CN107218922A - A kind of distance-finding method based on monocular camera - Google Patents
A kind of distance-finding method based on monocular camera Download PDFInfo
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- CN107218922A CN107218922A CN201611244508.1A CN201611244508A CN107218922A CN 107218922 A CN107218922 A CN 107218922A CN 201611244508 A CN201611244508 A CN 201611244508A CN 107218922 A CN107218922 A CN 107218922A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/26—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with fixed angles and a base of variable length, at, near, or formed by the object
- G01C3/28—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with fixed angles and a base of variable length, at, near, or formed by the object with provision for reduction of the distance into the horizontal plane
- G01C3/30—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with fixed angles and a base of variable length, at, near, or formed by the object with provision for reduction of the distance into the horizontal plane with adaptation to the measurement of the height of an object, e.g. tacheometers
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- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Measurement Of Optical Distance (AREA)
Abstract
A kind of distance-finding method based on monocular camera of the present invention, camera calibration：Focal length is taken as internal reference, multiple different simulated environment are set up using the camera range-measurement system, testee spatial point in each simulated environment is progressively incremented by the distance of shaft centers h of optical axis, and calculating obtains light stream of the testee spatial point on perspective camera collection image under each simulated environment respectively.When camera takes horizontality to use below equation to the y of the testee spatial point under each simulated environment to optical axis for the pixel in image, f is focal length, and h is the height of camera, and z is the distance of object.Distance can be calculated below according to formula 2,To solve the problems, such as the unclear accurate ranging under monocular camera.
Description
Technical field
Patent of the present invention belongs to ranging field, more particularly to a kind of distance-finding method based on monocular camera.
Background technology
With increasing that Chinese automobile is possessed, Chinese traffic accident also increases therewith.Therefore (senior driving aids in system to ADAS
System) arise at the historic moment, and substantially increase the security of driving.In ADAS, environment sensing is its important link.In ring
During border is perceived, object ranging is its important part.Traditional distance-finding method based on camera is entered using binocular camera
Row ranging, but be due to that binocular distance-measuring equipment is complicated, demarcation is complicated, and can not be applied in onboard system, therefore vast
Producer abandoned, it is because the technology for being also based on monocular camera that uses of major producers to trace it to its cause.Therefore, the present invention is carried
A kind of monocular camera distance-finding method is gone out, to solve the problems, such as the ranging under monocular camera
Patent of invention content
A kind of distance-finding method based on monocular camera, it is characterised in that：Camera calibration：Focal length is taken as internal reference, using this
The testee spatial point that camera range-measurement system is set up in multiple different simulated environment, each simulated environment is to the axle center of optical axis
Progressively it is incremented by away from h, and calculates obtain under each simulated environment testee spatial point on perspective camera collection image respectively
Light stream.
When camera takes horizontality can be using below equation to the testee spatial point under each simulated environment
Y to optical axis is the pixel in image, and f is focal length, and h is the height of camera, and z is the distance of object.Below according to formula 2
Calculate distance
Further, the testee spatial point in each described simulated environment is walked to the distance of shaft centers h of optical axis with fixed
It is long to be progressively incremented by.
Further, described multiple different simulated environment are at least two different simulated environment.
Brief description of the drawings
Fig. 1 is a kind of distance-finding method location algorithm schematic diagram based on monocular camera of patent of the present invention.
Embodiment
Embodiment：A kind of distance-finding method based on monocular camera, it is characterised in that：Camera calibration：Focal length is taken as internal reference,
The testee spatial point set up in multiple different simulated environment, each simulated environment using the camera range-measurement system is to optical axis
Distance of shaft centers h be progressively incremented by, and calculate obtain under each simulated environment testee spatial point in perspective camera collection figure respectively
As upper light stream.
When camera takes horizontality can be using below equation to the testee spatial point under each simulated environment
Y to optical axis is the pixel in image, and f is focal length, and h is the height of camera, and z is the distance of object.Below according to formula 2
Calculate distance
Wherein, the testee spatial point in each described simulated environment to optical axis distance of shaft centers h with fixed step size by
Step is incremented by.
Wherein, described multiple different simulated environment are at least two different simulated environment.
Using the internal reference f of camera, image plane columns y is read, camera heights h is measured, the formula in Fig. 1 calculates thing
Body is away from as head is apart from z.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of changes, modification can be carried out to these embodiments, replace without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (3)
1. a kind of distance-finding method based on monocular camera, it is characterised in that：Camera calibration：Focal length is taken as internal reference, using the phase
Distance of shaft centers of the testee spatial point that machine range-measurement system is set up in multiple different simulated environment, each simulated environment to optical axis
H is progressively incremented by, and calculating obtains light of the testee spatial point on perspective camera collection image under each simulated environment respectively
Stream.
When camera takes horizontality can be using below equation to the testee spatial point under each simulated environment to light
The y of axle is the pixel in image, and f is focal length, and h is the height of camera, and z is the distance of object.It can be calculated below according to formula 2
Distance
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<mi>Z</mi>
<mi>y</mi>
<mo>=</mo>
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<mo>(</mo>
<mi>f</mi>
<mo>*</mo>
<mi>h</mi>
<mo>)</mo>
</mrow>
<mo>/</mo>
<mrow>
<mo>(</mo>
<mi>y</mi>
<mo>*</mo>
<mo>&part;</mo>
<mo>)</mo>
</mrow>
</mrow>
2. a kind of distance-finding method based on monocular camera according to claim 1, it is characterised in that：Each described emulation
Testee spatial point in environment is progressively incremented by the distance of shaft centers h of optical axis with fixed step size.
3. a kind of distance-finding method based on monocular camera according to claim 1, it is characterised in that：Described multiple differences
Simulated environment be at least two different simulated environment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611244508.1A CN107218922A (en) | 2016-12-29 | 2016-12-29 | A kind of distance-finding method based on monocular camera |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611244508.1A CN107218922A (en) | 2016-12-29 | 2016-12-29 | A kind of distance-finding method based on monocular camera |
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| CN107218922A true CN107218922A (en) | 2017-09-29 |
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| CN201611244508.1A Pending CN107218922A (en) | 2016-12-29 | 2016-12-29 | A kind of distance-finding method based on monocular camera |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109443319A (en) * | 2018-12-21 | 2019-03-08 | 联创汽车电子有限公司 | Barrier range-measurement system and its distance measuring method based on monocular vision |
| CN109442171A (en) * | 2018-11-30 | 2019-03-08 | 西安交通大学 | A kind of single eye stereo vision system and its application method |
| CN110836656A (en) * | 2018-08-15 | 2020-02-25 | 深圳地平线机器人科技有限公司 | Anti-shake distance measuring method and device for monocular ADAS (adaptive Doppler analysis System) and electronic equipment |
| CN110966982A (en) * | 2018-09-28 | 2020-04-07 | 成都家有为力机器人技术有限公司 | Monocular camera ranging system and method for cleaning robot |
| CN113124820A (en) * | 2021-06-17 | 2021-07-16 | 中国空气动力研究与发展中心低速空气动力研究所 | Monocular distance measurement method based on curved mirror |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105203034A (en) * | 2015-07-29 | 2015-12-30 | 四川大学 | Height and area measurement method based on monocular camera three-dimensional distance measurement model |
| CN105387860A (en) * | 2015-12-16 | 2016-03-09 | 西北工业大学 | Unmanned plane autonomous landing guidance method combining monocular vision and laser ranging |
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2016
- 2016-12-29 CN CN201611244508.1A patent/CN107218922A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105203034A (en) * | 2015-07-29 | 2015-12-30 | 四川大学 | Height and area measurement method based on monocular camera three-dimensional distance measurement model |
| CN105387860A (en) * | 2015-12-16 | 2016-03-09 | 西北工业大学 | Unmanned plane autonomous landing guidance method combining monocular vision and laser ranging |
Non-Patent Citations (1)
| Title |
|---|
| 郭磊 等: "基于单目视觉的实时测距方法研究", 《中国图象图形学报》 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110836656A (en) * | 2018-08-15 | 2020-02-25 | 深圳地平线机器人科技有限公司 | Anti-shake distance measuring method and device for monocular ADAS (adaptive Doppler analysis System) and electronic equipment |
| CN110966982A (en) * | 2018-09-28 | 2020-04-07 | 成都家有为力机器人技术有限公司 | Monocular camera ranging system and method for cleaning robot |
| CN109442171A (en) * | 2018-11-30 | 2019-03-08 | 西安交通大学 | A kind of single eye stereo vision system and its application method |
| CN109443319A (en) * | 2018-12-21 | 2019-03-08 | 联创汽车电子有限公司 | Barrier range-measurement system and its distance measuring method based on monocular vision |
| CN113124820A (en) * | 2021-06-17 | 2021-07-16 | 中国空气动力研究与发展中心低速空气动力研究所 | Monocular distance measurement method based on curved mirror |
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Application publication date: 20170929 |
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