CN106657974A - Binocular camera control method and device, binocular camera - Google Patents

Binocular camera control method and device, binocular camera Download PDF

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Publication number
CN106657974A
CN106657974A CN201710108909.2A CN201710108909A CN106657974A CN 106657974 A CN106657974 A CN 106657974A CN 201710108909 A CN201710108909 A CN 201710108909A CN 106657974 A CN106657974 A CN 106657974A
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China
Prior art keywords
camera
mesh camera
mesh
image
left mesh
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CN201710108909.2A
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CN106657974B (en
Inventor
李海泉
王乃岩
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Beijing Tusimple Technology Co Ltd
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Beijing Tusimple Future Technology Co Ltd
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    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20Image signal generators
    • H04N13/296Synchronisation thereof; Control thereof
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20Image signal generators
    • H04N13/204Image signal generators using stereoscopic image cameras
    • H04N13/239Image 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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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Stereoscopic And Panoramic Photography (AREA)
  • Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)

Abstract

The invention discloses a binocular camera control method and device, in order to solve the technical problem that an industrial level binocular camera cannot realize long-distance ranging at present. The method comprises the following steps: controlling a left eye camera and a right eye camera to shoot the same target object to obtain a left eye image and a right eye image; extracting an R channel of the left eye image and a B channel of the right eye image, and superposing the R channel with the B channel; judging whether target objects separately displayed by the R channel and the B channel are overlapped in both of the longitudinal direction and the horizontal direction; if so, determining that the optical axes of the left eye camera and the right eye camera are parallel; and otherwise, adjusting the positions of the left eye camera and the right eye camera, and repeating the above steps until the optical axes of the left eye camera and the right eye camera are parallel. By adoption of the technical scheme of the invention, long-distance ranging can be realized.

Description

The control method and device of binocular camera, binocular camera
Technical field
The present invention relates to computer realm, more particularly to a kind of control method of binocular camera, a kind of binocular camera Control device and a kind of binocular camera.
Background technology
Binocular range finding is always the focus of computer vision field research, especially in automatic Pilot field, its meaning depth Far.
At present, binocular range finding is mainly by being realized using existing technical grade binocular camera on the market, technical grade Binocular camera is a kind of fixed binocular spacing for having cast and the less binocular solid camera of size, and more typical case is Bumblebee products, as shown in Figure 1.
Because the binocular spacing of technical grade binocular camera is fixed and size is less, parallax range is little, and cannot realize Adjust automatically parallax range so that cannot be found range at a distance in actual applications.
There is presently no can preferably solve the solution of aforementioned technical problem.
The content of the invention
In view of the above problems, the present invention provides a kind of control method and device of binocular camera, to solve prior art Middle technical grade binocular camera cannot realize the technical problem of remote range finding.
The embodiment of the present invention, on the one hand, provide a kind of control method of binocular camera, the method includes:
Control constitutes the left mesh camera and right mesh camera of binocular camera and same target object is shot, and obtains left mesh Image and right mesh image;Wherein, the left mesh camera is adjustable with the distance between right mesh camera;
The R passages of the left mesh image and the channel B of right mesh image are extracted, and the R passages and the channel B are carried out Superposition;
Judge whether the target object that the R passages and channel B show respectively overlaps in vertical and horizontal;
If, it is determined that the left mesh camera is parallel with the optical axis of right mesh camera;
If not, it indicates that adjust the position of the left mesh camera and right mesh camera, and repeat abovementioned steps, until the left side Mesh camera is parallel with the optical axis of right mesh camera.
The embodiment of the present invention, on the other hand, there is provided a kind of control device of binocular camera, the device includes:
Control unit, the left mesh camera and right mesh camera for constituting binocular camera for control is carried out to same target object Shoot, obtain left mesh image and right mesh image;Wherein described left mesh camera is adjustable with the distance between right mesh camera;
Extraction unit, for extracting the R passages of the left mesh image and the channel B of right mesh image, and by the R passages and The channel B is overlapped;
Judging unit, it is whether equal in vertical and horizontal for judging the target object that the R passages and channel B show respectively Overlap, if then triggering determining unit, if otherwise triggering the first indicating member;
Determining unit, it is parallel with the optical axis of right mesh camera for determining the left mesh camera;
First indicating member, for indicating to adjust the position of the left mesh camera and right mesh camera, and triggers the control Unit.
The embodiment of the present invention, also provides a kind of binocular camera, including left mesh camera, right mesh camera and include slide rail or The rigid connection structure of draw-in groove, wherein:
The left mesh camera is fixed in the slide rail of the rigid connection structure or draw-in groove by its head;
The right mesh camera is fixed in the slide rail of the rigid connection structure or draw-in groove by its head.
Technical solution of the present invention a, on the one hand, left side can be adjusted by adjusting the distance between left mesh camera and right mesh camera Parallax range between mesh camera and right mesh camera, can according to the actual requirements be adjusted flexibly the parallax range of binocular camera, from And realize remote range finding;On the other hand, also to can adjust left mesh camera parallel with the optical axis of right mesh camera for technical solution of the present invention, To improve the quality that binocular camera shoots the left mesh image and right mesh image for obtaining.
Other features and advantages of the present invention will be illustrated in the following description, also, the partly change from specification Obtain it is clear that or being understood by implementing the present invention.The purpose of the present invention and other advantages can be by the explanations write Specifically noted structure is realizing and obtain in book, claims and accompanying drawing.
Below by drawings and Examples, technical scheme is described in further detail.
Description of the drawings
Accompanying drawing is used for providing a further understanding of the present invention, and constitutes a part for specification, the reality with the present invention Applying example is used to explain the present invention together, is not construed as limiting the invention.
Fig. 1 is the structural representation of technical grade binocular camera in prior art;
Fig. 2A is the structural representation of binocular camera in the embodiment of the present invention one;
Fig. 2 B are the structural representation of draw-in groove in binocular camera in the embodiment of the present invention one;
Fig. 3 is one of flow chart of control method of binocular camera in the embodiment of the present invention two;
Fig. 4 is two of the flow chart of the control method of binocular camera in the embodiment of the present invention two;
Fig. 5 is three of the flow chart of the control method of binocular camera in the embodiment of the present invention two;
Fig. 6 is four of the flow chart of the control method of binocular camera in the embodiment of the present invention two;
Fig. 7 is five of the flow chart of the control method of binocular camera in the embodiment of the present invention two;
Fig. 8 is one of structural scheme of mechanism of control device of binocular camera in the embodiment of the present invention three;
Fig. 9 is two of the structural scheme of mechanism of the control device of binocular camera in the embodiment of the present invention three;
Figure 10 is three of the structural scheme of mechanism of the control device of binocular camera in the embodiment of the present invention three;
Figure 11 is four of the structural scheme of mechanism of the control device of binocular camera in the embodiment of the present invention three;
Figure 12 is five of the structural scheme of mechanism of the control device of binocular camera in the embodiment of the present invention three.
Specific embodiment
In order that those skilled in the art more fully understand the technical scheme in the present invention, below in conjunction with of the invention real The accompanying drawing in example is applied, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described enforcement Example is only a part of embodiment of the invention, rather than the embodiment of whole.Based on the embodiment in the present invention, this area is common The every other embodiment that technical staff is obtained under the premise of creative work is not made, should all belong to protection of the present invention Scope.
Embodiment one
It is the structure chart of the binocular camera provided in the embodiment of the present invention referring to Fig. 2A, the binocular camera includes a left side Mesh camera 1, right mesh camera 2 and rigid connection structure 3, the wherein rigid connection structure 3 include a slide rail 31, left mesh camera 1 It is fixed on the slide rail 31 by its head respectively with right mesh camera 2.For example pass through screw by left mesh camera 1 and right mesh camera 3 are fixed on the slide rail 31.
In another embodiment, aforementioned slide rail 31 can also be replaced with draw-in groove 32 as shown in Figure 2 B.
Preferably, to guarantee the quality of the image that the shooting of left mesh camera and right mesh camera is obtained, in the embodiment of the present invention, Left mesh camera and right mesh camera are hardware configuration identical camera, the camera of the same model of e.g. same producer.
Preferably, it is further to meet different application scenarios to identification distance and the demand of accuracy of identification, the present invention is real The camera of left mesh camera and right mesh camera for changeable-lens of example offer is applied, i.e., binocular camera provided in an embodiment of the present invention can Flexibly to change the camera lens of different resolution and different focal, to meet the demand of different application scene.
Technical solution of the present invention a, on the one hand, left side can be adjusted by adjusting the distance between left mesh camera and right mesh camera Parallax range between mesh camera and right mesh camera, can according to the actual requirements be adjusted flexibly the parallax range of binocular camera, from And realize remote range finding;On the other hand, left mesh camera and right mesh camera can flexibly change different resolution and different focal Camera lens, meet different application scenarios.
Embodiment two
Referring to Fig. 3, a kind of flow chart of the control method of the binocular camera provided for the embodiment of the present invention, the method Including:
Step S301, control constitute the left mesh camera and right mesh camera of binocular camera and same target object are clapped Take the photograph, obtain left mesh image and right mesh image;Wherein, the left mesh camera is adjustable with the distance between right mesh camera.
(i.e. Blue leads to the channel B of step S302, the R passages (i.e. Red passages) for extracting the left mesh image and right mesh image Road), and the R passages and the channel B are overlapped.
Step S303, judge target object that the R passages and channel B show respectively in vertical and horizontal whether counterpoise It is folded, if then execution step S304, if otherwise execution step S305.
Step S304, determine that the left mesh camera is parallel with the optical axis of right mesh camera.
Step S305, the position for indicating the adjustment left mesh camera and right mesh camera, and repeat abovementioned steps S301~step Rapid S303, until the left mesh camera it is parallel with the optical axis of right mesh camera.
Preferably, in the embodiment of the present invention, left mesh camera and right mesh camera are fixed on respectively the knot that is rigidly connected by head In the slide rail or draw-in groove of structure, will pass through adjustment the distance between left mesh camera and right mesh camera the base of binocular camera is adjusted Linear distance.Therefore, the embodiment of the present invention may also include following step the step of the method flow shown in aforementioned Fig. 3 before S301 Suddenly, as shown in Figure 4:
Step S300A, reception carry the position adjustment instruction of target baseline distance;
The position of step S300B, calculating in the adjustment left mesh camera and right mesh camera respectively in the slide rail or draw-in groove The parallax range of the left mesh camera and right mesh camera after putting;
Whether step S300C, the parallax range for judging the left mesh camera and right mesh camera and target baseline distance It is identical, indicate to continue to adjust position in the slide rail or draw-in groove of the left mesh camera and right mesh camera and hold if differing Row step S300B, until the left mesh camera and right mesh camera parallax range with the target baseline apart from identical.
Preferably, it is to adapt to the identification distance to video camera and the requirement of accuracy of identification under different scenes, the present invention is implemented Example, can also realize flexibly changing the camera lens of left mesh camera and right mesh camera, to adapt to different application scenarios.Can be with S306A~step S306C is comprised the following steps in the method flow shown in aforementioned Fig. 3 and Fig. 4.Wherein step S306A~step Rapid S306C can be before step 300A, can be with before step 301, it is also possible to after the step 304, is illustrated in figure 5 Step S306A~step S306C can also be included in the method flow shown in Fig. 3, wherein:
Step 306A, reception include the shooting request of identification distance and accuracy of identification;
Step 306B, selection resolution ratio and focal length meet the target camera lens of the identification distance and accuracy of identification;
The left mesh camera and right mesh camera lens are substituted for the target camera lens by step 306C, instruction.
Preferably, to guarantee the synchronism of left mesh camera and right mesh image shot by camera, the embodiment of the present invention can with In method flow shown in aforementioned Fig. 3, Fig. 4 and Fig. 5, further comprising the steps of S307, as shown in fig. 6, shown in aforementioned Fig. 3 Also include step S307 in method flow:
Step S307, carry time for exposure, yield value and Bai Ping while sending to the left mesh camera and right mesh camera The shooting instruction of weighing apparatus value.
In the embodiment of the present invention, same can be sent to left mesh camera and right mesh camera simultaneously and shoot instruction, that is, be sent To camera parameter (i.e. time for exposure, the yield value and white balance value) phase that the shooting instruction of left mesh camera and right mesh camera is carried Together.Can also simultaneously to the shooting instruction that left mesh camera is different with right mesh camera transmission, that is, the shooting for being sent to left mesh camera refers to Make different with the camera parameter for being sent to carrying in the shooting instruction of right mesh camera.
Preferably, in some application-specific scenes, such as automatic Pilot passes through binocular camera in vehicle travel process Shot, because surrounding enviroment differ greatly in shooting process, shot using the camera parameter of unified standard so that no The picture quality difference shot with environment is larger, therefore, the embodiment of the present invention in shooting process, can be according to previous frame image Brightness adjustment camera shoots the camera parameter of next two field picture, to adapt to different environment, picture quality is improved on the whole.Cause This, the embodiment of the present invention, can with can also comprise the following steps in the method flow shown in Fig. 3, Fig. 4 and Fig. 5 S307~ Step S309, as shown in fig. 7, also include step S307~step S rapid 309 on the basis of Fig. 3, wherein:
Step S308, the reception left mesh camera and right mesh camera shoot the first left mesh that instruction shoots according to described respectively Image and the first right mesh image;
Step S309, the first brightness and the first right mesh figure that the first left mesh image is calculated using preset state modulator algorithm Second brightness of picture, and left mesh camera, right mesh camera shoot next according to first brightness and the second brightness calculation Time for exposure of image, yield value and white balance value, triggering abovementioned steps S307 are simultaneously to the left mesh camera and right mesh camera Transmission carries the shooting instruction of time for exposure, yield value and white balance value, to shoot next image.
In the embodiment of the present invention, abovementioned steps S308 are implemented may include but be not limited only in the following manner realization:
Mode 1, the left mesh camera according to the first brightness calculation of the described first left mesh image shoot next image Time for exposure, yield value and white balance value;And, the right mesh camera according to the second brightness calculation of the described first right mesh image Shoot time for exposure, yield value and the white balance value of next image.Now, in abovementioned steps S307, while being sent to left mesh Different camera parameters are carried in the shooting instruction of camera and right mesh camera, i.e., left mesh camera and right mesh camera shoot next figure As the camera parameter for being adopted is different, for example, left mesh camera is using time for exposure, the yield value obtained according to the first brightness calculation And white balance value, right mesh camera is using time for exposure, yield value and the white balance value obtained according to the second brightness calculation.
Mode 2, the mean value for calculating first brightness and the second brightness, obtain object brightness;It is bright according to the target Degree calculates the left mesh camera and right mesh camera shoots time for exposure, yield value and the white balance value of next image.Now, it is front In stating step S307, while to the left mesh camera and right mesh camera send identical shooting instruction, i.e., left mesh camera and right mesh camera Shoot time for exposure, yield value that next image adopted identical with white balance value.
Embodiment three
It is a kind of control device of binocular camera that the embodiment of the present invention three is provided referring to Fig. 8, the device includes:
Control unit 81, the left mesh camera and right mesh camera for constituting binocular camera for control enters to same target object Row shoots, and obtains left mesh image and right mesh image;Wherein described left mesh camera is adjustable with the distance between right mesh camera;
Extraction unit 82, for extracting the R passages of the left mesh image and the channel B of right mesh image, and by the R passages It is overlapped with the channel B;
Judging unit 83, for judging target object that the R passages and channel B show respectively in vertical and horizontal whether Overlap, if then triggering determining unit 84, if otherwise triggering the first indicating member 85;
Determining unit 84, it is parallel with the optical axis of right mesh camera for determining the left mesh camera;
First indicating member 85, for indicating to adjust the position of the left mesh camera and right mesh camera, and triggers the control Unit processed 81.
Preferably, in the embodiment of the present invention, left mesh camera and right mesh camera are fixed on respectively the knot that is rigidly connected by head In the slide rail or draw-in groove of structure, will pass through adjustment the distance between left mesh camera and right mesh camera the base of binocular camera is adjusted Linear distance.The left mesh camera and right mesh camera are fixed in the slide rail of rigid connection structure or draw-in groove respectively by head;Institute Stating device also includes the first receiving unit 80A, the first computing unit 80B, the second judging unit 80C and the second indicating member 80D, As shown in Figure 9:
First receiving unit 80A, for receiving the position adjustment for carrying target baseline distance instruction;
First computing unit 80B, for calculate adjust the left mesh camera and right mesh camera respectively in the slide rail or The parallax range of the left mesh camera and right mesh camera after position in draw-in groove;
Second judging unit 80C, for judging the parallax range and the target base of the left mesh camera and right mesh camera Whether linear distance is identical, and the second indicating member 80D is triggered if differing;Control unit of setting out if identical 81;
Second indicating member 80D, for indicating to continue to adjust the left mesh camera and right mesh camera in the slide rail or card Position in groove, and trigger the first computing unit 80B.
Preferably, it is to adapt to the identification distance to video camera and the requirement of accuracy of identification under different scenes, the present invention is implemented Example, can also realize flexibly changing the camera lens of left mesh camera and right mesh camera, to adapt to different application scenarios.This In bright embodiment, can with the device shown in aforementioned Fig. 8 and Fig. 9 comprising the second receiving unit 86A, choose unit 86B and the Three indicating member 86C, as shown in Figure 10 to include aforementioned three units in fig. 8, wherein:
Second receiving unit 86A, for receiving the shooting for including identification distance and accuracy of identification request;
Unit 86B is chosen, for choosing resolution ratio and focal length the target camera lens of the identification distance and accuracy of identification is met;
3rd indicating member 86C, for indicating for the left mesh camera and right mesh camera lens to be substituted for the target mirror Head.
Preferably, to guarantee the synchronism of left mesh camera and right mesh image shot by camera, in aforementioned Fig. 8~Figure 10, may be used also Including transmitting element 87, as shown in figure 11, transmitting element 87 is also included in fig. 8, wherein:
Transmitting element 87, for sending to the left mesh camera and right mesh camera simultaneously time for exposure, yield value are carried Shooting with white balance value is instructed.
In the embodiment of the present invention, transmitting element 87 can send same and shoot to left mesh camera and right mesh camera simultaneously Instruction, that is, be sent to camera parameter that the shooting instruction of left mesh camera and right mesh camera carries (i.e. time for exposure, yield value and white Equilibrium valve) it is identical.Left mesh camera can also be sent to simultaneously to the shooting instruction that left mesh camera is different with right mesh camera transmission Shooting instruction be sent to right mesh camera shooting instruction in carry camera parameter it is different.
Preferably, in some application-specific scenes, such as automatic Pilot passes through binocular camera in vehicle travel process Shot, because surrounding enviroment differ greatly in shooting process, shot using the camera parameter of unified standard so that no The picture quality difference shot with environment is larger, therefore, the embodiment of the present invention in shooting process, can be according to previous frame image Brightness adjustment camera shoots the camera parameter of next two field picture, to adapt to different environment, picture quality is improved on the whole.It is aforementioned In Fig. 8~Figure 10, transmitting element 87, the 3rd receiving unit 88 and the second computing unit 89 are may also include, as shown in figure 12, in figure Said units are also included in 8, wherein:
3rd receiving unit 88, instruction shooting is shot for receiving the left mesh camera and right mesh camera according to described respectively The first left mesh image and the first right mesh image;
Second computing unit 89, for calculated using preset state modulator algorithm the first left mesh image the first brightness and Second brightness of the first right mesh image, and left mesh camera, right mesh camera according to first brightness and the second brightness calculation Time for exposure, yield value and the white balance value of next image are shot, and triggers the transmitting element 87.
In the embodiment of the present invention, the second computing unit 89 is implemented may include but be not limited only in the following manner realization:
Mode 1, the left mesh camera according to the first brightness calculation of the described first left mesh image shoot next image Time for exposure, yield value and white balance value;And, the right mesh camera according to the second brightness calculation of the described first right mesh image Shoot time for exposure, yield value and the white balance value of next image.Now, aforementioned transmitting element 87, while being sent to left mesh Different camera parameters are carried in the shooting instruction of camera and right mesh camera, i.e., left mesh camera and right mesh camera shoot next figure As the camera parameter for being adopted is different, for example, left mesh camera is using time for exposure, the yield value obtained according to the first brightness calculation And white balance value, right mesh camera is using time for exposure, yield value and the white balance value obtained according to the second brightness calculation.
Mode 2, the mean value for calculating first brightness and the second brightness, obtain object brightness;It is bright according to the target Degree calculates the left mesh camera and right mesh camera shoots time for exposure, yield value and the white balance value of next image.Now, it is front Transmitting element 87 is stated, while to the left mesh camera and right mesh camera send identical shooting instruction, i.e., left mesh camera and right mesh camera Shoot time for exposure, yield value that next image adopted identical with white balance value.
Binocular camera control method provided in an embodiment of the present invention and device, on the one hand, can be by the left mesh camera of adjustment And the distance between right mesh camera is adjusting the parallax range between left mesh camera and right mesh camera, can be flexible according to the actual requirements The parallax range of adjustment binocular camera, so as to realize remote range finding;On the other hand, technical solution of the present invention also can adjust a left side Mesh camera is parallel with the optical axis of right mesh camera, to improve the matter that binocular camera shoots the left mesh image and right mesh image for obtaining Amount;Another further aspect, left mesh camera and right mesh camera can flexibly change the camera lens of different resolution and different focal, meet different Application scenarios.
It is more than the core concept of the present invention, in order that those skilled in the art are more fully understood in the embodiment of the present invention Technical scheme, and it is understandable the above-mentioned purpose of the embodiment of the present invention, feature and advantage is become apparent from, below in conjunction with the accompanying drawings Technical scheme in the embodiment of the present invention is described in further detail.
Obviously, those skilled in the art can carry out the essence of various changes and modification without deviating from the present invention to the present invention God and scope.So, if these modifications of the present invention and modification belong to the scope of the claims in the present invention and its equivalent technologies Within, then the present invention is also intended to comprising these changes and modification.

Claims (11)

1. a kind of control method of binocular camera, it is characterised in that include:
Control constitutes the left mesh camera and right mesh camera of binocular camera and same target object is shot, and obtains left mesh image With right mesh image;Wherein, the left mesh camera is adjustable with the distance between right mesh camera;
The R passages of the left mesh image and the channel B of right mesh image are extracted, and the R passages and the channel B are folded Plus;
Judge whether the target object that the R passages and channel B show respectively overlaps in vertical and horizontal;
If, it is determined that the left mesh camera is parallel with the optical axis of right mesh camera;
If not, it indicates that adjust the position of the left mesh camera and right mesh camera, and repeat abovementioned steps, until the left mesh phase Machine is parallel with the optical axis of right mesh camera.
2. method according to claim 1, it is characterised in that the left mesh camera and right mesh camera are solid by head respectively In being scheduled on the slide rail of rigid connection structure or draw-in groove;
Methods described also includes:
Reception carries the position adjustment instruction of target baseline distance;
Calculate the left mesh after the left mesh camera and right mesh camera position respectively in the slide rail or draw-in groove is adjusted The parallax range of camera and right mesh camera;
Judge whether the parallax range of the left mesh camera and right mesh camera is identical with target baseline distance, if differing Indicate to continue to adjust position in the slide rail or draw-in groove of the left mesh camera and right mesh camera, until the left mesh camera and The parallax range of right mesh camera is with the target baseline apart from identical.
3. method according to claim 1, it is characterised in that also include:
Reception includes the shooting request of identification distance and accuracy of identification;
Choose resolution ratio and focal length meets the target camera lens of the identification distance and accuracy of identification;
The left mesh camera and right mesh camera lens are substituted for the target camera lens by instruction.
4. the method according to any one of claims 1 to 3, it is characterised in that methods described also includes:
The shooting for carrying time for exposure, yield value and white balance value to the left mesh camera and the transmission of right mesh camera simultaneously refers to Order.
5. method according to claim 4, it is characterised in that also include:
Receive the left mesh camera and right mesh camera is right according to the first left mesh image for shooting instruction shooting and first respectively Mesh image;
The first brightness of the first left mesh image and the second brightness of the first right mesh image are calculated using preset state modulator algorithm, And left mesh camera, right mesh camera according to first brightness and the second brightness calculation is when shooting the exposure of next image Between, yield value and white balance value.
6. a kind of control device of binocular camera, it is characterised in that include:
Control unit, the left mesh camera and right mesh camera for constituting binocular camera for control is clapped same target object Take the photograph, obtain left mesh image and right mesh image;Wherein described left mesh camera is adjustable with the distance between right mesh camera;
Extraction unit, for extracting the R passages of the left mesh image and the channel B of right mesh image, and by R passages and described Channel B is overlapped;
Judging unit, for judging target object that the R passages and channel B show respectively in vertical and horizontal whether counterpoise It is folded, if then triggering determining unit, if otherwise triggering the first indicating member;
Determining unit, it is parallel with the optical axis of right mesh camera for determining the left mesh camera;
First indicating member, for indicating to adjust the position of the left mesh camera and right mesh camera, and triggers described control unit.
7. device according to claim 6, it is characterised in that the left mesh camera and right mesh camera are solid by head respectively In being scheduled on the slide rail of rigid connection structure or draw-in groove;
Described device also includes:
First receiving unit, for receiving the position adjustment for carrying target baseline distance instruction;
First computing unit, the left mesh camera and right mesh camera are being adjusted respectively in the slide rail or draw-in groove for calculating The parallax range of the left mesh camera and right mesh camera after position;
Second judging unit, for judging that the parallax range of the left mesh camera and right mesh camera is with the target baseline distance It is no identical, the second indicating member is triggered if differing;
Second indicating member, for indicating to continue to adjust the position of the left mesh camera and right mesh camera in the slide rail or draw-in groove Put, and trigger the first computing unit.
8. device according to claim 6, it is characterised in that also include:
Second receiving unit, for receiving the shooting for including identification distance and accuracy of identification request;
Unit is chosen, for choosing resolution ratio and focal length the target camera lens of the identification distance and accuracy of identification is met;
3rd indicating member, for indicating for the left mesh camera and right mesh camera lens to be substituted for the target camera lens.
9. the device according to any one of claim 6~8, it is characterised in that also include:
Transmitting element, for sending to the left mesh camera and right mesh camera simultaneously time for exposure, yield value and Bai Ping are carried The shooting instruction of weighing apparatus value.
10. device according to claim 9, it is characterised in that described device also includes:
3rd receiving unit, instruction shoots first is shot for receiving the left mesh camera and right mesh camera according to described respectively Left mesh image and the first right mesh image;
Second computing unit, the first brightness and first for calculating the first left mesh image using preset state modulator algorithm is right Second brightness of mesh image, and under left mesh camera, right mesh camera shoot according to first brightness and the second brightness calculation Time for exposure of one image, yield value and white balance value, and trigger the transmitting element.
11. a kind of binocular cameras, it is characterised in that including left mesh camera, right mesh camera and include the firm of slide rail or draw-in groove Property attachment structure, wherein:
The left mesh camera is fixed in the slide rail of the rigid connection structure or draw-in groove by its head;
The right mesh camera is fixed in the slide rail of the rigid connection structure or draw-in groove by its head.
CN201710108909.2A 2017-02-27 2017-02-27 Control method and device of binocular camera and binocular camera Active CN106657974B (en)

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US11158088B2 (en) 2017-09-11 2021-10-26 Tusimple, Inc. Vanishing point computation and online alignment system and method for image guided stereo camera optical axes alignment

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