CN108413941A - A kind of simple and efficient distance measuring method based on cheap binocular camera - Google Patents
A kind of simple and efficient distance measuring method based on cheap binocular camera Download PDFInfo
- Publication number
- CN108413941A CN108413941A CN201810119837.6A CN201810119837A CN108413941A CN 108413941 A CN108413941 A CN 108413941A CN 201810119837 A CN201810119837 A CN 201810119837A CN 108413941 A CN108413941 A CN 108413941A
- Authority
- CN
- China
- Prior art keywords
- camera
- picture
- distance
- binocular
- focal length
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
- G01C11/30—Interpretation of pictures by triangulation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
- G01C11/06—Interpretation of pictures by comparison of two or more pictures of the same area
- G01C11/08—Interpretation of pictures by comparison of two or more pictures of the same area the pictures not being supported in the same relative position as when they were taken
Abstract
The present invention is a kind of simple and efficient distance measuring method carried out based on cheap binocular camera.Distort for common binocular camera after obtaining picture apparent, the simplified antidote of proposition, and carries out binocular ranging, and has used phase correlation methods to improve matching precision.Thus this method establishes the range measurements that degree of precision has been obtained on cheap binocular camera.
Description
Technical field
The present invention relates to a kind of binocular camera distance measuring method, be based particularly on lower quality binocular camera camera lens carry out compared with
The technology of high-precision range measurement is applied to field of machine vision.
Background technology
Binocular stereo vision is to be based on principle of parallax, using imaging device from two width of different position acquisition testees
Image, by calculating the position deviation between image corresponding points, the method to obtain object dimensional geological information.It is machine vision
A kind of important form.Its basic principle is to shoot object in reality scene from different perspectives using video camera, and pass through camera shooting
Machine calibration, images match sequence of operations obtain binocular camera parallax, obtain target location by trigonometric calculations and take the photograph
Distance between camera, any two points distance even in the visual field.
The principle of binocular stereo vision measurement distance is similar to three-dimensional perception at present, is obtained by two viewpoints
Object dimensional structure.In terms of it is widely used in the fields such as unmanned, unmanned plane ranging and infrastructural project ranging.
But at present on the market most products there are it is bulky, expensive, complicated for operation the problems such as.This paper presents one kind based on honest and clean
The distance measuring method of valence low quality binocular head can reduce cost while ensureing precision and simplify operation.
Invention content
The present invention uses common binocular camera as image capture device, the characteristics of be that simple in structure, distortion is apparent, it is burnt
Away from unknown and need to adjust manually.Problem to be solved by this invention is provided a kind of higher based on the cheap binocular camera of low quality
Precision distance measuring method, the process employs the methods of chessboard calibration to obtain camera internal reference matrix, and obtains space using parallax method
Distance can get higher measurement accuracy in cheap low quality binocular equipment.
The present invention solution be：1）It is proposed that a kind of camera internal reference matrix carries out distortion correction and obtains camera focus
Method.2）It proposes simplified binocular space distance measurement method, ensure that computational accuracy while reducing difficulty in computation.
The present invention is to realize that above-mentioned solution, method and step are as follows：
1, binocular camera obtains picture and carries out focal length and presets.Make two camera lenses of binocular camera for identical by rotating lens
The object of distance, showing binocular head on computers, respectively shooting picture keeps identical clarity.By a black and white gridiron pattern
Before being placed on binocular camera, movement simultaneously carries out multi-angle multiple spurs from shooting.Respectively to the camera lens shooting of left and right two, one group is obtained
The internal reference matrix of two cameras is calculated by camera calibration method for pictureWith, focal length therefrom can be obtainedWith；
Parameter matrix solves：
Wherein,WithRespectively video camera internal reference, outer ginseng matrix；,；
To put the coordinate in world coordinate system；For depth in the camera coordinates system；It is sat to project to the point on picture
Mark；WithThe transverse and longitudinal direction deviator of subpoint respectively on picture.
2, it sets within lens focus deviation 1% to be acceptable, if deviation fluctuation is more than 1%, chessboard calibration should be re-started；
Compare the focal length that two camera lenses obtain later, if left and right lens focus difference is 3% or more, the focal length for adjusting respective camera is long
Degree, until left and right focal length relative difference is below 3%.Above step is repeated, it is small and approximate left and right to obtain deviation after debugging repeatedly
Focal length valueWith。
3, service precision is that the millimeter Scale ruler of 1mm is detected target.Multi-angle and distance are to mobile binocular phase
Machine plate shoots the ruler, and same position is made to record the picture of left and right two camera lenses shootingWith,.Repeatedly shooting obtains one group of correspondence picture 。
4, distortion correction.Finally obtain relatively stable with two consistent focal length values, that is, the parameter matrix obtained when demarcatingWith.Distortion correction is carried out respectively by the distortion factor extraction in internal reference matrix, and to two group pictures of left and right（Only consider radial abnormal
Become）：
Wherein,For the coordinate that camera is shot,For the coordinate after correction,For main point coordinates；WithRespectively distortion factor；For pointTo square of center picture distance；
Matrix form is turned to obtain：
I.e., wherein,, this makes it possible to obtainWith；
Generate a distortion the picture after correction。
5, two pictures of same position can be obtained.In space a bitIn left and right, two figure mapping points are respectivelyWith.Space another pointIn left and right, two figure mapping points are respectivelyWith.It is marked first in left figure
Two mapping pointsWith, phase correlation methods are then used, using Fourier transformation in right figure
Find corresponding pointsWith, matching precision is increased to by sub-pixel with this, such every group of picture can all match
To high-precision corresponding points.Following formula can be obtained by parallax method and triangle rule：
WhereinFor first point coordinate in space,For the distance between two camera photocentres,It is first
Camera focus.Second point coordinates can similarly be calculated, final to calculate 2, space actual distance：
WhereinThe mapping ratio of length unit between camera CMOS and pixel.
The method neatly can measure space actual distance with binocular camera, and final measurement accuracy can reach
93% or more, the multimetering accuracy relative to monocular camera is high, and operation is more convenient；In addition it establishes on cheap camera basis
On can obtain good effect.If replacing precision higher camera lens, method stands good, therefore with the obvious advantage.
Claims (1)
- Include mainly two parts 1. proposing a kind of method that cheap camera carries out degree of precision ranging：I) camera internal reference matrix carries out distortion correction and obtains camera focus：1）Binocular camera camera lens is rotated, keeps left and right camera lens approximation close；2）The internal reference matrix of two cameras is calculated using the method for gridiron pattern camera calibrationWith, focal length therefrom can be obtainedWith；3）Compare left and right focal length size, and be finely adjusted, then detect again, finally obtains close focal lengthWith；II）It proposes simplified binocular space distance measurement method, ensure that computational accuracy while reducing difficulty in computation；1）Multi-angle and distance shoot ruler mobile binocular camera plank, and same position is made to record two mirrors in left and right The picture of head shootingWith,；Repeatedly shooting obtains one group of correspondence picture；2）The internal reference matrix obtained when using calibration carries out correctionWherein,For the coordinate that camera is shot,For the coordinate after correction,For main point coordinates；WithRespectively distortion factor；For pointTo square of center picture distance；I.e. , wherein,, thus may be used It obtainsWith；Generate a distortion the picture after correction；3）For 2 points in spaceWith, mapping point is marked in left figureWith, use phase Correlation methods find corresponding points using Fourier transformation in right figureWith, will matching essence with this Degree is increased to sub-pixel, and such every group of picture can all be matched to high-precision corresponding points；And it can be with by parallax method and triangle rule Obtain following formula：WhereinFor first point coordinate in space,For the distance between two camera photocentres,For first camera Second point coordinates can be similarly calculated in focal length, final to calculate 2, space actual distance：WhereinThe mapping ratio of length unit between camera CMOS and pixel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810119837.6A CN108413941A (en) | 2018-02-06 | 2018-02-06 | A kind of simple and efficient distance measuring method based on cheap binocular camera |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810119837.6A CN108413941A (en) | 2018-02-06 | 2018-02-06 | A kind of simple and efficient distance measuring method based on cheap binocular camera |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108413941A true CN108413941A (en) | 2018-08-17 |
Family
ID=63127823
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810119837.6A Pending CN108413941A (en) | 2018-02-06 | 2018-02-06 | A kind of simple and efficient distance measuring method based on cheap binocular camera |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108413941A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109990756A (en) * | 2019-04-11 | 2019-07-09 | 武汉纺织大学 | A kind of binocular distance measuring method and system |
| CN110414101A (en) * | 2019-07-15 | 2019-11-05 | 中国商用飞机有限责任公司北京民用飞机技术研究中心 | A kind of simulating scenes measurement method, accuracy measuring method and system |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107274453A (en) * | 2017-06-12 | 2017-10-20 | 哈尔滨理工大学 | Video camera three-dimensional measuring apparatus, system and method for a kind of combination demarcation with correction |
-
2018
- 2018-02-06 CN CN201810119837.6A patent/CN108413941A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107274453A (en) * | 2017-06-12 | 2017-10-20 | 哈尔滨理工大学 | Video camera three-dimensional measuring apparatus, system and method for a kind of combination demarcation with correction |
Non-Patent Citations (2)
| Title |
|---|
| 徐奕等: ""立体视觉匹配技术"", 《计算机工程与应用》 * |
| 沈彤等: ""基于双目立体视觉的目标测距系统"", 《电子测量技术》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109990756A (en) * | 2019-04-11 | 2019-07-09 | 武汉纺织大学 | A kind of binocular distance measuring method and system |
| CN109990756B (en) * | 2019-04-11 | 2021-07-27 | 武汉纺织大学 | Binocular ranging method and system |
| CN110414101A (en) * | 2019-07-15 | 2019-11-05 | 中国商用飞机有限责任公司北京民用飞机技术研究中心 | A kind of simulating scenes measurement method, accuracy measuring method and system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106846415B (en) | A kind of multichannel fisheye camera binocular calibration device and method | |
| CN109919911B (en) | Mobile three-dimensional reconstruction method based on multi-view photometric stereo | |
| CN111243002A (en) | Monocular laser speckle projection system calibration and depth estimation method applied to high-precision three-dimensional measurement | |
| Mahammed et al. | Object distance measurement by stereo vision | |
| CN108510551B (en) | Method and system for calibrating camera parameters under long-distance large-field-of-view condition | |
| AU2019205611A1 (en) | Augmented reality displays with active alignment and corresponding methods | |
| CN107346425B (en) | Three-dimensional texture photographing system, calibration method and imaging method | |
| CN111192235B (en) | Image measurement method based on monocular vision model and perspective transformation | |
| WO2018072433A1 (en) | Three-dimensional scanning method including a plurality of lasers with different wavelengths, and scanner | |
| CN107084680B (en) | A kind of target depth measurement method based on machine monocular vision | |
| CN109443245B (en) | Multi-line structured light vision measurement method based on homography matrix | |
| CN109668509A (en) | Based on biprism single camera three-dimensional measurement industrial endoscope system and measurement method | |
| CN109859272A (en) | A kind of auto-focusing binocular camera scaling method and device | |
| CN105654547B (en) | Three-dimensional rebuilding method | |
| WO2018032841A1 (en) | Method, device and system for drawing three-dimensional image | |
| WO2023046211A1 (en) | Photogrammetry method, apparatus and device, and storage medium | |
| CN111854636B (en) | Multi-camera array three-dimensional detection system and method | |
| Patel et al. | Distance measurement system using binocular stereo vision approach | |
| CN111009030A (en) | Multi-view high-resolution texture image and binocular three-dimensional point cloud mapping method | |
| CN108413941A (en) | A kind of simple and efficient distance measuring method based on cheap binocular camera | |
| CN114359406A (en) | Calibration of auto-focusing binocular camera, 3D vision and depth point cloud calculation method | |
| CN113048888A (en) | Binocular vision-based remote three-dimensional displacement measurement method and system | |
| CN111292380B (en) | Image processing method and device | |
| CN109990756B (en) | Binocular ranging method and system | |
| Xu et al. | A real-time ranging method based on parallel binocular 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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180817 |