CN106931879A - A kind of binocular error measurement method, apparatus and system - Google Patents
A kind of binocular error measurement method, apparatus and system Download PDFInfo
- Publication number
- CN106931879A CN106931879A CN201710057089.9A CN201710057089A CN106931879A CN 106931879 A CN106931879 A CN 106931879A CN 201710057089 A CN201710057089 A CN 201710057089A CN 106931879 A CN106931879 A CN 106931879A
- Authority
- CN
- China
- Prior art keywords
- binocular
- positional information
- range finder
- laser range
- target object
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses binocular error measurement method, apparatus and system, method includes：Determine reference frame, calculate first spatial positional information of the laser range finder under reference frame；Target object spatial positional information is calculated according to binocular module to be tested, second space positional information of the target object spatial positional information under reference frame is calculated；Calculate the first distance value of target object that binocular module testing to be tested obtains and laser range finder；The target object and the second distance value of laser range finder measured using laser range finder, and the first distance value, are calculated binocular error；The distance for obtaining is tested as the true value of binocular module using laser range finder, hardware cost is greatly reduced, installation steps are simplified；Binocular module, laser range finder and target object are transformed into reference frame, the error produced in installation process is eliminated, the precision of binocular error measure is improve.
Description
Technical field
The present invention relates to error measurement technology field, more particularly to a kind of binocular error measurement method, apparatus and system.
Background technology
With the fast development of computer theory, technology and application, Computer Vision and computing capability have been obtained greatly
Raising so that computer vision becomes one of most popular research topic in computer realm and artificial intelligence field.Its
In, binocular stereo vision is one of the important branch in computer vision research field, and it is by directly simulating human visual system
Mode perceive objective world, can be widely applied for the pose Detection ＆ Controling of micro OS, robot navigation and aerial survey,
The field such as three-dimensional non-cpntact measurement and virtual reality.The extensive use of binocular stereo vision, the control to its precision is also all the more tight
Lattice, this needs exist for the binocular error measuring system of complete set to measure the error of binocular.
Mechanical arm or vicon systematic survey binocular errors can be used at present；Wherein, missed using mechanical arm measure binocular
Difference, although certainty of measurement is high, but mechanical arm is expensive.Using vicon systematic survey binocular errors, although to a certain degree
On control cost, but vicon systems itself there is also error, while it is complicated to build vicon systematic comparisons, be unfavorable for that binocular is missed
Difference measurements.Therefore, existing binocular error measurement method is difficult to meet the demand of users.
The content of the invention
It is an object of the invention to provide a kind of binocular error measurement method, apparatus and system, greatly reduce hardware into
This, simplifies installation steps, eliminates the error produced in installation process, improves the precision of binocular error measure.
In order to solve the above technical problems, the present invention provides a kind of binocular error measurement method, including：
Determine reference frame, and calculate first spatial positional information of the laser range finder under the reference frame；
Target object spatial positional information is calculated according to binocular module to be tested, the target object space bit confidence is calculated
Cease the second space positional information under the reference frame；
According to first spatial positional information and the second space positional information, the binocular module to be tested is calculated
Test the first distance value of the target object and laser range finder for obtaining；
The second distance value of the target object and the laser range finder that are measured using the laser range finder, and
First distance value, is calculated binocular error.
Optionally, first spatial positional information of the laser range finder under the reference frame is calculated, including：
Three spatial positional informations of target location are calculated according to binocular module to be tested, three target locations are calculated
Spatial positional information (x of the spatial positional information under the reference frame1,y1,z1), (x2,y2,z2), (x3,y3,z3)；
The distance value l of three target locations and the laser range finder that are measured using the laser range finder1, l2,
l3；
According to formulaThe laser range finder is calculated described with reference to seat
The first spatial positional information (x under mark system0,y0,z0)。
Optionally, according to first spatial positional information and the second space positional information, calculate described to be tested
First distance value of the target object that binocular module testing is obtained and the laser range finder, including：
According to the first spatial positional information (x0,y0,z0) and the second space positional information (x, y, z), utilizeCalculate target object that the binocular module testing to be tested obtains with it is described
First distance value d of laser range finder1。
Optionally, when n target object spatial positional information is calculated according to binocular module to be tested, the object is calculated
During n second space positional information of the body spatial positional information under the reference frame, the laser range finder is being utilized
The target object of measurement and the second distance value of the laser range finder, and first distance value, are calculated double
Mesh error, including：
Using formulaCalculate binocular mean absolute error Δ；
Using formulaCalculate binocular average relative error δ；
Wherein, d2It is second distance value, d1jIt is j-th first distance values.
The present invention also provides a kind of binocular error measuring means, including：
Coordinate system module, for determining reference frame, and calculates of laser range finder under the reference frame
One spatial positional information；Target object spatial positional information is calculated according to binocular module to be tested, the target object is calculated empty
Between second space positional information of the positional information under the reference frame；
Error analysis module, for according to first spatial positional information and the second space positional information, calculating
First distance value of the target object that the binocular module testing to be tested is obtained and the laser range finder；Using the laser
The target object of stadia surveying and the second distance value of the laser range finder, and first distance value, calculate
Obtain binocular error.
Optionally, the coordinate system module, including：
First computing unit, for being calculated three space bit confidences of target location according to binocular module to be tested
Breath, calculates spatial positional information (x of three spatial positional informations of target location under the reference frame1,y1,z1),
(x2,y2,z2), (x3,y3,z3)；
Second computing unit, for three target locations using laser range finder measurement and the Laser Measuring
The distance value l of distance meter1, l2, l3；According to formulaCalculate the laser range finder
The first spatial positional information (x under the reference frame0,y0,z0)。
Optionally, the error analysis module, including：
First distance value computing unit, for according to the first spatial positional information (x0,y0,z0) and second sky
Between positional information (x, y, z), utilizeThe binocular module to be tested is calculated to survey
Try the first distance value d of the target object and laser range finder for obtaining1。
Optionally, when n target object spatial positional information is calculated according to binocular module to be tested, the object is calculated
During n second space positional information of the body spatial positional information under the reference frame, the error analysis module, bag
Include：
3rd computing unit, for utilizing formulaCalculate binocular mean absolute error Δ；
4th computing unit, for utilizing formulaCalculate binocular average relative error δ；
Wherein, d2It is second distance value, d1jIt is j-th first distance values.
The present invention also provides a kind of binocular error measuring system, including：
Binocular module to be tested, for calculating target object spatial positional information using depth algorithm；
Laser range finder, for the distance value of target object and the laser range finder；
Coordinate system module, for determining reference frame, and calculates the laser range finder under the reference frame
The first spatial positional information；Target object spatial positional information is calculated according to binocular module to be tested, the object is calculated
Second space positional information of the body spatial positional information under the reference frame；
Error analysis module, for according to first spatial positional information and the second space positional information, calculating
First distance value of the target object that the binocular module testing to be tested is obtained and the laser range finder；Using the laser
The target object of stadia surveying and the second distance value of the laser range finder, and first distance value, calculate
Obtain binocular error.
Optionally, the program also includes：
Fixed support, for fixing the binocular module to be tested and the laser range finder.
A kind of binocular error measurement method provided by the present invention, including：Determine reference frame, calculate laser range finder
The first spatial positional information under reference frame；Target object spatial positional information is calculated according to binocular module to be tested,
Calculate second space positional information of the target object spatial positional information under reference frame；Binocular module to be tested is calculated to survey
Target object and the first distance value of laser range finder that examination is obtained；The target object and Laser Measuring measured using laser range finder
The second distance value of distance meter, and the first distance value, are calculated binocular error；
It can be seen that, the method tests the distance for obtaining using laser range finder as the true value of binocular module, greatly reduces
Hardware cost, simplifies installation steps；Binocular module, laser range finder and target object are transformed into reference frame,
The error produced in installation process is eliminated, the precision of binocular error measure is improve.A kind of binocular that the present invention is also provided is missed
Difference measuring device and system, with above-mentioned beneficial effect, will not be repeated here.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Inventive embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
The accompanying drawing of offer obtains other accompanying drawings.
The flow chart of the binocular error measurement method that Fig. 1 is provided by the embodiment of the present invention；
The reference frame model schematic that Fig. 2 is provided by the embodiment of the present invention；
The schematic flow sheet of a kind of specific binocular error measurement method that Fig. 3 is provided by the embodiment of the present invention；
The binocular error measuring system structural representation that Fig. 4 is provided by the embodiment of the present invention；
The structured flowchart of the binocular error measuring means that Fig. 5 is provided by the embodiment of the present invention；
The structural representation of the binocular error measuring system that Fig. 6 is provided by the embodiment of the present invention.
Specific embodiment
Core of the invention is to provide a kind of binocular error measurement method, apparatus and system, greatly reduce hardware into
This, simplifies installation steps, eliminates the error produced in installation process, improves the precision of binocular error measure.
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
A part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
Refer to Fig. 1, the flow chart of the binocular error measurement method that Fig. 1 is provided by the embodiment of the present invention；The method can
To include：
S100, determine reference frame, and calculate first spatial positional information of the laser range finder under reference frame；
Specifically, selection one reference frame, by by binocular module (binocular module i.e. to be tested) to be tested, swash
Optar is transformed into reference frame with target object, eliminates the error produced in installation process, improves binocular mistake
The precision of difference measurements.The present embodiment does not limit the selection of reference frame.For example can using the left camera of binocular module as
Reference frame, or the right camera of binocular module is used as foundation reference centered on other points in reference frame, or space
Coordinate system.
After selected reference frame, first spatial positional information of the laser range finder under reference frame is calculated,
That is coordinate of the laser range finder under reference frame；The space bit of target object is so calculated in binocular module to be tested
Confidence cease when, after the spatial positional information being transformed into same reference frame, it is possible to calculate the target object with
The distance of laser range finder.And laser range finder can also be measured and obtain its own distance with target object.By the two away from
From being compared the accuracy that can be obtained by the binocular module to be measured.
Here the reason for distance for laser range finder measurement being obtained is as true value is as follows, first laser range finder measurement away from
(because laser direction is fine) high from accuracy, secondly, using generally, its hardware cost is low, and laser testing for laser range finder
Instrument installs very convenient, simplifies installation steps.
In the present embodiment after laser range finder and binocular module position to be tested is secured, you can with by reference to coordinate
System-computed goes out the relative position of binocular module to be tested and laser range finder.
The present embodiment does not limit conversion regime between specific coordinate, can provide a kind of accurate by space bit confidence here
Breath is converted into the mode under reference frame：
First, in selecting system certain position as reference frame.The signal of coordinate system is made for convenience
Figure, as shown in Figure 2.In figure, the left camera of binocular module is chosen as reference frame.
Laser range finder M is transformed into reference frame, and calculates positions of the M relative to binocular module to be tested,
It is assumed to be (x0,y0,z0).When being less than 0.7m due to the distance of binocular module to be tested and target object, its error can be ignored not
Meter.Therefore, in order to calculate (x0,y0,z0), it is necessary to by the distance controlling of binocular module and target object within 0.70m.
Open laser range finder so that laser range finder and binocular module testing to be tested to same impact point.Meanwhile,
Record data l of the impact point i.e. target object in laser range finder1, the data (x in binocular module1,y1,z1).Due to M
Coordinate have three unknown numbers, it is therefore desirable to variation targets point, record multi-group data, and then solve (x0,y0,z0).Specifically ask
Solution formula is as follows.
Wherein, due to there are 3 unknown numbers, therefore k (>=3) represents testing time.Can be obtained by solving above-mentioned formula
To optimal solution (x0,y0,z0), i.e., M is in o-xmymzmIn coordinate.
I.e. preferred, calculating first spatial positional information of the laser range finder under reference frame can include：
Three spatial positional informations of target location are calculated according to binocular module to be tested, three target locations are calculated
Spatial positional information (x of the spatial positional information under reference frame1,y1,z1), (x2,y2,z2), (x3,y3,z3)；
Three target locations measured using laser range finder and the distance value l of laser range finder1, l2, l3；
According to formulaCalculate the of laser range finder under reference frame
One spatial positional information (x0,y0,z0)。
S110, target object spatial positional information is calculated according to binocular module to be tested, calculate target object locus
Second space positional information of the information under reference frame；
Specifically, binocular module to be tested calculates the locus (x', y', z') of target object, by the locus
It is transformed into reference frame, obtains (x, y, z).
S120, according to the first spatial positional information and second space positional information, calculate binocular module testing to be tested and obtain
The target object and the first distance value of laser range finder for arriving；
Specifically, according to the first spatial positional information (x0,y0,z0) and second space positional information (x, y, z), utilizeCalculate target object and laser ranging that binocular module testing to be tested is obtained
First distance value d of instrument1。
S130, using laser range finder measure target object and laser range finder second distance value, and first away from
From value, binocular error is calculated.
Specifically, laser range finder test obtain target object apart from d2.By d2, d1Binocular module to be tested can be tried to achieve
The binocular error of single measurement.The present embodiment is not defined to specific bimodulus error.For example here binocular error can be with
Including absolute error and relative error.Fig. 3 is specifically refer to,
Further after same position measurement n times, just can calculate the mean absolute error of binocular module to be tested with
Average relative error.It is i.e. preferred, when n target object spatial positional information is calculated according to binocular module to be tested, calculate mesh
When marking n second space positional information of the object space positional information under reference frame, using laser range finder measurement
Target object and laser range finder second distance value, and the first distance value is calculated binocular error, including：
Using formulaCalculate binocular mean absolute error Δ；
Using formulaCalculate binocular average relative error δ；
Wherein, d2It is second distance value, d1jIt is j-th first distance values.That is n represents the object in same position test
The number of times of body, d1jRepresent the corresponding distance of j-th impact point that binocular test is obtained, d2Represent laser range finder obtain away from
From.
In order to further improve the precision of binocular module error monitoring to be tested, the position that can also change target object is entered
Row is detected again.Fig. 3 is specifically refer to, coordinates of the laser range finder M under reference frame is calculated first, then according to by treating
Target object obtained from the target object spatial positional information that binocular module is obtained to the distance of laser range finder is tested, and will
The distance that the distance and laser range finder are obtained itself carries out error calculation, judges whether to the n error calculation of position, if
It is to terminate, if not then changing the distance between target object and laser range finder by changing the position of fixed support 3.
Here fixed support 3 can be any one support, if can by change its position so that change target object with
The distance between laser range finder.
Based on above-mentioned technical proposal, the binocular error measurement method that the embodiment of the present invention is carried is tested using laser range finder
The distance for obtaining greatly reduces hardware cost as the true value of binocular module, simplifies installation steps；By binocular module,
Laser range finder is transformed into reference frame with target object, eliminates the error produced in installation process, improves binocular
The precision of error measure.
Binocular error measuring means provided in an embodiment of the present invention and system are introduced below, binocular described below
Error measuring means and system can be mutually to should refer to above-described binocular error measurement method.
Refer to Fig. 5, the structured flowchart of the binocular error measuring means that Fig. 5 is provided by the embodiment of the present invention；The device
Can include：
Coordinate system module 100, for determining reference frame, and calculates first of laser range finder under reference frame
Spatial positional information；Target object spatial positional information is calculated according to binocular module to be tested, target object locus is calculated
Second space positional information of the information under reference frame；
Error analysis module 200, for according to the first spatial positional information and second space positional information, calculating to be tested
Target object and the first distance value of laser range finder that binocular module testing is obtained；The object measured using laser range finder
The second distance value of body and laser range finder, and the first distance value, are calculated binocular error.
Based on above-described embodiment, coordinate system module 100 can include：
First computing unit, for being calculated three space bit confidences of target location according to binocular module to be tested
Breath, calculates spatial positional information (x of three spatial positional informations of target location under reference frame1,y1,z1), (x2,y2,
z2), (x3,y3,z3)；
Second computing unit, for three target locations using laser range finder measurement and the distance value of laser range finder
l1, l2, l3；According to formulaCalculating laser range finder is under reference frame
First spatial positional information (x0,y0,z0)。
Based on above-described embodiment, error analysis module 200 includes：
First distance value computing unit, for according to the first spatial positional information (x0,y0,z0) and second space position letter
Breath (x, y, z), utilizesCalculate the target that binocular module testing to be tested is obtained
First distance value d of object and laser range finder1。
Based on above-described embodiment, when n target object spatial positional information is calculated according to binocular module to be tested, mesh is calculated
When marking n second space positional information of the object space positional information under reference frame, error analysis module 200 includes：
3rd computing unit, for utilizing formulaCalculate binocular mean absolute error Δ；
4th computing unit, for utilizing formulaCalculate binocular average relative error δ；
Wherein, d2It is second distance value, d1jIt is j-th first distance values.
The embodiment of the present invention also provides a kind of binocular error measuring system, including：
Binocular module to be tested, for calculating target object spatial positional information using depth algorithm；
Laser range finder, for target object and the distance value of laser range finder；
Coordinate system module, for determining reference frame, and calculates first sky of the laser range finder under reference frame
Between positional information；Target object spatial positional information is calculated according to binocular module to be tested, target object space bit confidence is calculated
Cease the second space positional information under reference frame；
Error analysis module, it is to be tested double for according to the first spatial positional information and second space positional information, calculating
Target object and the first distance value of laser range finder that mesh module testing is obtained；The target object measured using laser range finder
With the second distance value of laser range finder, and the first distance value, binocular error is calculated.
Specifically, the system can reduce the hardware cost of binocular error measuring system, the flexibility of test system is improved.
Binocular module to be tested includes depth test algorithm, can test target object and the information such as three-dimensional space position.Laser Measuring
Distance meter is mainly used in test object distance, and the error tested as true value, measurement binocular depth using this distance.Coordinate system module
It is mainly used in the relativeness of binocular module to be tested, target object and laser range finder in determination system.Error analysis module
Error mainly to binocular module is analyzed, and the distance that laser range finder is obtained is obtained as true value with binocular module testing
To distance be compared, analyze the error of binocular module.
Based on above-described embodiment, in order to ensure measuring accuracy, in addition it is also necessary to by laser range finder, binocular module to be tested etc. is all
It is fixed.Therefore also system also includes：
Fixed support, for fixing binocular module to be tested and laser range finder.To reduce systematic error.Mesh in system
Mark object can be target detection plate.
Fig. 6 is specifically refer to, its installation process can be as follows：
1st, fixed support 2 is lain in a horizontal plane on floor；
2nd, fixed support 1 and fixed support 3 are vertically mounted on fixed support 2, wherein fixed support 2 and fixed support
3 fixing point P can change；
3rd, by target detection plate on fixed support 1；
4th, fixed platform (fixed platform is regular square) is vertically mounted on fixed support 3；
The 5th, laser range finder is arranged on the side of fixed platform, binocular module is arranged on opposite side；
6th, error analysis module etc. may be mounted at PC ends, is not given in figure.
Ensure that the light-emitting area of laser range finder is parallel with the leading edge of fixed platform in installation process, binocular module and fixation
Platform is vertical and parallel with leading edge.To reduce systematic error.
Fig. 4 is specifically refer to, the origin in figure with the left camera center of binocular module to be tested as reference frame is sat
Mark system x/y plane is parallel with fixed platform, and M represents laser range finder, and N represents test target object i.e. target object, laser ranging
The distance that instrument test obtains N is d2, the N being calculated is to laser range finder apart from d1。
Specific calculating process is as follows：
1) laser range finder M is calculated in reference frame o-xmymzmIn coordinate, it is assumed that be (x0,y0,z0)。
P points in mobile Fig. 6 so that the horizontal range of fixed support 3 to fixed support 1 is 0.50m.Open laser ranging
Instrument so that laser is got on test board, remembers target object N, at the same record N points apart from l1, N is calculated by binocular
Point is in o-xmymzmIn coordinate (x1,y1,z1).Change the position of N points twice, obtain two groups of N points to laser range finder and binocular
The position l of module2、(x2,y2,z2) and l3、(x3,y3,z3).It is that can obtain (x using formula in step S1000,y0,z0)。
2) error measure.
During error measure, moving fixing support 3.The point N that recording laser rangefinder is beaten on test board, and obtain N away from
From d2.The coordinate (x, y, z) of N points is obtained by binocular module testing.By step 1) the middle M point coordinates for calculating, further according to 2 points
Between range formula can solve the N points being calculated by binocular with laser measuring apparatus apart from d1。
3) mean absolute error and average relative error are calculated.
By d1, d2The absolute error and relative error of binocular module single measurement can be tried to achieve.In same position measurement n times
Afterwards, the mean absolute error and average relative error of binocular module can be being calculated according to formula.
4) moving fixing support 3, test next group of data.
5) error measure of binocular module is completed.
Based on above-mentioned technical proposal, the binocular error measuring system that the embodiment of the present invention is carried is tested using laser range finder
The distance for obtaining greatly reduces hardware cost as the true value of binocular module, simplifies installation steps；By binocular module,
Laser range finder is transformed into reference frame with target object, eliminates the error produced in installation process, improves binocular
The precision of error measure.
Each embodiment is described by the way of progressive in specification, and what each embodiment was stressed is and other realities
Apply the difference of example, between each embodiment identical similar portion mutually referring to.For device disclosed in embodiment
Speech, because it is corresponded to the method disclosed in Example, so description is fairly simple, related part is said referring to method part
It is bright.
Professional further appreciates that, with reference to the unit of each example of the embodiments described herein description
And algorithm steps, can be realized with electronic hardware, computer software or the combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software, generally describes the composition and step of each example according to function in the above description.These
Function is performed with hardware or software mode actually, depending on the application-specific and design constraint of technical scheme.Specialty
Technical staff can realize described function to each specific application using distinct methods, but this realization should not
Think beyond the scope of this invention.
The step of method or algorithm for being described with reference to the embodiments described herein, directly can be held with hardware, processor
Capable software module, or the two combination is implemented.Software module can be placed in random access memory (RAM), internal memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In field in known any other form of storage medium.
A kind of binocular error measurement method provided by the present invention, apparatus and system are described in detail above.This
Apply specific case in text to be set forth principle of the invention and implementation method, the explanation of above example is only intended to
Help understands the method for the present invention and its core concept.It should be pointed out that for those skilled in the art,
Without departing from the principles of the invention, some improvement and modification can also be carried out to the present invention, these are improved and modification also falls
Enter in the protection domain of the claims in the present invention.
Claims (10)
1. a kind of binocular error measurement method, it is characterised in that including：
Determine reference frame, and calculate first spatial positional information of the laser range finder under the reference frame；
Target object spatial positional information is calculated according to binocular module to be tested, the target object spatial positional information is calculated and is existed
Second space positional information under the reference frame；
According to first spatial positional information and the second space positional information, the binocular module testing to be tested is calculated
First distance value of the target object for obtaining and the laser range finder；
The second distance value of the target object and the laser range finder that are measured using the laser range finder, and it is described
First distance value, is calculated binocular error.
2. binocular error measurement method according to claim 1, it is characterised in that calculate laser range finder in the reference
The first spatial positional information under coordinate system, including：
Three spatial positional informations of target location are calculated according to binocular module to be tested, three skies of target location are calculated
Between spatial positional information (x of the positional information under the reference frame1,y1,z1), (x2,y2,z2), (x3,y3,z3)；
The distance value l of three target locations and the laser range finder that are measured using the laser range finder1, l2, l3；
According to formulaThe laser range finder is calculated in the reference frame
Under the first spatial positional information (x0,y0,z0)。
3. binocular error measurement method according to claim 2, it is characterised in that according to first spatial positional information
With the second space positional information, target object and the laser ranging that the binocular module testing to be tested is obtained are calculated
First distance value of instrument, including：
According to the first spatial positional information (x0,y0,z0) and the second space positional information (x, y, z), utilizeCalculate target object that the binocular module testing to be tested obtains with it is described
First distance value d of laser range finder1。
4. the binocular error measurement method according to claim any one of 1-3, it is characterised in that when according to binocular to be tested
Module calculates n target object spatial positional information, calculates the target object spatial positional information in the reference frame
Under n second space positional information when, using the laser range finder measurement the target object and the Laser Measuring
The second distance value of distance meter, and first distance value, are calculated binocular error, including：
Using formulaCalculate binocular mean absolute error Δ；
Using formulaCalculate binocular average relative error δ；
Wherein, d2It is second distance value, d1jIt is j-th first distance values.
5. a kind of binocular error measuring means, it is characterised in that including：
Coordinate system module, for determining reference frame, and calculates first sky of the laser range finder under the reference frame
Between positional information；Target object spatial positional information is calculated according to binocular module to be tested, the target object space bit is calculated
Confidence ceases the second space positional information under the reference frame；
Error analysis module, for according to first spatial positional information and the second space positional information, calculating described
First distance value of the target object that binocular module testing to be tested is obtained and the laser range finder；Using the laser ranging
The target object of instrument measurement and the second distance value of the laser range finder, and first distance value, are calculated
Binocular error.
6. binocular error measuring means according to claim 5, it is characterised in that the coordinate system module, including：
First computing unit, for being calculated three spatial positional informations of target location according to binocular module to be tested, meter
Calculate spatial positional information (x of three spatial positional informations of target location under the reference frame1,y1,z1), (x2,y2,
z2), (x3,y3,z3)；
Second computing unit, for three target locations using laser range finder measurement and the laser range finder
Distance value l1, l2, l3；According to formulaThe laser range finder is calculated in institute
State the first spatial positional information (x under reference frame0,y0,z0)。
7. binocular error measuring means according to claim 6, it is characterised in that the error analysis module, including：
First distance value computing unit, for according to the first spatial positional information (x0,y0,z0) and second space position
Confidence ceases (x, y, z), utilizesThe binocular module testing to be tested is calculated to obtain
First distance value d of the target object for arriving and the laser range finder1。
8. the binocular error measuring means according to claim any one of 5-7, it is characterised in that when according to binocular to be tested
Module calculates n target object spatial positional information, calculates the target object spatial positional information in the reference frame
Under n second space positional information when, the error analysis module, including：
3rd computing unit, for utilizing formulaCalculate binocular mean absolute error Δ；
4th computing unit, for utilizing formulaCalculate binocular average relative error δ；
Wherein, d2It is second distance value, d1jIt is j-th first distance values.
9. a kind of binocular error measuring system, it is characterised in that including：
Binocular module to be tested, for calculating target object spatial positional information using depth algorithm；
Laser range finder, for the distance value of target object and the laser range finder；
Coordinate system module, for determining reference frame, and calculates of the laser range finder under the reference frame
One spatial positional information；Target object spatial positional information is calculated according to binocular module to be tested, the target object is calculated empty
Between second space positional information of the positional information under the reference frame；
Error analysis module, for according to first spatial positional information and the second space positional information, calculating described
First distance value of the target object that binocular module testing to be tested is obtained and the laser range finder；Using the laser ranging
The target object of instrument measurement and the second distance value of the laser range finder, and first distance value, are calculated
Binocular error.
10. binocular error measuring system according to claim 9, it is characterised in that also include：
Fixed support, for fixing the binocular module to be tested and the laser range finder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710057089.9A CN106931879B (en) | 2017-01-23 | 2017-01-23 | Binocular error measurement method, device and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710057089.9A CN106931879B (en) | 2017-01-23 | 2017-01-23 | Binocular error measurement method, device and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106931879A true CN106931879A (en) | 2017-07-07 |
| CN106931879B CN106931879B (en) | 2020-01-21 |
Family
ID=59423855
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710057089.9A Active CN106931879B (en) | 2017-01-23 | 2017-01-23 | Binocular error measurement method, device and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106931879B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111457940A (en) * | 2020-03-31 | 2020-07-28 | 上海北斗导航创新研究院 | Method and system for testing ranging performance of vehicle-mounted multiband stereoscopic vision sensor |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004208211A (en) * | 2002-12-26 | 2004-07-22 | Canon Inc | Stereoscopic video imaging apparatus |
| CN101900531A (en) * | 2010-07-14 | 2010-12-01 | 北京理工大学 | Method for measuring and calculating binocular vision displacement measurement errors and measuring system |
| CN102867304A (en) * | 2012-09-04 | 2013-01-09 | 南京航空航天大学 | Method for establishing relation between scene stereoscopic depth and vision difference in binocular stereoscopic vision system |
| CN102914262A (en) * | 2012-09-29 | 2013-02-06 | 北京控制工程研究所 | Non-cooperative target abutting measurement method based on additional sighting distance |
| CN103727930A (en) * | 2013-12-30 | 2014-04-16 | 浙江大学 | Edge-matching-based relative pose calibration method of laser range finder and camera |
| CN104111071A (en) * | 2014-07-10 | 2014-10-22 | 上海宇航系统工程研究所 | High-precision position posture calculating method based on laser ranging and camera visual fusion |
-
2017
- 2017-01-23 CN CN201710057089.9A patent/CN106931879B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004208211A (en) * | 2002-12-26 | 2004-07-22 | Canon Inc | Stereoscopic video imaging apparatus |
| CN101900531A (en) * | 2010-07-14 | 2010-12-01 | 北京理工大学 | Method for measuring and calculating binocular vision displacement measurement errors and measuring system |
| CN102867304A (en) * | 2012-09-04 | 2013-01-09 | 南京航空航天大学 | Method for establishing relation between scene stereoscopic depth and vision difference in binocular stereoscopic vision system |
| CN102914262A (en) * | 2012-09-29 | 2013-02-06 | 北京控制工程研究所 | Non-cooperative target abutting measurement method based on additional sighting distance |
| CN103727930A (en) * | 2013-12-30 | 2014-04-16 | 浙江大学 | Edge-matching-based relative pose calibration method of laser range finder and camera |
| CN104111071A (en) * | 2014-07-10 | 2014-10-22 | 上海宇航系统工程研究所 | High-precision position posture calculating method based on laser ranging and camera visual fusion |
Non-Patent Citations (1)
| Title |
|---|
| 王琪龙 等: "双目视觉-激光测距传感器目标跟踪系统", 《光学学报》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111457940A (en) * | 2020-03-31 | 2020-07-28 | 上海北斗导航创新研究院 | Method and system for testing ranging performance of vehicle-mounted multiband stereoscopic vision sensor |
| CN111457940B (en) * | 2020-03-31 | 2021-03-16 | 上海北斗导航创新研究院 | Method and system for testing ranging performance of vehicle-mounted multiband stereoscopic vision sensor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106931879B (en) | 2020-01-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108221603B (en) | A kind of road surface three-dimensional information detection device, the method and system of road | |
| CN107340522A (en) | A kind of method, apparatus and system of laser radar positioning | |
| CN104121905B (en) | Course angle obtaining method based on inertial sensor | |
| CN105004340B (en) | With reference to inertial navigation technology and the position error modification method of fingerprint location technology | |
| CN108413887A (en) | Fiber grating assists wing deformation measurement method, device and the platform of distribution POS | |
| CN106643792A (en) | Inertial measurement unit and geomagnetic sensor integrated calibration apparatus and calibration method | |
| CN110221302A (en) | Environmental detection device and its modification method, system, portable equipment and storage medium | |
| CN110032201A (en) | A method of the airborne visual gesture fusion of IMU based on Kalman filtering | |
| US20190186913A1 (en) | Method for verifying accuracy of rtk tilt compensation measurement | |
| CN103808349A (en) | Error correction method and device for vector sensors | |
| CN107132587A (en) | The full tensor magnetic gradient measurements system mounting error calibration method of aviation superconduction and device | |
| CN110262667A (en) | A kind of virtual reality device and localization method | |
| CN109883406A (en) | Calculation method and system based on the total station outline pose less put | |
| CN109445599A (en) | Interaction pen detection method and 3D interactive system | |
| CN108917752A (en) | Unmanned boat air navigation aid, device, computer equipment and storage medium | |
| CN110414101B (en) | Simulation scene measurement method, accuracy measurement method and system | |
| CN108398124A (en) | A kind of test board and calibration method of calibration electronic compass | |
| CN103954220A (en) | Ship motion state digital image measuring method in bridge collision test | |
| KR102095135B1 (en) | Method of positioning indoor and apparatuses performing the same | |
| CN113701883B (en) | System and method for simulating and measuring spectral characteristics of variable-distance space target | |
| CN105973237B (en) | Emulation dynamic trajectory based on practical flight data interpolating parses generation method | |
| CN106643601A (en) | Industrial robot dynamic six-dimensional parameter measuring method | |
| CN106931879A (en) | A kind of binocular error measurement method, apparatus and system | |
| CN109283539A (en) | A kind of localization method suitable for high-rise non-flat configuration | |
| CN109506617A (en) | Sensing data processing method, storage medium, electronic equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |