as known in the art and being likely to occur in the future can be applied to this
Application, the application catch the mode of image and are not particularly limited to which, as long as being obtained in that the gray scale or color letter of input picture
Breath.In order to reduce the amount of calculation in subsequent operation, in one embodiment, can be before being analyzed and processing, will
Cromogram carries out gray processing process.
Next, can receive by image device obtain the test image with regard at least one pair of direction beam, with
In subsequent calibrations process.
In the step s 120, according to the test image come the intersection point of at least one pair of direction beam described in estimating with it is described
The current distance between a reference point on electronic equipment.
After the test image obtained by image device is received, the test image can be analyzed and be processed,
With the current distance between the reference point on the intersection point and the electronic equipment of determination direction beam.
For example, the reference point can be any one point on electronic equipment, and which can be the position of image device camera lens
Some predetermined point on the location point of photo-sensitive cell, or the housing of electronic equipment of point, or image device,
For example, the First Point of vehicle's contour or rearmost point etc..
In the first example, the reference point on the electronic equipment can be with the intersection point one of at least one pair of direction beam
Rise, while occurring in the test image with regard at least one pair of direction beam obtained by image device.
The flow chart that Fig. 2 illustrates the estimation current distance step according to the first example of the embodiment of the present application.
As shown in Fig. 2 step S120 can include：
In sub-step S121, the current location of the intersection point is estimated according to the test image.
It is, for example possible to use feature point detection algorithm is detecting the intersection point of each pair direction beam in test image.Always
For, feature point extraction can be carried out to test image, and feature description is carried out to characteristic point, the feature of characteristic point is retouched
State and compare with the feature description of default intersection point, to determine position of the intersection point in test image.
Although the intersection point to detecting direction beam so that feature point detection and feature description are compared as an example is said here
It is bright, but, the application not limited to this.For example, it is also possible to gather the sample image of the various smooth cross-over being likely to occur in advance, build
Various smooth cross-overs are carried out feature extraction by vertical Sample Storehouse, obtain the grader of light cross-over by machine learning method training.
During actually detected, the initialization background of test image that can be to collecting carries out feature to the test image and carries
Take, with reference to the grader of light cross-over obtained by machine learning method training, carry out light cross-over detection and with
Track.
It is then possible to use the mapping matrix of image device, the position of intersecting point in image coordinate system is transformed into into generation
In boundary's coordinate system, to determine the coordinate position of each light cross-over, such as represent with (x1, y1, z1).
In sub-step S122, the current location of the reference point is estimated according to the test image.
When reference point on the electronic equipment is also appeared in test image, can using with above-mentioned steps S121 in
Same or analogous mode is detecting position of the reference point in test image in test image, and converts it to the world
In coordinate system, to determine the coordinate position of the reference point, such as represent with (x0, y0, z0).
In sub-step S123, determined according to the current location of the intersection point and the current location of the reference point described in
Current distance between intersection point and the reference point.
Can be according to the coordinate position of each light cross-over being in together under world coordinate system and the coordinate bit of the reference point
Put to calculate current distance d1 between the two, such as shown in formula (1)：
Above, it is illustrated so that the reference point on the electronic equipment is also appeared in test image as an example, but, this
Application not limited to this.For example, in the second example, the reference point on the electronic equipment can be not present in by image device
In the test image with regard at least one pair of direction beam for obtaining.As described above, the reference point on the electronic equipment also may be used
Being the location point of the location point of image device camera lens, the photo-sensitive cell of image device, or can also be not in imaging area
Some predetermined point on casting of electronic device in domain.
The flow chart that Fig. 3 illustrates the estimation current distance step according to the second example of the embodiment of the present application.
As shown in figure 3, step S120 can include：
In sub-step S124, the current location of the intersection point is estimated according to the test image.
Sub-step S124 is identical with sub-step S121, and here omits its detailed description.
In sub-step S125, the predeterminated position of the reference point is obtained.
As reference point is not occurred in test image, so the side of reference point detection and Coordinate Conversion can not be used
Formula is obtaining its position.Due to reference point position reference characteristic requirements it be often the constant point in a position, so simple
Single ground can measure or provide the predeterminated position of the reference point in advance.For example, when reference point is the position of image device camera lens
When point, the location point of the photo-sensitive cell of image device, its position coordinates can with (0,0,0) representing.Alternatively, work as reference point
It is some predetermined point on the housing of electronic equipment, can be previously obtained and store its position coordinates (x0, y0, z0).
In sub-step S126, determined according to the current location of the intersection point and the predeterminated position of the reference point described in
Current distance between intersection point and the reference point.
With in step S123 similarly, can be by formula (1) calculating each light beam being in together under world coordinate system
Current distance d1 between intersection point and the reference point.
Referring back to Fig. 1, in step s 130, the actual range between the intersection point and the reference point can be obtained.
Before step S110 or step S120, afterwards, or concurrently, described at least one pair of directivity can be obtained
Actual range d1 ' between reference point on the intersection point of light beam and the electronic equipment.For example, the actual range be intersection point with
Between reference point by actually measuring the distance for obtaining.
In one example, when will be applied to installing image device according to the range finding calibration steps of the embodiment of the present application
When under the scene of initialization of calibration during on electronic equipment, step S130 can be including receiving user's input with regard to described
The current measurement value of actual range.That is, user can by the various testing tools of such as tape measure, diastimeter etc and
Means are carrying out manual measurement, and measurement result is carried out by the input equipment of such as keyboard, touch screen, mike etc
Input.
In another example, after it will be applied to initialization of calibration according to the range finding calibration steps of the embodiment of the present application
When under the scene of subsequent calibrations, step S130 can include reading from memorizer with regard to the previously measured of the actual range
Value.That is, can store the manual measurement result of user in advance, and it is read out when needed.
In step S140, range finding calibration parameter, the survey are determined according to the current distance and the actual range
Away from calibration parameter for based on the image device obtain image obtained by range measurement calibrate.
After the current distance and the actual range is obtained, can be generated according to both for based on institute
State range finding calibration parameter c calibrated of range measurement obtained obtained by image of image device.
For example, can calculate the ratio between the actual range and the current distance, and by the ratio
It is defined as range finding calibration parameter c, such as shown in formula (2)：
C=d1 '/d1 formula (2)
For example, when the current distance d1=100 rice estimated in the step s 120, and obtain in step s 130 it is actual away from
From d1 '=110 meter when, the range finding calibration parameter be 1.1.
So, when the image device is used for subsequent object ranging, can be by the range finding calibration parameter for measuring
Target to be measured and the reference point between target range be modified, with overcome image device due to install when tolerance or
The range error that the originals such as external condition change are thus resulted in.
For example, can be after this calibration to before calibration next time, using the range finding canonical parameter come to image device
Range measurement carry out error correction.Also, for example, electronic equipment can be triggered (for example, every other month) periodically to hold
Capable calibration operation of once finding range, to ensure that range measurement can remain correct all the time.
Further, as the imaging region of image device may be very big, if so using based on one or limited
Range finding calibration parameter obtained by the intersection point of several direction beams is possible range measurement amendment is carried out to whole imaging region
It is still not accurate enough.Therefore, it can distribute certain scope of application to each range finding calibration parameter.
In one embodiment, specific range finding calibration parameter can be used only for target to be measured drop into
The amendment operation of the range measurement in a presumptive area that actual range when calculating the range finding calibration parameter is associated.For example,
If range finding calibration parameter c=1.1 is based on obtaining measured by current distance d1=100 rice, range finding calibration parameter c=
1.1 are merely capable of in a presumptive area suitable for being determined on the basis of current distance d1=100 rice.For example, the fate
Domain can, centered on the intersection point of direction beam (that is, d1=100 rice), be determined by radius with certain value (for example, 5 meters)
Border circular areas, or more simply, the presumptive area can be centered on reference point, with 100+5=105 rice as half
Border circular areas, etc. determined by footpath.
In another embodiment, the direction beam based on more than two pairs intersection point come determine two or more range finding calibration
During parameter, a specific range finding calibration parameter can be used only for dropping in target to be measured and calculate the range finding calibration ginseng
The range measurement amendment in a presumptive area that actual range and its adjacent actual range during number is associated.For example, if
One range finding calibration parameter c1=1.1 is based on obtaining measured by current distance d1=100 rice, and the second range finding calibration parameter c2
=1.2 based on obtaining measured by current distance d2=200 rice, then range finding calibration parameter c1=1.1 and c2=1.2 be only
Can be respectively suitable on the basis of current distance d1=100 rice and d2=200 rice in a presumptive area determining.For example,
During first range finding calibration parameter c1=1.1 goes for the intersection point of first pair of direction beam (that is, d1=100 rice) being
The heart, border circular areas determined by with (200-100)/2=50 as radius；And the second range finding calibration parameter c2=1.2 can
Centered on suitable for the intersection point (that is, d2=200 rice) with second pair of direction beam, with (200-100)/2=50 as radius
Determined by border circular areas；Or more simply, first presumptive area can be centered on reference point, with 100+50
=150 meters is border circular areas determined by radius, and first presumptive area can be centered on reference point, with 100+50=
150 meters is annular region determined by two radiuses with 200+50=250 rice；Etc..
Therefore, in order to obtain to the accurate range measurement amendment in whole imaging region, need to obtain for different distance
A series of range finding calibration parameter.For example, the illumination angle of light source in practical operation, can be adjusted, so as to obtain from closely
To a series of remote intersection points, if the angle between each pair direction beam is less, the distance of intersection point is more remote, for each
Individual distance, can repeat the above steps S110 to S140, it is hereby achieved that the calibration value in the range of full distance, test
Points are more, and the distance between each point is less, then the parameter for obtaining is more, calibrates more accurate.
Additionally, in one embodiment, alternatively, after step S140, the range finding calibration steps can also be wrapped
Include：
In step S150, using the range finding calibration parameter come obtained by the acquisition image based on the image device
Range measurement calibrated.
In response to determining the range finding calibration parameter, it is possible to use the range finding calibration parameter is come to the image device
Range measurement be modified.
The flow chart that Fig. 4 illustrates the calibration range result step according to the embodiment of the present application.
As shown in figure 4, step S150 can include：
In sub-step S151, the target image with regard to target to be measured obtained by the image device is received.
During normal operation, image device can be driven to obtain the mesh comprising target to be measured by electronic equipment after the calibration
Logo image.Next, the target image obtained by image device can be received, process for follow-up range finding.
In sub-step S152, the mesh between the target to be measured and the reference point is estimated according to the target image
Subject distance.
For example, in the step s 120 similarly, the target image can be analyzed and is processed, using feature point detection
Method or machine learning model are detecting the target to be measured in electronic equipment region-of-interest, and calculate the target to be measured and the reference
Target range d3 between point.
In sub-step S153, the target range is modified using the range finding calibration parameter.
After target range d3 is calculated, it is possible to use the range finding calibration parameter generated in step S140 is come to described
Target range d3 is modified, to obtain corrected range d3 '.For example, amendment can be performed as shown in formula (3)：
D3 '=d3*c=d3*d1 '/d1 formula (3)
For example, when the range finding calibration parameter calculated in step S140 is 1.1, and the mesh estimated in step S152
During subject distance d3=200 rice, corrected range d3 '=200*1.1=220 rice.
In one embodiment, in the case where range finding calibration parameter has certain scope of application, sub-step S153 can be with
Including：Judge whether the target range is fallen in the presumptive area being associated with the current distance；And in response to institute
State target range to fall in the presumptive area, the target range is modified using the range finding calibration parameter.
For example, when the first range finding calibration parameter c1=1.1 only goes for centered on reference point, with 100+50=
150 meters is border circular areas determined by radius；And second range finding calibration parameter c2=1.2 only go for reference point be
Center, with 100+50=150 rice and 200+50=250 rice as two radiuses determined by during annular region, if in step
During the target range d3=200 rice estimated in S152, corrected range d3 '=200*1.2=240 rice, rather than 220 meters.
As can be seen here, using the range finding calibration steps according to the embodiment of the present application, can receive what is obtained by image device
With regard at least one pair of sensing that the light source arranged on the fixed position of electronic equipment is sent according at least one predetermined angle
The test image of property light beam, estimated according to the test image described at least one pair of direction beam intersection point and the electronics
The current distance between a reference point on equipment, the actual range between obtaining at 2 points, and according to the current distance and
The actual range determining range finding calibration parameter, for the range finding obtained obtained by image based on the image device
As a result calibrated.Therefore, compared with distance measurement technique such as of the prior art, can dynamically to based on the imager
The range measurement obtained obtained by image of part is calibrated, and is reduced and the reason such as is jolted to equipping on the vehicles due to motion
Image device the impact that causes of perceived accuracy.
It should be noted that it is simple in order to describe, only it is illustrated as a example by apart from upper distance above, but
In practical application, according to the embodiment of the present application range finding calibration steps except can carry out the one-dimensional amendment in distance it
Outward, target to be measured can also be carried out to correct with the two dimension on the deviation angle in a Plane reference direction of electronic equipment, or also
Three-dimensional modification on the deviation angle in the georeferencing direction that can carry out target to be measured and electronic equipment.
Application Scenarios-Example
Below, carry out as a example by the application scenarios of vehicle being applied to by the range finding calibration steps according to the embodiment of the present application
Description.
Fig. 5 illustrates the schematic diagram applied in vehicle according to the range finding calibration steps of the embodiment of the present application.
As shown in figure 5, in the case where electronic equipment is vehicle, the light source can be matrix form laser lamp.For example, the square
Configuration laser lamp is divided into the two groups of lamps in left and right, and each of which lamp can send out 4 beam laser beams.Obviously, in actual applications, depend on
In different demands, it would however also be possible to employ in addition to 4 beams, more or less of laser beam.
It is possible, firstly, to adjust each laser lamp irradiating angle of matrix form laser lamp so as to the angle of cut of diagram is presented, and throws
It is mapped on ground as flat as possible, is imaged in order to vehicle-mounted camera.It is then possible to beforehand through actual measurement, obtain in the angle
Under, actual range of each intersection point relative to car.Next, in the case where laser lamp irradiating angle is constant, it is possible to use car
Carry imageing sensor and shoot the image.Subsequently, can by the image of the shooting, calculate by imageing sensor measure it is current away from
From finally, the actual range that can be obtained actual measurement calibrates the ranging parameters of imageing sensor as right value so as to
It is actual consistent.
As shown in figure 5, left lamp and right lamp each send multigroup light beam according to fixed angle, it is assumed that the light beam that left lamp sends is
L1 to L4, the light beam that right side sends are R1 to R4.Its intersection point will produce 16, and for example, P11 to P14 etc. is distributed in not same district
Domain, here, it can be assumed that each point determined by imageing sensor：P11 is D11 with the current distance of headstock, and which is corresponding
Actual range is D11 '；P12 is D12 with the current distance of headstock, and its corresponding actual range is D12 '；P13 is worked as with headstock
Front distance is D13, and its corresponding actual range is D13 '；The current distance of P14 and headstock is D14, its corresponding actual range
For D14 '.It is possible to determine a parameter according to the difference of two groups of distances.For example, the corresponding range finding calibration parameters of P11 are：
C11=D11/D11 '.
One group of calibration parameter for different distance is obtained thus.In practical operation, laser lamp can be adjusted
Illumination angle, so as to obtain from closely to a series of remote intersection points, if the angle between the light that sends of left and right lamp is less,
Then the distance of intersection point is more remote, for each distance, can repeat the above steps, it is hereby achieved that in the range of full distance
Calibration value, the points of test are more, and the distance between each point is less, then the parameter for obtaining is more, calibrate more accurate.Example
Such as, in aforesaid operations, if the distance between each point is 2 meters, for example, can specify that the model in 1 meter of P11 effective radiuses
In enclosing, C11 is effective, wherein, effective radius is the half of each point distance.Alternatively, if between the sampled point for calibration
At intervals of 1 meter, then effective radius is contracted to 0.5 meter.
Hereafter, in actual use, for the image captured by imageing sensor, for each point for calculating
Distance, can be calibrated with the parameter corresponding to the distance, it is assumed that the target range for directly calculating is D, then after calibrating
Corrected range is D '=C*D.
Therefore, using the method according to the embodiment of the present application, it is possible to obtain a kind of reliable dynamic calibration means.It is preferred that
Ground, (for example, one month) can do primary calibration at set intervals, obtain one group of new parameter, cover original parameter, this
Sample, though imageing sensor with using increase generate displacement, it is also possible to dynamically carry out camera calibration, prevent error
Produce.
Exemplary means
Below, it is described with reference to Figure 6 the range finding calibrating installation according to the embodiment of the present application.
Fig. 6 illustrates the block diagram of the range finding calibrating installation according to the embodiment of the present application.
As shown in fig. 6, the range finding calibrating installation 100 can include：Image receiving unit 110, for receiving by being imaged
The test image with regard at least one pair of direction beam that device is obtained, described at least one pair of direction beam is by being arranged on electronics
Light source on the fixed position of equipment is sent according at least one predetermined angle；Distance estimations unit 120, for according to the survey
Attempt as current between the reference point on the intersection point and the electronic equipment of at least one pair of direction beam to estimate
Distance；Distance acquiring unit 130, for obtaining the actual range between the intersection point and the reference point；And parameter determination
Unit 140, determines range finding calibration parameter, the range finding calibration parameter for according to the current distance and the actual range
For calibrating to the range measurement obtained by the acquisition image based on the image device.
In one example, the distance estimations unit 120 can include：Intersection point determining module, for according to the survey
Attempt picture to estimate the current location of the intersection point；Reference point determining module, estimate for according to the test image described in
The current location of reference point；And current distance estimation module, for the current location according to the intersection point and the reference point
Current location determining the current distance between the intersection point and the reference point.
In one example, the distance estimations unit 120 can include：Intersection point determining module, for according to the survey
Attempt picture to estimate the current location of the intersection point；Reference point acquisition module, for obtaining the predeterminated position of the reference point；With
And current distance estimation module, determine for according to the predeterminated position of the current location of the intersection point and the reference point described in
Current distance between intersection point and the reference point.
In one example, the distance acquiring unit 130 can be with receiving user's input with regard to the actual range
Current measurement value；Or baseline measurement with regard to the actual range is read from memorizer.
In one example, the parameter determination unit 140 can calculate the actual range with it is described it is current away from
Ratio between, and the ratio is defined as into the range finding calibration parameter.
In one embodiment, the range finding calibrating installation 100 can also include：Range finding alignment unit 150, for using
It is described to find range calibration parameter to calibrate the range measurement obtained by the acquisition image based on the image device.
In one example, the range finding alignment unit 150 can include：Image receiver module, for receiving by described
The target image with regard to target to be measured that image device is obtained；Target Distance Estimation module, for according to the target image come
Estimate the target range between the target to be measured and the reference point；And distance correction module, calibrated using the range finding
Parameter is being modified to the target range.
In one example, the distance correction module may determine that the target range whether fall into it is described it is current away from
In an associated presumptive area；And fall in the presumptive area in response to the target range, using the range finding
Calibration parameter is being modified to the target range.
In one example, the range finding calibrating installation 100 can also include：Light source driving units (not shown), is used for
The light source is driven to send described at least one pair of direction beam according to described at least one predetermined angle.
In one example, the light source driving units are in response to meeting one of following condition, drive the light source according to
At least one predetermined angle sends described at least one pair of direction beam：Reach the predetermined calibration time limit；Receive user
Calibration command；And depend on the present situation, need the light source according to described at least one predetermined angle send it is described extremely
Few a pair of direction beams.
In one example, the electronic equipment is vehicle, and the light source is the illuminating lamp of the vehicle.
The concrete function of unit and module in above-mentioned range finding calibrating installation 100 and operation are had been described above with reference to figure
It is discussed in detail in the range finding calibration steps of 1 to Fig. 5 description, and therefore, its repeated description will be omitted.
As described above, embodiments herein can apply to be equipped with thereon the such as vehicles of image device, can
The electronic equipment of mobile robot, monitor and control facility etc.
Correspondingly, can be used as a software module and/or hardware according to the range finding calibrating installation 100 of the embodiment of the present application
Module and be integrated in the electronic equipment, in other words, the electronic equipment can include the range finding calibrating installation 100.For example, the survey
Away from calibrating installation 100 can be the operating system of the electronic equipment in a software module, or the electricity can be aimed at
The application program developed by sub- equipment；Certainly, the range finding calibrating installation 100 can equally be the numerous hard of the electronic equipment
One of part module.
Alternatively, in another example, the range finding calibrating installation 100 and the electronic equipment can also be discrete equipment
(for example, server), and the range finding calibrating installation 100 can by wiredly and/or wirelessly network connection to the electronic equipment,
And interactive information is transmitted according to the data form of agreement.
Example electronic device
Below, it is described with reference to Figure 7 the electronic equipment according to the embodiment of the present application.The electronic equipment can be equipped thereon
There are the computer or server or other equipment of the such as vehicles of image device, mobile robot, monitor and control facility etc.
Fig. 7 illustrates the block diagram of the electronic equipment according to the embodiment of the present application.
As shown in fig. 7, electronic equipment 10 includes one or more processors 11 and memorizer 12.
Processor 11 can be CPU (CPU) or have data-handling capacity and/or instruction execution capability
Other forms processing unit, and can be with the other assemblies in control electronics 10 performing desired function.
Memorizer 12 can include one or more computer programs, and the computer program can include each
The computer-readable recording medium of the form of kind, such as volatile memory and/or nonvolatile memory.The volatile storage
Device can for example include random access memory (RAM) and/or cache memory (cache) etc..It is described non-volatile to deposit
Reservoir can for example include read only memory (ROM), hard disk, flash memory etc..Can deposit on the computer-readable recording medium
One or more computer program instructions are stored up, processor 11 can run described program instruction, to realize this Shen mentioned above
The range finding calibration steps of each embodiment please and/or other desired functions.In the computer-readable recording medium
In can also store view data, range data, the range finding various contents such as calibration parameter.
In one example, electronic equipment 10 can also include：Input equipment 13 and output device 14, these components pass through
Bindiny mechanism's (not shown) interconnection of bus system and/or other forms.It should be noted that the group of the electronic equipment 10 shown in Fig. 7
Part and structure are exemplary, and nonrestrictive, and as needed, electronic equipment 10 can also have other assemblies and knot
Structure.
For example, the input equipment 13 can be image device, and for gathering view data, acquired image data can be with
It is stored in memorizer 12 and uses for other assemblies.It is of course also possible to utilize other integrated or discrete image device come
The view data is gathered, and is sent to electronic equipment 10.Additionally, the input equipment 13 can also include such as keyboard,
Mouse and communication network and its remote input equipment that connected etc..
Output device 14 can export various information to outside (for example, user or machine learning model), including determining
At least one pair of direction beam intersection point and the electronic equipment on a reference point between current distance, the intersection point with
Actual range between the reference point, range finding calibration parameter, the target range between the target to be measured and the reference point,
Revised target range etc..The outut device 14 can include such as display, speaker, printer and communication network
And its remote output devices for being connected etc..
Certainly, to put it more simply, some in component relevant with the application during the electronic equipment 10 is illustrate only in Fig. 7,
Eliminate the component of such as bus, input/output interface etc..In addition, according to concrete application situation, electronic equipment 10 is also
Any other appropriate component can be included.For example, electronic equipment 10 can also include：Light source (not shown), refers to for transmitting
Tropism light beam.In the case where electronic equipment 10 is vehicle, the light source can be any kind of vehicle-mounted laser light source, and which can be with
It is fixedly provided in any position of vehicle.In one example, the light source can be the light source of vehicle-mounted laser headlight.For example,
The light source can adopt matrix form laser lamp array.The quantity that so-called matrix form laser lamp array refers to luminescence unit is a lot,
Up to dozens of, they are arranged according to certain mode, define a kind of matrix.Opened by controlling luminescence unit in matrix
The angle of the parts such as illuminator, lens in pass, and regulation lamp group, can accurately adjust the angle and model of illuminating bundle
Enclose.
Illustrative computer program product and computer-readable recording medium
In addition to said method and equipment, embodiments herein can also be computer program, and which includes meter
Calculation machine programmed instruction, the computer program instructions cause described computing device this specification above-mentioned when being run by processor
The step in the range finding calibration steps according to the various embodiments of the application described in " illustrative methods " part.
The computer program can be write with the combination in any of one or more programming language for holding
The program code of row the embodiment of the present application operation, described program design language include object oriented program language, such as
Java, C++ etc., also including conventional procedural programming language, such as " C " language or similar programming language.Journey
Sequence code fully can be performed on the user computing device, partly perform on a user device, independent soft as one
Part bag is performed, part performs on a remote computing or completely in remote computing device on the user computing device for part
Or perform on server.
Additionally, embodiments herein can also be computer-readable recording medium, it is stored thereon with computer program and refers to
Order, the computer program instructions cause above-mentioned " the exemplary side of described computing device this specification when being run by processor
The step in the range finding calibration steps according to the various embodiments of the application described in method " part.
The computer-readable recording medium can adopt the combination in any of one or more computer-readable recording mediums.Computer-readable recording medium can
Being readable signal medium or readable storage medium storing program for executing.Readable storage medium storing program for executing can for example include but is not limited to electricity, magnetic, light, electricity
The system of magnetic, infrared ray or quasiconductor, device or device, or arbitrarily more than combination.Readable storage medium storing program for executing is more specifically
Example (non exhaustive list) includes：Electrical connection with one or more wires, portable disc, hard disk, random access memory
Device (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc
Read only memory (CD-ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.
The ultimate principle of the application is described above in association with specific embodiment, however, it is desirable to, it is noted that in this application
The advantage that refers to, advantage, effect etc. are only exemplary rather than limiting, it is impossible to think that these advantages, advantage, effect etc. are the application
Each embodiment is prerequisite.In addition, detail disclosed above is merely to the effect of example and the work for readily appreciating
With, and it is unrestricted, above-mentioned details is not intended to limit the application to realize using above-mentioned concrete details.
The device that is related in the application, device, equipment, the block diagram of system only illustratively the example of property and are not intended to
Requirement or hint must be attached, arrange, be configured according to the mode that square frame is illustrated.As it would be recognized by those skilled in the art that
, can be connected, be arranged by any-mode, configure these devices, device, equipment, system.Such as " include ", "comprising", " tool
Have " etc. word be open vocabulary, refer to " including but not limited to ", and can be with its used interchangeably.Vocabulary used herein above
"or" and " and " refer to vocabulary "and/or", and can be with its used interchangeably, unless it be not such that context is explicitly indicated.Here made
Vocabulary " such as " refers to phrase " such as, but not limited to ", and can be with its used interchangeably.
It may also be noted that in device, apparatus and method in the application, each part or each step can be to decompose
And/or reconfigure.These decompose and/or reconfigure the equivalents that should be regarded as the application.
The above description of disclosed aspect is provided so that any person skilled in the art can make or using this
Application.Various modifications in terms of these are readily apparent to those skilled in the art, and here definition
General Principle can apply in terms of other without deviating from scope of the present application.Therefore, the application is not intended to be limited to
Aspect shown in this, but according to the widest range consistent with the feature of principle disclosed herein and novelty.
In order to purpose of illustration and description has been presented for above description.Additionally, this description is not intended to the reality of the application
Apply example and be restricted to form disclosed herein.Although already discussed above multiple exemplary aspects and embodiment, this area skill
Art personnel will be recognized that its some modification, modification, change, addition and sub-portfolio.
Claims (13)
1. a kind of range finding calibration steps, including：
Receive the test image with regard at least one pair of direction beam obtained by image device, described at least one pair of directivity light
Beam is sent according at least one predetermined angle by the light source being arranged on the fixed position of electronic equipment；
A ginseng on the intersection point of at least one pair of direction beam described in being estimated according to the test image and the electronic equipment
Current distance between examination point；
Obtain the actual range between the intersection point and the reference point；And
Range finding calibration parameter is determined according to the current distance and the actual range, the range finding calibration parameter is for base
Range measurement obtained by the acquisition image of the image device is calibrated.
2. the method for claim 1, wherein according to the test image come at least one pair of direction beam described in estimating
Intersection point and the electronic equipment on a reference point between current distance include：
The current location of the intersection point is estimated according to the test image；
The current location of the reference point is estimated according to the test image；And
Determined according to the current location of the intersection point and the current location of the reference point intersection point and the reference point it
Between current distance.
3. the method for claim 1, wherein obtain the actual range between the intersection point and the reference point include with
One of lower items：
The current measurement value with regard to the actual range of receiving user's input；And
The baseline measurement with regard to the actual range is read from memorizer.
4. the method for claim 1, wherein calibrated to determine to find range according to the current distance and the actual range
Parameter includes：
The ratio between the actual range and the current distance is calculated, and the ratio is defined as into the range finding
Calibration parameter.
5. the method for claim 1, determines range finding calibration ginseng according to the current distance and the actual range
After number, methods described also includes：
School is carried out to the range measurement obtained by the acquisition image based on the image device using the range finding calibration parameter
It is accurate.
6. method as claimed in claim 5, wherein, using the range finding calibration parameter come to being obtained based on the image device
Taking the range measurement obtained by image and carrying out calibration includes：
The target image with regard to target to be measured that reception is obtained by the image device；
The target range between the target to be measured and the reference point is estimated according to the target image；And
The target range is modified using the range finding calibration parameter.
7. method as claimed in claim 6, wherein, the target range is modified using the range finding calibration parameter
Including：
Judge whether the target range is fallen in the presumptive area being associated with the current distance；And
Fall in the presumptive area in response to the target range, using the range finding calibration parameter come to the target range
It is modified.
8. the method for claim 1, is receiving by the survey with regard at least one pair of direction beam of image device acquisition
Attempt as before, methods described also includes：
The light source is driven to send described at least one pair of direction beam according to described at least one predetermined angle.
9. method as claimed in claim 8, wherein, in response to meeting one of following condition, the light source is driven according to described
At least one predetermined angle sends described at least one pair of direction beam：
Reach the predetermined calibration time limit；
Receive the calibration command of user；And
Depending on the present situation, the light source is needed to send described at least one pair of directivity according to described at least one predetermined angle
Light beam.
10. method as claimed in claim 1, wherein, the electronic equipment is vehicle, and the light source is the illuminating lamp of the vehicle.
A kind of 11. range finding calibrating installations, including：
Image receiving unit, for receiving the test image with regard at least one pair of direction beam obtained by image device, institute
State at least one pair of direction beam to be sent out according at least one predetermined angle by the light source being arranged on the fixed position of electronic equipment
Go out；
Distance estimations unit, estimate for according to the test image described at least one pair of direction beam intersection point with it is described
The current distance between a reference point on electronic equipment；
Distance acquiring unit, for obtaining the actual range between the intersection point and the reference point；And
Parameter determination unit, determines range finding calibration parameter, the survey for according to the current distance and the actual range
Away from calibration parameter for based on the image device obtain image obtained by range measurement calibrate.
12. a kind of electronic equipment, including：
Processor；
Memorizer；And
Storage computer program instructions in which memory, the computer program instructions are when being run by the processor
So that method of the computing device as any one of claim 1-10.
A kind of 13. computer programs, including computer program instructions, the computer program instructions are being run by processor
When cause method of the computing device as any one of claim 1-10.
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| CN106950399A (en) * | 2017-03-30 | 2017-07-14 | 河海大学 | Broad surface flow field figure is as test system automatic calibration device and method |
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| CN109932726A (en) * | 2019-04-18 | 2019-06-25 | 北京石头世纪科技股份有限公司 | Robot ranging calibration method and device, robot and medium |
| CN109932726B (en) * | 2019-04-18 | 2020-08-18 | 北京石头世纪科技股份有限公司 | Robot ranging calibration method and device, robot and medium |
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| CN110827349A (en) * | 2019-11-14 | 2020-02-21 | 广东小天才科技有限公司 | Calibration method, calibration system, computer equipment and storage medium |
| CN111834244A (en) * | 2020-07-24 | 2020-10-27 | 昆山国显光电有限公司 | Display panel mother board and preparation method |
| WO2022134304A1 (en) * | 2020-12-22 | 2022-06-30 | 东方晶源微电子科技（北京）有限公司 | Defect detection model training method and defect detection method and apparatus and device |
| CN114688976A (en) * | 2020-12-29 | 2022-07-01 | 北京金风科创风电设备有限公司 | Calibration method, device, system and equipment for distance measuring equipment of wind turbine generator |
| WO2022228023A1 (en) * | 2021-04-28 | 2022-11-03 | 上海商汤智能科技有限公司 | Blind area monitoring method and apparatus, electronic device, and storage medium |
| CN114608520A (en) * | 2021-04-29 | 2022-06-10 | 北京石头创新科技有限公司 | Distance measuring method, device, robot and storage medium |
| CN113968084A (en) * | 2021-09-27 | 2022-01-25 | 深圳供电局有限公司 | Calibration method, system, computer device and storage medium for label printer |
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