CN107084680A - A kind of target depth measuring method based on machine monocular vision - Google Patents
A kind of target depth measuring method based on machine monocular vision Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/22—Measuring arrangements characterised by the use of optical techniques for measuring depth
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Abstract
A kind of target depth measuring method based on machine monocular vision, including：Following steps：Step 1), build system；Step 2), focusing：In step 1) on the basis of using the monocular cam in robot focus at the top of object, and cause focus center to be in the centre of image；Step 3), shoot；Step 4), image segmentation；Step 5), the conversion of the angle of visual field；Step 6), calculate.The present invention realizes target depth analysis, realizes that result shows under conditions of the height of known machine vision, object height, and the present invention can effectively realize target depth positioning.
Description
Technical field
The invention belongs to technical field of machine vision, a kind of new method of the depth survey under single camera is disclosed.
Background technology
Current research person is roughly divided into two classes to the method for the acquisition of the depth information of external object, and a class is based on calculating
The object localization method of machine vision, another kind of is the location technology of nonvisual sensor, and we, which mainly introduce, herein is based on regarding
The location technology of feel.The object localization method of view-based access control model mainly includes binocular perceived depth method, monocular camera calibration side
Method and single camera-level crossing depth acquisition methods.
Its precision of binocular perceived depth wants camera subject performance, illumination and baseline length (distance between two cameras) influence,
It is relatively large in processing data amount because the complexity of algorithm in application above has many limitations, it is unfavorable for target positioning real-time
The requirement of property.
Current monocular depth perceive it is widely used be camera calibrated technology, also referred to as camera calibration technology.Camera calibration
One of basic problem of computer vision, it is intended to determined by using characteristics of image and corresponding 3D features camera internal and
External parameter.Camera calibrated demarcation extensively study for a long time in computer vision, and many has been proposed
Scaling method.
Basic camera calibration method can be divided into traditional camera calibration and self-calibration.Traditional scaling method has height
Calibration accuracy, but need specific scaling reference.In calibration process, due to being limited by equipment, it can not still accomplish very
Respective coordinates of the point in world coordinate system and image do mark system are accurately recorded, if its coordinate is not accurate enough, then
The accuracy of obtained transition matrix can also be restricted, and therefore the precision of Coordinate Conversion can also fluctuate, and self-calibrating method is not
Dependent on calibration reference substance, but calibration result is relatively unstable.
The content of the invention
The present invention will overcome the drawbacks described above of prior art, start with from the geometry projective model of video camera imaging, propose one
Plant new depth measurement method.
The present invention have studied camera and target depth information geometrical model, target digitization length and target depth it
Between mathematical relationship and imaging process in the angle of visual field change influence to target digitization length, effectively overcome camera school
The deficiency of quasi- method, target depth measurement problem is accurately solved using single camera measurement.
The target depth measuring method of machine monocular vision of the present invention, comprises the following steps：
Step 1), build system
(1.1) robot with monocular vision is built, it is assumed that its monocular cam is highly h1, mesh to be measured
Mark is in the front position of the robot, and its height is h2, the horizontal range of target range camera position to be measured is depth note
For m；
(1.2) measure target depth information when, robot is always by walking so that target be located at robot just before
Side；
Step 2), focusing：In step 1) on the basis of using the monocular cam in robot focus in object
Top, and cause focus center to be in the centre of image；
Step 3), shoot：Robot is in step 2) on the basis of carry out shooting video or photo, and image when reading to shoot
Parameter, includes the resolution ratio (M ' * N ') of focal length f, image；
Step 4), image segmentation：Target Segmentation is come out in the shooting image of gained, the digitlization for obtaining target is long
Degree, including：
(4.1) shooting image is inputted；
(4.2) by image (M*N) of the image scaling for normalization size；
(4.3) gaussian filtering removes picture noise；
(4.4) judge whether each point on image is point in target using the method for point by point scanning, if certain pixel
Point is the point on segmentation object, and pixel keeps constant, is not otherwise the upper point of segmentation object, then the point is set into black
Prominent segmentation object；
(4.5) image treated through (4.4) is converted into gray level image；
(4.6) image after (4.5) are handled is configured suitable Threshold segmentation；
(4.7) image after Threshold segmentation is searched into profile；
(4.8) the vertical boundary minimum rectangle of profile is calculated；
(4.9) screening of area and height is carried out to rectangular profile；
(4.10) boundary rectangle of segmentation object is drawn, and then obtains Target Segmentation length | C1D1|；
Step 5), the conversion of the angle of visual field：The coaptation of the focal length and camera of image goes out equivalent focal length f ' during by shooting, its
InWherein equivalent focal length is represented with f ', and camera lens real focal length is represented with f, the catercorner length r of 135 films0Table
Show, the actual catercorner lengths of lens image sensor CCD are represented with r.In the case where be realised that equivalent focal length, camera during shooting
The angle of visual field can be tried to achieve by following formula：
F ' in formula (1) is in units of mm, and arctan () is arctan function.
Step 6), calculate：Wide, high (M*N) of the image after 4) handling are read, target depth m is calculated by above parameter；
α is the angle of visual field calculated by formula (1), and M, N are the size after image scaling, h1、h2It is known quantity, | C1D1|
It can be obtained by exact image segmentation, the formula shows that target depth can be tried to achieve according to digitized image.
It is an advantage of the invention that：The inventive method accuracy is higher, and algorithm is simple, it is easy to operate, and can be effectively reduced
The cost of production.Due to monocular depth measuring system simple structure, it can be widely used on mobile phone and IP Camera, it is to avoid
By the Stereo matching process that binocular camera ranging is complicated, computational complexity is reduced, the requirement to hardware is relatively low, Neng Gouman
The requirement of biped robot real-time in the industrial production.
Brief description of the drawings
Fig. 1 is the geometry projective model figure of the present invention, and XYZ is the rectangular coordinate system in space set up, and O is coordinate center,
Robot (height of machine vision from the ground) is h1, it is highly h that target AB knows in robot2, target object AB distances take the photograph
It is the OA length in m, i.e. Fig. 1 as the horizontal range horizontal range of head.F is robot camera position, and camera is in imaging
Focal length FC is f, and image plane is π1, object AB projects to image plane π after camera imaging1Upper is CD, point A, B, C, D, O, F
In the plane where XOZ.
Fig. 2 is angle of visual field schematic diagram of the invention.G '-I ' are camera lens visual range diameter.F-C ' is that object distance is represented with s, α
For the angle of visual field.
Fig. 3 is mid-focal length of the present invention and equivalent focal length conversion relation schematic diagram.O is optical center of lens, camera lens real focal length f
Represent, equivalent focal length is represented with f ', the catercorner length r of 135 films0Represent, the actual catercorner lengths of CCD are represented with r.
Fig. 4 is the angle of visual field of the invention and imaging sensor, shooting focal length relation schematic diagram.The angle of visual field be α, focal length be f,
CCD diagonal are r.
Fig. 5 is the back gauge and focal length and the relational model of the angle of visual field of the imaging plane of the present invention.Simulated when assuming picture
Image plane π1Size is l*w (l, w by centimetre in units of), it is assumed that image plane π1Four summits be respectively G, H, I, J.By thing
CD extensions hand over image plane edge in E points in body imaging surface, then CE is obviously imaging length of side l half l/2.Because FC is perpendicular to this
Image plane is simulated, i.e., perpendicular to image plane π1.In right angled triangle FCG, it is clear that GC length is that rectangle GHIJ is cornerwise
Half.
Embodiment
The present invention is further illustrated below in conjunction with the accompanying drawings.
The target depth measuring method of machine monocular vision of the present invention, comprises the following steps：
Step 1), build system
(1.1) robot with monocular vision is built, it is assumed that its monocular cam is highly h1, mesh to be measured
Mark is in the front position of the robot, and its height is h2, the horizontal range of target range camera position to be measured is depth note
For m.The geometry projective model of the present invention is as shown in Fig. 1 in Figure of description, and the geometry projective model uses pin hole perspective model
General principle.
(1.2) measure target depth information when, robot is always by walking so that target be located at robot just before
Side.
Step 2), focusing：In step 1) on the basis of using the monocular cam in robot focus in object
Top, and cause focus center to be in the centre of image；
Step 3), shoot：Robot is in step 2) on the basis of carry out shooting video or photo, and image when reading to shoot
Parameter, includes the resolution ratio (M ' * N ') of focal length f, image；
Step 4), image segmentation：Target Segmentation is come out in the shooting image of gained, the digitlization for obtaining target is long
Degree, including：
(4.1) shooting image is inputted；
(4.2) by image (M*N) of the image scaling for normalization size；
(4.3) gaussian filtering removes picture noise；
(4.4) judge whether each point on image is point in target using the method for point by point scanning, if certain pixel
Point is the point on segmentation object, and pixel keeps constant, is not otherwise the upper point of segmentation object, then the point is set into black
Prominent segmentation object；
(4.5) image treated through (4.4) is converted into gray level image；
(4.6) image after (4.5) are handled is configured suitable Threshold segmentation；
(4.7) image after Threshold segmentation is searched into profile；
(4.8) the vertical boundary minimum rectangle of profile is calculated；
(4.9) screening of area and height is carried out to rectangular profile；
(4.10) boundary rectangle of segmentation object is drawn, and then obtains Target Segmentation length | C1D1|；
Step 5), the conversion of the angle of visual field：The so-called angle of visual field refers to that the scenery in the angle of visual field can entirely fall in imaging size
It is interior, and the scenery beyond the angle of visual field will not be ingested.We commonly use the angle of visual field to characterize the scope of observing scene.In optical instrument
In, using the camera lens of optical instrument as summit, it can be made up of with the image of measured target two edges of the maximum magnitude of camera lens
Angle, the referred to as angle of visual field.Fig. 2 describes the angle of visual field of visual range diameter in Figure of description, | G ' I ' | it is visual for camera lens
The diameter length of scope, | FC ' | for the distance of video camera to target object, ∠ G ' FI ' are the angle of visual field.Might as well set | FC ' |=s,
∠ G ' FI '=α, then havingSet up.The coaptation of the focal length and camera of image goes out equivalent Jiao during by shooting
Away from f ', whereinWherein equivalent focal length is represented with f ', and camera lens real focal length is represented with f, the catercorner length of 135 films
Use r0Represent, the actual catercorner lengths of lens image sensor CCD are represented with r.Fig. 3 describes camera reality in Figure of description
Focal length f and equivalent focal length f ' conversion relation.In the case where be realised that equivalent focal length, the camera angle of visual field can pass through during shooting
Following formula is tried to achieve：
F ' in formula (1) is in units of mm, and arctan () is arctan function.
Between angle of visual field α and focal length f, image sensor diagonal length r as shown in Fig. 4 in relation Figure of description.
Fig. 5 describes the back gauge and focal length and the relation mould of the angle of visual field of the imaging plane of the present invention in Figure of description
Type.
Step 6), calculate：Wide, high (M*N) of the image after 4) handling are read, target depth m is calculated by above parameter；
α is the angle of visual field calculated by formula (1), and M, N are the size after image scaling, h1、h2It is known quantity, | C1D1|
It can be obtained by exact image segmentation, the formula shows that target depth can be tried to achieve according to digitized image.
Claims (1)
1. a kind of target depth measuring method based on machine monocular vision, including：
Step 1), build system
(1.1) robot with monocular vision is built, it is assumed that its monocular cam is highly h1, target position to be measured
In the front position of the robot, its height is h2, the horizontal range of target range camera position to be measured is that depth is designated as m；
(1.2) when measuring target depth information, robot is always by walking so that target is located at the front of robot；
Step 2), focusing：In step 1) on the basis of using the monocular cam in robot focus at the top of object,
And cause focus center to be in the centre of image；
Step 3), shoot：Robot is in step 2) on the basis of carry out shooting video or photo, and image is joined when reading to shoot
Number, includes the resolution ratio (M ' * N ') of focal length f, image；
Step 4), image segmentation：Target Segmentation is come out in the shooting image of gained, the digitlization length of target is obtained, wrapped
Include：
(4.1) shooting image is inputted；
(4.2) by image (M*N) of the image scaling for normalization size；
(4.3) gaussian filtering removes picture noise；
(4.4) judge whether each point on image is point in target using the method for point by point scanning, if certain pixel is
Point on segmentation object, pixel keeps constant, is not otherwise the upper point of segmentation object, is then set to black to protrude by the point
Segmentation object；
(4.5) image treated through (4.4) is converted into gray level image；
(4.6) image after (4.5) are handled is configured suitable Threshold segmentation；
(4.7) image after Threshold segmentation is searched into profile；
(4.8) the vertical boundary minimum rectangle of profile is calculated；
(4.9) screening of area and height is carried out to rectangular profile；
(4.10) boundary rectangle of segmentation object is drawn, and then obtains Target Segmentation length | C1D1|；
Step 5), the conversion of the angle of visual field：The coaptation of the focal length and camera of image goes out equivalent focal length f ' during by shooting, whereinWherein equivalent focal length is represented with f ', and camera lens real focal length is represented with f, the catercorner length r of 135 films0Represent,
The actual catercorner lengths of lens image sensor CCD are represented with r.In the case where be realised that equivalent focal length, camera is regarded during shooting
Rink corner can be tried to achieve by following formula：
F ' in formula (1) is in units of mm, and arctan () is arctan function.
Step 6), calculate：Wide, high (M*N) of the image after 4) handling are read, target depth m is calculated by above parameter；
α is the angle of visual field calculated by formula (1), and M, N are the size after image scaling, h1、h2It is known quantity, | C1D1| it can lead to
Cross exact image segmentation to obtain, the formula shows that target depth can be tried to achieve according to digitized image.
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| CN108432903A (en) * | 2018-06-15 | 2018-08-24 | 广东工业大学 | The terminal angle method of adjustment and tea frying robot of tea frying robot stir-frying tealeaves |
| CN110470216A (en) * | 2019-07-10 | 2019-11-19 | 湖南交工智能技术有限公司 | A kind of three-lens high-precision vision measurement method and device |
| CN110672020A (en) * | 2019-06-14 | 2020-01-10 | 浙江农林大学 | Stand tree height measuring method based on monocular vision |
| CN112229323A (en) * | 2020-09-29 | 2021-01-15 | 华南农业大学 | Six-degree-of-freedom measurement method of checkerboard cooperative target based on monocular vision of mobile phone and application of six-degree-of-freedom measurement method |
| CN112445208A (en) * | 2019-08-15 | 2021-03-05 | 纳恩博（北京）科技有限公司 | Robot, method and device for determining travel route, and storage medium |
| CN113446986A (en) * | 2021-05-13 | 2021-09-28 | 浙江工业大学 | Target depth measurement method based on observation height change |
| CN113592934A (en) * | 2021-06-29 | 2021-11-02 | 浙江工业大学 | Monocular camera-based target depth and height measuring method and device |
| CN114252063A (en) * | 2021-12-22 | 2022-03-29 | 内蒙古工业大学 | Ancient building surveying and mapping device based on geometric perspective method and surveying and mapping method thereof |
| WO2023035404A1 (en) * | 2021-09-13 | 2023-03-16 | 江苏科技大学 | Method for estimating comprised angle between camera plane and target plane based on monocular vision |
| CN117880630A (en) * | 2024-03-13 | 2024-04-12 | 杭州星犀科技有限公司 | Focusing depth acquisition method, focusing depth acquisition system and terminal |
| CN117880630B (en) * | 2024-03-13 | 2024-06-07 | 杭州星犀科技有限公司 | Focusing depth acquisition method, focusing depth acquisition system and terminal |
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| CN108432903A (en) * | 2018-06-15 | 2018-08-24 | 广东工业大学 | The terminal angle method of adjustment and tea frying robot of tea frying robot stir-frying tealeaves |
| CN108432903B (en) * | 2018-06-15 | 2021-05-18 | 广东工业大学 | Tea frying robot and tail end posture adjusting method for tea frying of tea frying robot |
| CN110672020A (en) * | 2019-06-14 | 2020-01-10 | 浙江农林大学 | Stand tree height measuring method based on monocular vision |
| CN110470216A (en) * | 2019-07-10 | 2019-11-19 | 湖南交工智能技术有限公司 | A kind of three-lens high-precision vision measurement method and device |
| CN112445208A (en) * | 2019-08-15 | 2021-03-05 | 纳恩博（北京）科技有限公司 | Robot, method and device for determining travel route, and storage medium |
| CN112229323A (en) * | 2020-09-29 | 2021-01-15 | 华南农业大学 | Six-degree-of-freedom measurement method of checkerboard cooperative target based on monocular vision of mobile phone and application of six-degree-of-freedom measurement method |
| CN113446986A (en) * | 2021-05-13 | 2021-09-28 | 浙江工业大学 | Target depth measurement method based on observation height change |
| CN113446986B (en) * | 2021-05-13 | 2022-07-22 | 浙江工业大学 | Target depth measuring method based on observation height change |
| CN113592934A (en) * | 2021-06-29 | 2021-11-02 | 浙江工业大学 | Monocular camera-based target depth and height measuring method and device |
| CN113592934B (en) * | 2021-06-29 | 2024-02-06 | 浙江工业大学 | Target depth and height measuring method and device based on monocular camera |
| WO2023035404A1 (en) * | 2021-09-13 | 2023-03-16 | 江苏科技大学 | Method for estimating comprised angle between camera plane and target plane based on monocular vision |
| CN114252063A (en) * | 2021-12-22 | 2022-03-29 | 内蒙古工业大学 | Ancient building surveying and mapping device based on geometric perspective method and surveying and mapping method thereof |
| CN117880630A (en) * | 2024-03-13 | 2024-04-12 | 杭州星犀科技有限公司 | Focusing depth acquisition method, focusing depth acquisition system and terminal |
| CN117880630B (en) * | 2024-03-13 | 2024-06-07 | 杭州星犀科技有限公司 | Focusing depth acquisition method, focusing depth acquisition system and terminal |
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