CN106941607A - Three-dimensional inertia camera system - Google Patents
Three-dimensional inertia camera system Download PDFInfo
- Publication number
- CN106941607A CN106941607A CN201710097231.2A CN201710097231A CN106941607A CN 106941607 A CN106941607 A CN 106941607A CN 201710097231 A CN201710097231 A CN 201710097231A CN 106941607 A CN106941607 A CN 106941607A
- Authority
- CN
- China
- Prior art keywords
- circuit board
- camera
- imu
- data
- cameras
- 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.)
- Pending
Links
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention relates to three-dimensional inertia camera system, including at least one circuit board, microcontroller and two cameras, two cameras and the IMU are connected with the microcontroller respectively.The present invention is by setting IMU and at least two cameras, pass through the connection between circuit board, by the data acquisition system of each camera on same circuit board, by the output data line output on the circuit board, the data that the stereoscopic image data of the image composition of IMU data and at least two cameras is calculated as position, reduce position error, realize that binocular is shot, obtain accurate scene three-dimensional information, with reference to IMU, high frame per second information is exported by IMU, stable location data is exported using IMU when image information is unstable.
Description
Technical field
The present invention relates to navigation and obstacle avoidance system, more specifically refer to three-dimensional inertia camera system.
Background technology
The navigation avoidance of existing robot and unmanned plane, the equipment of the automatic guide avoidance of blind person and headset equipment
The mode of shooting is used in locating and tracking to realize.
The mode imaged at present includes the sensor of stereoscopic camera, independent camera and IMU compositions.Wherein, stereoscopic camera is
For depth detection and detection of obstacles, but IMU is not equipped with, output information is limited by image frame per second, it is special in image
Levy and can not stablize export structure in the case of a little lacking；In addition, the sensor that individually camera and IMU are constituted can obtain and look for and transport
Dynamic data, but because only that a camera is shot, it is impossible to the accurate depth information obtained in scene, make it in use
Accurate scene three-dimensional information can not be provided, can not also accomplish accurate three-dimensional localization.
Therefore, it is necessary to design a kind of three-dimensional inertia camera system, realize that binocular is shot, obtain accurate scene three-dimensional letter
Breath.With reference to IMU, high frame per second information is exported by IMU, stable location data is exported using IMU when image information is unstable.
The content of the invention
It is an object of the invention to the defect for overcoming prior art, there is provided three-dimensional inertia camera system.
To achieve the above object, the present invention uses following technical scheme：Three-dimensional inertia camera system, including at least one electricity
Road plate, microcontroller and two cameras, two cameras and the IMU are connected with the microcontroller respectively.
Its further technical scheme is：The number of the circuit board is two, and one of them described circuit board is provided with institute
Camera and the IMU are stated, another described circuit board is provided with the camera, two circuit boards pass through data wire
Connection.
Its further technical scheme is：The number of the circuit board is three, and circuit board described in two of which is provided with institute
Camera is stated, another described circuit board is provided with the IMU, three circuit boards are connected by data wire.
Its further technical scheme is：The number of the circuit board is one, and the microcontroller is located at the circuit board
On.
Its further technical scheme is：Two cameras and the IMU are separately positioned on the circuit board.
Its further technical scheme is：Output data line, the output data are connected with circuit board where the IMU
Line is used for the image information and IMU data for exporting camera.
Its further technical scheme is：The camera includes sensitive chip and camera lens, and the sensitive chip is the whole world
Shutter camera or rolling shutter camera.
Its further technical scheme is：The camera lens is optical lens.
Compared with the prior art, the invention has the advantages that：The three-dimensional inertia camera chain of the present invention, by setting
IMU and at least two cameras, by the connection between circuit board, by the data acquisition system of each camera in same circuit board
On, exported by the output data line on the circuit board, the stereo-picture of the image composition of IMU data and at least two cameras
The data that data are calculated as position, reduce position error, realize that binocular is shot, obtain accurate scene three-dimensional information, with reference to
IMU, high frame per second information is exported by IMU, exports stable location data using IMU when image information is unstable.
The invention will be further described with specific embodiment below in conjunction with the accompanying drawings.
Brief description of the drawings
Fig. 1 is the structural representation for the three-dimensional inertia camera system that the specific embodiment of the invention one is provided；
Fig. 2 is the structural representation for the three-dimensional inertia camera system that the specific embodiment of the invention two is provided；
Fig. 3 is the structural representation for the three-dimensional inertia camera system that the specific embodiment of the invention three is provided；
Fig. 4 is the structural representation for the three-dimensional inertia camera system that the specific embodiment of the invention four is provided；
Fig. 5 is the structural representation for the three-dimensional inertia camera system that the specific embodiment of the invention five is provided；
Fig. 6 is the structural representation for the three-dimensional inertia camera system that the specific embodiment of the invention six is provided；
Fig. 7 is the structural representation for the three-dimensional inertia camera system that the specific embodiment of the invention seven is provided.
Embodiment
In order to more fully understand the technology contents of the present invention, technical scheme is entered with reference to specific embodiment
One step introduction and explanation, but it is not limited to this.
Specific embodiment as shown in Figures 1 to 7, the three-dimensional inertia camera system that the present embodiment is provided, can be used in
During the navigation avoidance of robot and unmanned plane, the locating and tracking of headset equipment can also be used in, realizes that binocular is shot,
Obtain accurate scene three-dimensional information.With reference to IMU3, high frame per second information is exported by IMU3, utilized when image information is unstable
The stable location data of IMU3 outputs.
Three-dimensional inertia camera system, including at least one circuit board 1, microcontroller and two cameras 2, described in two
Camera 2 and the IMU3 are connected with the microcontroller 5 respectively.
Microcontroller produces clock signal, is connected on all cameras and IMU.
Above-mentioned IMU3 is Inertial Measurement Unit, is the dress for measuring object three-axis attitude angle (or angular speed) and acceleration
Put.
Gyroscope and accelerometer are IMU3 main elements, and its precision directly influences the precision of inertia system.In order to
Reliability is improved, more sensors can also be equipped with for each axle.
Ordinary circumstance a, IMU3 contains the accelerometer of three single shafts and the gyroscope of three single shafts, accelerometer
Detection object founds the acceleration signal of three axles in carrier coordinate system unification and independence, and gyroscope detects carrier relative to navigational coordinate system
Angular velocity signal, measurement object angular speed and acceleration in three dimensions, and calculate with this attitude of object.
One IMU3 is made up of three acceleration transducers with three angular-rate sensors (gyroscope), and accelerometer is used for
Experience component of acceleration of the object relative to ground vertical line, velocity sensor is used for experiencing the angle information of object, and A/D converter is adopted
With the analog variable of each sensors of IMU3, to be converted to and finally export object luffing angle after CPU is calculated after digital information, incline
Rake angle and side-slip angle,
The timestamp of data in above-mentioned IMU3 is comparable with the timestamp of the camera 2 on same circuit board 1, is somebody's turn to do
The timestamp of the data of data and the IMU3 output of camera 2 both is from the clock of the circuit board 1 where IMU3, due to circuit
It is connected with each other between plate 1, therefore the time of all data is all synchronous.
In the present embodiment, the number of circuit board 1 is two.The number of the circuit board 1 is two, described in one of them
Circuit board 1 is provided with the camera 2 and the IMU3, and another described circuit board 1 is provided with the camera 2, two
The circuit board 1 is connected by data wire.
In the present embodiment, above-mentioned microcontroller 4 is located at outside the circuit board 1.
In other embodiment, as shown in Fig. 2 above-mentioned microcontroller 4 can be with IMU with a circuit board 1.
In other embodiment, as shown in figure 3, the number of above-mentioned circuit board 1 can be one, at this moment, two cameras 2
It is provided separately within outside circuit board 1, by switching device, switching monocular is shot or binocular is shot, and microcontroller 4 and IMU
With on a circuit board 1.
In other embodiment, as shown in figure 4, above-mentioned microcontroller 4 is located at outside the circuit board 1.In other implementations
Example, the number of above-mentioned circuit board 1 can be to set camera 2 and IMU3 on two or more, one of circuit board 1, its
Camera 2 is respectively provided with remaining all circuit boards 1, IMU3 measures three axle speeds, acceleration and other information, and camera 2 is clapped
Image is taken the photograph, image information is obtained, multiple cameras 2, which are shot, can do depth detection, and can be big by the renewal frequency of positioning
Amplitude is improved, as shown in figure 5, the number of circuit board 1 is three, circuit board 1 described in two of which is provided with the camera, separately
One circuit board 1 is provided with the IMU3, and three circuit boards 1 are connected by data wire；And microcontroller 4 and IMU
With on a circuit board 1, certainly, above-mentioned microcontroller 4 can also be located at outside the circuit board 1.
In other embodiment, as shown in fig. 6, the number of circuit board 1 is one, microcontroller 4 is located on circuit board 1.
In other embodiment, as shown in fig. 7, two cameras 2 and the IMU3 are separately positioned on the circuit
On plate 1.
Separated camera 2 and remaining sensor in various boards 1 is located at IMU3, the regulation that can be more prone to
The physical location of two cameras 2 in the application, for example, the distance of two cameras 2 in headset equipment is 6cm, in machine
The distance of two cameras 2 on device people can be 20cm, and the distance between two cameras 2 can be according to actual conditions
It is fixed.
Further, output data line 4 is connected with the circuit board 1 where IMU3, the output data line 4 is used for defeated
Go out the image information and IMU3 data of camera 2.IMU3 data therein include gyroscope, accelerometer, electronic compass with
And barometrical data, the IMU3 data and image information of output, which can be exported to calculating platform, to be calculated, and obtains position letter
The coordinate and angle of breath, in time measuring and calculating three dimensions, and calculate the three-dimensional coordinate of surrounding environment object presence, reach machine
The navigation of people and unmanned plane and avoidance effect, by the way that by these information, Real-time Feedback, to blind person, reaches in the form of voice broadcast
To the effect of automatic guide avoidance.
The three-dimensional coordinate that the coordinate and angle of above-mentioned calculated three dimensions, surrounding environment object are present, can be with
Wear-type virtual reality device is attached to, space orientation is carried out, dummy object is presented in the way of meeting surrounding environment and set
It is standby upper.
The camera 2 includes sensitive chip and camera lens, and the sensitive chip is global shutter camera or rolled fast
Door camera.
Above-mentioned sensitive chip can be monochrome, can be colour.
In addition, camera lens is optical lens.
Infrared fileter can be installed, infrared fileter can not also be installed.
When being disconnected between the circuit board 1 for possessing IMU3 and camera 2 and other circuit boards 1, will can have
Standby IMU3 and camera 2 circuit board 1 apply the scene in low cost or small area to make as monocular inertial sensor
With easy to use.
In the present embodiment, connected between adjacent circuit board 1 by data wire.
It can also be connected between other embodiment, adjacent circuit board 1 by communication.
Above-mentioned three-dimensional inertia camera system is compared with stereoscopic camera, and due to combining IMU3, IMU3 data can also be made
One of data calculated for position, when carrying out three-dimensional fix, can obtain smaller position error, reduce at least 50%；
Compared with the monocular inertial sensor that monocular camera and IMU3 are constituted, due to being provided with least two cameras 2, therefore,
The three-dimensional values of the barrier under inactive state can be carried out, further, since the image that two cameras 2 are shot, can be constituted
One of three-dimensional view data, the data that the three-dimensional view data can be calculated as position, so as to reduce position error.
Above-mentioned three-dimensional inertia camera chain, by setting IMU3 and at least two cameras 2, one of photograph
Machine 2 and IMU3 is arranged on same circuit board 1, and by the connection between circuit board 1, the data acquisition system of each camera 2 is existed
On same circuit board 1, exported by the output data line 4 on the circuit board 1, the figure of IMU3 data and at least two cameras 2
As the data that the stereoscopic image data of composition is calculated as position, position error is reduced, realizes that binocular is shot, obtains accurate field
Scape three-dimensional information.With reference to IMU3, high frame per second information is exported by IMU3, exports stable using IMU3 when image information is unstable
Location data.
In being provided with camera sensor in other embodiment, above-mentioned camera 2, the camera sensor is separate type with camera lens
Design, so, user can select the visual angle of camera lens according to actual conditions.
In other embodiment, above-mentioned camera lens is the optical lens at any visual angle.
The above-mentioned technology contents that the present invention is only further illustrated with embodiment, in order to which reader is easier to understand, but not
Represent embodiments of the present invention and be only limitted to this, any technology done according to the present invention extends or recreated, by the present invention's
Protection.Protection scope of the present invention is defined by claims.
Claims (8)
1. three-dimensional inertia camera system, it is characterised in that including at least one circuit board, microcontroller and two cameras,
Two cameras and the IMU are connected with the microcontroller respectively.
2. three-dimensional inertia camera system according to claim 1, it is characterised in that the number of the circuit board is two,
One of them described circuit board is provided with the camera and the IMU, and another described circuit board is provided with the photograph
Machine, two circuit boards are connected by data wire.
3. three-dimensional inertia camera system according to claim 1, it is characterised in that the number of the circuit board is three,
Circuit board described in two of which is provided with the camera, and another described circuit board is provided with the IMU, three circuits
Plate is connected by data wire.
4. three-dimensional inertia camera system according to claim 1, it is characterised in that the number of the circuit board is one,
The microcontroller is located on the circuit board.
5. three-dimensional inertia camera system according to claim 4, it is characterised in that two cameras and described
IMU is separately positioned on the circuit board.
6. three-dimensional inertia camera system according to claim 2, it is characterised in that connect on the circuit board where the IMU
Output data line is connected to, the output data line is used for the image information and IMU data for exporting camera.
7. three-dimensional inertia camera system according to claim 1, it is characterised in that the camera include sensitive chip with
And camera lens, the sensitive chip is global shutter camera or rolling shutter camera.
8. three-dimensional inertia camera system according to claim 7, it is characterised in that the camera lens is optical lens.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710097231.2A CN106941607A (en) | 2017-02-22 | 2017-02-22 | Three-dimensional inertia camera system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710097231.2A CN106941607A (en) | 2017-02-22 | 2017-02-22 | Three-dimensional inertia camera system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106941607A true CN106941607A (en) | 2017-07-11 |
Family
ID=59469447
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710097231.2A Pending CN106941607A (en) | 2017-02-22 | 2017-02-22 | Three-dimensional inertia camera system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106941607A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109540123A (en) * | 2018-11-22 | 2019-03-29 | 奇瑞汽车股份有限公司 | Vehicle and its sensing device, track determine system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104811683A (en) * | 2014-01-24 | 2015-07-29 | 三星泰科威株式会社 | Method and apparatus for estimating position |
| CN104854428A (en) * | 2013-12-10 | 2015-08-19 | 深圳市大疆创新科技有限公司 | Sensor fusion |
| CN105222760A (en) * | 2015-10-22 | 2016-01-06 | 一飞智控(天津)科技有限公司 | The autonomous obstacle detection system of a kind of unmanned plane based on binocular vision and method |
| US20160025499A1 (en) * | 2014-07-22 | 2016-01-28 | Toyota Motor Engineering & Manufacturing Notlh America, lnc. | Intelligent mobility aid device and method of navigating and providing assistance to a user thereof |
| CN105606127A (en) * | 2016-01-11 | 2016-05-25 | 北京邮电大学 | Calibration method for relative attitude of binocular stereo camera and inertial measurement unit |
| CN106197429A (en) * | 2016-07-21 | 2016-12-07 | 触景无限科技（北京）有限公司 | A kind of Multi-information acquisition location equipment and system |
-
2017
- 2017-02-22 CN CN201710097231.2A patent/CN106941607A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104854428A (en) * | 2013-12-10 | 2015-08-19 | 深圳市大疆创新科技有限公司 | Sensor fusion |
| CN104811683A (en) * | 2014-01-24 | 2015-07-29 | 三星泰科威株式会社 | Method and apparatus for estimating position |
| US20160025499A1 (en) * | 2014-07-22 | 2016-01-28 | Toyota Motor Engineering & Manufacturing Notlh America, lnc. | Intelligent mobility aid device and method of navigating and providing assistance to a user thereof |
| CN105222760A (en) * | 2015-10-22 | 2016-01-06 | 一飞智控(天津)科技有限公司 | The autonomous obstacle detection system of a kind of unmanned plane based on binocular vision and method |
| CN105606127A (en) * | 2016-01-11 | 2016-05-25 | 北京邮电大学 | Calibration method for relative attitude of binocular stereo camera and inertial measurement unit |
| CN106197429A (en) * | 2016-07-21 | 2016-12-07 | 触景无限科技（北京）有限公司 | A kind of Multi-information acquisition location equipment and system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109540123A (en) * | 2018-11-22 | 2019-03-29 | 奇瑞汽车股份有限公司 | Vehicle and its sensing device, track determine system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106017463B (en) | A kind of Aerial vehicle position method based on orientation sensing device | |
| CN104848859B (en) | A kind of control method of three axle stable inertia platforms and self-align orientation thereof | |
| WO2018086122A1 (en) | Method and system for fusion of multiple paths of sensing data | |
| CN108375370A (en) | A kind of complex navigation system towards intelligent patrol unmanned plane | |
| CN104748730B (en) | Determine the device at aerial survey camera exposure moment in unmanned plane | |
| CN110360996A (en) | Sensor unit, mobile unit positioning device and moving body | |
| CN104181573B (en) | Big Dipper inertial navigation deep integrated navigation micro-system | |
| CN106813662A (en) | A kind of air navigation aid based on light stream | |
| CN103587708A (en) | Method for field fixed point zero-dead-zone autonomous soft landing of subminiature unmanned rotor aircraft | |
| CN102591353A (en) | Flight control system for flying object | |
| CN106197429A (en) | A kind of Multi-information acquisition location equipment and system | |
| CN108413965A (en) | A kind of indoor and outdoor crusing robot integrated system and crusing robot air navigation aid | |
| KR20180050589A (en) | Apparatus for tracking object | |
| KR101943823B1 (en) | UAV for accurate position data acquisition during high-speed flight and Determination of Unmanned Mission Equipment Synchronization for Accurate Position Data Acquisition during High Speed Flight | |
| CN110533719A (en) | Augmented reality localization method and device based on environmental visual Feature point recognition technology | |
| CN111504323A (en) | Unmanned aerial vehicle autonomous positioning method based on heterogeneous image matching and inertial navigation fusion | |
| CN106708081B (en) | More rotor unmanned aircraft control systems | |
| CN112862818B (en) | Underground parking lot vehicle positioning method combining inertial sensor and multi-fisheye camera | |
| CN207095572U (en) | A kind of hardware platform for being used for helmet attitude measurement in flight system | |
| CN113218407A (en) | Map generation method and device based on fusion of VIO and satellite navigation system | |
| McConville et al. | Visual odometry using pixel processor arrays for unmanned aerial systems in gps denied environments | |
| KR102190743B1 (en) | AUGMENTED REALITY SERVICE PROVIDING APPARATUS INTERACTING WITH ROBOT and METHOD OF THEREOF | |
| CN102654917B (en) | Method and system for sensing motion gestures of moving body | |
| CN116443028A (en) | Head posture data acquisition system and method | |
| CN214409706U (en) | Indoor unmanned aerial vehicle positioning system based on machine vision |
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 | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20180413 Address after: 100085 Beijing, Haidian District, No. ten on the ground floor, No. 10 Baidu building, layer 2 Applicant after: BEIJING BAIDU NETCOM SCIENCE AND TECHNOLOGY Co.,Ltd. Address before: 518000 Guangdong city of Shenzhen province Qianhai Shenzhen Hong Kong cooperation zone before Bay Road No. 1 building 201 room A (located in Shenzhen Qianhai business secretary Co. Ltd.) Applicant before: Universe perception (Shenzhen) Technology Co., Ltd. |
|
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170711 |