CN109212546A - The calculation method and device of binocular camera depth direction measurement error - Google Patents
The calculation method and device of binocular camera depth direction measurement error Download PDFInfo
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- CN109212546A CN109212546A CN201811129013.3A CN201811129013A CN109212546A CN 109212546 A CN109212546 A CN 109212546A CN 201811129013 A CN201811129013 A CN 201811129013A CN 109212546 A CN109212546 A CN 109212546A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
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- Electromagnetism (AREA)
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- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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- Length Measuring Devices By Optical Means (AREA)
Abstract
This specification provides the calculation method and device of a kind of binocular camera depth direction measurement error, wherein this method comprises: adjusting the distance between scaling board and fixed plate to operating distance to be measured and making the scaling board parallel with the fixed plate, wherein, the center of the fixed plate is arranged in binocular camera, the operating distance to be measured makes imaging picture of the scaling board full of binocular camera, the scaling board is located at the picture center of binocular camera, the distance for being filled with the edge of the edge for referring to the scaling board described in the imaging picture of binocular camera and imaging picture is less than given threshold；The apex coordinate for obtaining the scaling board respectively by the first camera and second camera of binocular camera obtains binocular camera in the measured value of depth direction；The measurement error of binocular camera is obtained according to the operating distance to be measured and the measured value.
Description
Technical field
This specification is related to technical field of machine vision, in particular to a kind of meter of binocular camera depth direction measurement error
Calculate method and apparatus.
Background technique
The element task that depth information is the applications such as three-dimensional identification, obstacle detection, three-dimensional measurement is obtained using binocular camera,
Depth direction measurement error is the important indicator of binocular camera.The scene more demanding for three-dimensional measurement equally accurate, is accurately obtained
Binocular camera depth direction measurement error is taken to have important meaning.
The measurement error of binocular camera depth direction increases with operating distance and is increased, in order to measure conveniently, general basis
The focal length of camera lens needs to measure the measurement error at multiple exemplary operation distances.For determining operating distance, because camera lens is abnormal
The influence of change, it is also not identical in the different directions measurement error of visual field, in order to calculate with it is easy to use, pass through calculate different directions
Measurement error of the arithmetic mean of instantaneous value of measurement error as the operating distance.
In order to calculate binocular camera depth direction measurement error value reported as precisely as possible, used test method is needed mirror
The influence of the factors such as head distortion, test environment, measuring tool, algorithm extraction accuracy is reduced to minimum.
However binocular camera depth direction measurement error is calculated currently without unified method, how easy, accurately survey
The measurement error for measuring binocular camera depth direction is the common issue put in face of binocular vision industry.
Summary of the invention
In view of this, this specification embodiment provide a kind of binocular camera depth direction measurement error calculation method and
Device, to solve technological deficiency existing in the prior art.
According to this specification embodiment in a first aspect, providing a kind of calculating of binocular camera depth direction measurement error
Method, comprising:
Adjustment the distance between scaling board and fixed plate is to operating distance to be measured and makes the scaling board and the fixation
Plate is parallel, wherein the center of the fixed plate is arranged in binocular camera, and the operating distance to be measured makes the scaling board
Imaging picture full of binocular camera, the scaling board are located at the picture center of binocular camera, are filled with and refer to double
The distance at the edge at the edge and imaging picture of scaling board described in the imaging picture of mesh camera is less than given threshold；
The apex coordinate for obtaining the scaling board respectively by the first camera and second camera of binocular camera, obtains
Measured value of the binocular camera in depth direction；
The measurement error of binocular camera is obtained according to the operating distance to be measured and the measured value.
Optionally, one end of guide rail is arranged in the fixed plate, and the scaling board is slidably disposed on the guide rail
The other end.
Optionally, the quadrangle of the fixed plate is respectively arranged with rangefinder, between adjustment scaling board and the fixed plate
Distance is to operating distance to be measured and makes that the scaling board is parallel with the fixed plate to include:
It adjusts the scaling board and makes the distance between the scaling board and the fixed plate in the position on the guide rail
Equal to operating distance to be measured；
The vertex distance that the scaling board corresponds to quadrangle is obtained respectively by the rangefinder on the quadrangle of the fixed plate；
Whether the vertex distance of the quadrangle of the acquired scaling board of judgement all the same, if they are the same then the scaling board with
The fixed plate is parallel, and the ranging so that on the quadrangle of the fixed plate is adjusted to the angle of the scaling board if different
Instrument obtain respectively the scaling board correspond to quadrangle vertex distance it is identical.
Optionally, the rangefinder is the laser range finder of measurement error within the set range.
Optionally, the scaling board two sides are provided with light filling equipment of the intensity of illumination not less than setting light intensity.
Optionally, the top for obtaining the scaling board respectively by the first camera and second camera of binocular camera
Point coordinate, obtaining binocular camera in the measured value of depth direction includes:
Obtain the first image and of the scaling board respectively by the first camera and second camera of binocular camera
Two images；
P point is set as any one vertex in 4 vertex of the scaling board, extracts P point respectively in the first image
The abscissa xr under abscissa xl and second image coordinate system under coordinate system；
The coordinate Zc of P point is calculated according to lower formula:
Wherein, Zc is P point at a distance from optical center plane, and f is the focal length of binocular camera, and T is parallax range, i.e. binocular camera
Distance between the optical center of left and right, optical center plane refer to the photoelectric sensor center of the first camera and second camera plane；
P point is calculated to the distance Z of measurement datum according to following formula, obtains binocular camera in the measurement of depth direction
Value:
Z=Zc+d
Wherein, d is distance of the optical center plane to measurement datum, and measurement datum is the plane where the fixed plate.
Optionally, described that the measurement error packet of binocular camera is obtained according to the operating distance to be measured and the measured value
It includes:
The distance on each vertex of the scaling board is calculated according to the distance of the scaling board each vertex to the measurement datum
Arithmetic mean of instantaneous value
The measurement error e of binocular camera is calculated by following formula:
Wherein, Hs is the operating distance to be measured, and n is the quantity on vertex on the scaling board.
Optionally, the scaling board is gridiron pattern scaling board.
According to the second aspect of this specification embodiment, a kind of meter of binocular camera depth direction measurement error is additionally provided
Calculate device, comprising:
Module is adjusted, be configured as adjustment the distance between scaling board and fixed plate to operating distance to be measured and is made described
Scaling board is parallel with the fixed plate, wherein the center of the fixed plate, the working distance to be measured is arranged in binocular camera
From the imaging picture for making the scaling board be full of binocular camera, the scaling board is located at the picture center of binocular camera,
The distance for being filled with the edge of the edge for referring to the scaling board described in the imaging picture of binocular camera and imaging picture is less than
Given threshold；
Measurement module is configured as obtaining the calibration respectively by the first camera and second camera of binocular camera
The apex coordinate of plate obtains binocular camera in the measured value of depth direction；
Error calculating module is configured as obtaining the survey of binocular camera according to the operating distance to be measured and the measured value
Measure error.
Optionally, one end of guide rail is arranged in the fixed plate, and the scaling board is slidably disposed on the guide rail
The other end.
This specification embodiment binocular camera depth direction measurement error calculation method and device pass through test environmental structure
And debugging, calculate binocular camera different operating apart from when entire field range in all directions depth measurement error it is flat
Mean value proposes pair lens distortion, measuring tool, test environment, the influence of the factors to measurement accuracy such as algorithm extraction accuracy
The solution answered guarantees that measurement result has higher accuracy.
Detailed description of the invention
In order to illustrate more clearly of the technical solution of this specification embodiment, will make below to required in embodiment description
Attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is only some embodiments of this specification, right
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings
His attached drawing.
Fig. 1 is to show the calculation method of the base binocular camera depth direction measurement error according to one embodiment of this specification
Measurement environment schematic；
Fig. 2 is the measurement distance relation schematic diagram shown according to this specification one embodiment；
Fig. 3 is the gridiron pattern scaling board schematic diagram shown according to one embodiment of this specification.
Specific embodiment
Many details are explained in the following description in order to fully understand this specification.But this specification energy
Enough to be implemented with being much different from other way described herein, those skilled in the art can be without prejudice to this specification intension
In the case where do similar popularization, therefore this specification is not limited by following public specific implementation.
The calculation method of the binocular camera depth direction measurement error of one embodiment of this specification includes:
Step 102: adjustment the distance between scaling board and fixed plate to operating distance to be measured and make the scaling board and
The fixed plate is parallel, wherein the center of the fixed plate is arranged in binocular camera, and the operating distance to be measured makes institute
The imaging picture that scaling board is full of binocular camera is stated, the scaling board is located at the picture center of binocular camera, is filled with
Refer to that the edge of the scaling board described in the imaging picture of binocular camera and the distance at the edge of imaging picture are less than given threshold；
Step 104: obtaining the vertex of the scaling board respectively by the first camera and second camera of binocular camera
Coordinate obtains binocular camera in the measured value of depth direction；
Step 106: the measurement error of binocular camera is obtained according to the operating distance to be measured and the measured value.
In a kind of implementation, one end of guide rail is arranged in the fixed plate, and the scaling board is slidably disposed on institute
State the other end of guide rail.
This specification embodiment binocular camera depth direction measurement error calculation method and device pass through test environmental structure
And debugging, calculate binocular camera different operating apart from when entire field range in all directions depth measurement error it is flat
Mean value proposes pair lens distortion, measuring tool, test environment, the influence of the factors to measurement accuracy such as algorithm extraction accuracy
The solution answered guarantees that measurement result has higher accuracy.
In a kind of implementation, the quadrangle of the fixed plate is respectively arranged with rangefinder, the adjustment scaling board and fixation
The distance between plate is to operating distance to be measured and makes that the scaling board is parallel with the fixed plate to include:
It adjusts the scaling board and makes the distance between the scaling board and the fixed plate in the position on the guide rail
Equal to operating distance to be measured；
The vertex distance that the scaling board corresponds to quadrangle is obtained respectively by the rangefinder on the quadrangle of the fixed plate；
Whether the vertex distance of the quadrangle of the acquired scaling board of judgement all the same, if they are the same then the scaling board with
The fixed plate is parallel, and the ranging so that on the quadrangle of the fixed plate is adjusted to the angle of the scaling board if different
Instrument obtain respectively the scaling board correspond to quadrangle vertex distance it is identical.
In a kind of implementation, the rangefinder is the laser range finder of measurement error within the set range.
In a kind of implementation, the scaling board two sides are provided with light filling equipment of the intensity of illumination not less than setting light intensity.
It is described that the mark is obtained by the first camera and second camera of binocular camera respectively in a kind of implementation
The apex coordinate of fixed board, obtaining binocular camera in the measured value of depth direction includes:
Obtain the first image and of the scaling board respectively by the first camera and second camera of binocular camera
Two images；
P point is set as any one vertex in 4 vertex of the scaling board, extracts P point respectively in the first image
The abscissa xr under abscissa xl and second image coordinate system under coordinate system；
The coordinate Zc of P point is calculated according to lower formula:
Wherein, Zc is P point at a distance from optical center plane, and f is the focal length of binocular camera, and T is parallax range, i.e. binocular camera
Distance between the optical center of left and right, optical center plane refer to the photoelectric sensor center of the first camera and second camera plane；
Binocular camera is obtained in the measured value of depth direction according to the distance Z that following formula calculates P point to measurement datum:
Z=Zc+d
Wherein, d is distance of the optical center plane to measurement datum, and measurement datum is the plane where the fixed plate.
It is described that the measurement of binocular camera is obtained according to the operating distance to be measured and the measured value in a kind of implementation
Error includes:
The distance on each vertex of the scaling board is calculated according to the distance of the scaling board each vertex to the measurement datum
Arithmetic mean of instantaneous value
The measurement error e of binocular camera is calculated by following formula:
Wherein, Hs is the operating distance to be measured, and n is the quantity on vertex on the scaling board.
In a kind of implementation, the scaling board is gridiron pattern scaling board, as shown in Figure 3.
It referring to Figures 1 and 2, include fixed plate 1, guide rail and bracket 2, scaling board 3, laser range finder 4, binocular camera in figure
5, light compensating lamp 6, scaling board plane 7, measurement datum 8, optical center plane 9.Specific implementation process includes:
1) test environment is built according to mode shown in Fig. 1.
2) adjusting horizontal distance between scaling board and fixed plate is operating distance to be measured.
3) by laser range finder check scaling board plane it is whether parallel with measurement datum, if it is not parallel be adjusted to it is flat
Row.
4) distance Hs between scaling board plane and measurement datum is read.
5) binocular camera is taken pictures, and obtains the image of left and right camera.
6) image coordinate on each vertex of gridiron pattern scaling board in image is extracted.
7) distance Z of each vertex of calculating to measurement datum.
8) each vertex distance arithmetic mean of instantaneous value is calculated
9) depth direction measurement error e is calculated.
The present embodiment measures scaling board distance by fixed multiple laser range finders in the same plane, checks calibration
Whether plate is parallel with binocular camera imaging plane.The fixed gridiron pattern scaling board at operating distance to be measured, by measuring gridiron pattern
The apex coordinate of scaling board obtains binocular camera in the measured value of depth direction.At operating distance to be measured, binocular camera is calculated
The average value of the depth measurement of all directions in visual field, the depth measurement as the operating distance.
This method is more demanding to the installation accuracy of test environment, is suitable for binocular camera depth direction measurement error essence
Spend more demanding occasion.
Corresponding with preceding method, this specification additionally provides Installation practice, and described device embodiment can be by soft
Part is realized, can also be realized by way of hardware or software and hardware combining.Taking software implementation as an example, as a logical meaning
On device, be to be read computer program instructions corresponding in nonvolatile memory by the processor of equipment where it
Operation is formed in memory.For hardware view, a kind of hardware configuration of equipment may include where the device of this specification
Except processor, network interface, memory and nonvolatile memory, the equipment in embodiment where device is generally according to reality
Function can also include other hardware, repeat no more to this.
One embodiment of this specification provide device include:
Module is adjusted, be configured as adjustment the distance between scaling board and fixed plate to operating distance to be measured and is made described
Scaling board is parallel with the fixed plate, wherein the center of the fixed plate, the working distance to be measured is arranged in binocular camera
From the imaging picture for making the scaling board be full of binocular camera, the scaling board is located at the picture center of binocular camera,
The distance for being filled with the edge of the edge for referring to the scaling board described in the imaging picture of binocular camera and imaging picture is less than
Given threshold；
Measurement module is configured as obtaining the calibration respectively by the first camera and second camera of binocular camera
The apex coordinate of plate obtains binocular camera in the measured value of depth direction；
Error calculating module is configured as obtaining the survey of binocular camera according to the operating distance to be measured and the measured value
Measure error.
In a kind of implementation, one end of guide rail is arranged in the fixed plate, and the scaling board is slidably disposed on institute
State the other end of guide rail.
Device, module or the unit that above-described embodiment illustrates can specifically be realized, Huo Zheyou by computer chip or entity
Product with certain function is realized.A kind of typically to realize that equipment is computer, the concrete form of computer can be a
People's computer, laptop computer, cellular phone, camera phone, smart phone, personal digital assistant, media player, navigation
It is any several in equipment, E-mail receiver/send equipment, game console, tablet computer, wearable device or these equipment
The combination of kind equipment.
The function of each unit and the realization process of effect are specifically detailed in the above method and correspond to step in above-mentioned apparatus
Realization process, details are not described herein.
For device embodiment, since it corresponds essentially to embodiment of the method, so related place is referring to method reality
Apply the part explanation of example.The apparatus embodiments described above are merely exemplary, wherein described be used as separation unit
The unit of explanation may or may not be physically separated, and component shown as a unit can be or can also be with
It is not physical unit, it can it is in one place, or may be distributed over multiple network units.It can be according to actual
The purpose for needing to select some or all of the modules therein to realize this specification scheme.Those of ordinary skill in the art are not
In the case where making the creative labor, it can understand and implement.
One embodiment of this specification also provides a kind of calculating equipment, including memory, processor and storage are on a memory
And the computer instruction that can be run on a processor, when the processor executes described instruction the step of method described in realization.
One embodiment of this specification also provides a kind of computer readable storage medium, is stored with computer instruction, this refers to
Enable the step of method is realized when being executed by processor.
A kind of exemplary scheme of above-mentioned computer readable storage medium for the present embodiment.It should be noted that this is deposited
The technical solution of storage media and the technical solution of above-mentioned automated testing method belong to same design, the technical side of storage medium
The detail content that case is not described in detail may refer to the description of the technical solution of above-mentioned automated testing method.
The computer instruction includes computer program code, the computer program code can for source code form,
Object identification code form, executable file or certain intermediate forms etc..The computer-readable medium may include: that can carry institute
State any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic disk, CD, the computer storage of computer program code
Device, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory),
Electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that the computer-readable medium include it is interior
Increase and decrease appropriate can be carried out according to the requirement made laws in jurisdiction with patent practice by holding, such as in certain jurisdictions of courts
Area does not include electric carrier signal and telecommunication signal according to legislation and patent practice, computer-readable medium.
It should be noted that for the various method embodiments described above, describing for simplicity, therefore, it is stated as a series of
Combination of actions, but those skilled in the art should understand that, this specification is not limited by the described action sequence, because
For according to this specification, certain steps can use other sequences or carry out simultaneously.
Secondly, those skilled in the art should also know that, the embodiments described in the specification are all preferred embodiments,
Related actions and modules might not all be necessary to this specification.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, there is no the portion being described in detail in some embodiment
Point, it may refer to the associated description of other embodiments.
This specification preferred embodiment disclosed above is only intended to help to illustrate this specification.Alternative embodiment is not
All details of detailed descriptionthe, do not limit the invention to the specific embodiments described.Obviously, according in this specification
Hold, can make many modifications and variations.These embodiments are chosen and specifically described to this specification, is in order to preferably explain this theory
The principle and practical application of bright book, so that skilled artisan be enable to better understand and utilize this specification.This
Specification is limited only by the claims and their full scope and equivalents.
Claims (10)
1. a kind of calculation method of binocular camera depth direction measurement error characterized by comprising adjustment scaling board and fixation
The distance between plate is to operating distance to be measured and makes the scaling board parallel with the fixed plate, wherein binocular camera setting
In the center of the fixed plate, the operating distance to be measured makes imaging picture of the scaling board full of binocular camera,
The scaling board is located at the picture center of binocular camera, is filled with and refers to the mark described in the imaging picture of binocular camera
The distance at the edge at the edge and imaging picture of fixed board is less than given threshold；
The apex coordinate for obtaining the scaling board respectively by the first camera and second camera of binocular camera, obtains binocular
Measured value of the camera in depth direction；
The measurement error of binocular camera is obtained according to the operating distance to be measured and the measured value.
2. calculation method according to claim 1, which is characterized in that one end of guide rail is arranged in the fixed plate, described
Scaling board is slidably disposed on the other end of the guide rail.
3. calculation method according to claim 2, which is characterized in that the quadrangle of the fixed plate is respectively arranged with ranging
Instrument, adjustment the distance between the scaling board and fixed plate to operating distance to be measured simultaneously make the scaling board and the fixed plate
Include: in parallel
It adjusts the scaling board and in the position on the guide rail distance between the scaling board and the fixed plate is equal to
Operating distance to be measured；
The vertex distance that the scaling board corresponds to quadrangle is obtained respectively by the rangefinder on the quadrangle of the fixed plate；
Whether the vertex distance of the quadrangle of the acquired scaling board of judgement all the same, if they are the same then the scaling board with it is described
Fixed plate is parallel, is adjusted the rangefinder point so that on the quadrangle of the fixed plate to the angle of the scaling board if different
Do not obtain the scaling board correspond to quadrangle vertex distance it is identical.
4. calculation method according to claim 3, which is characterized in that the rangefinder be measurement error within the set range
Laser range finder.
5. calculation method according to claim 1, which is characterized in that it is not low that the scaling board two sides are provided with intensity of illumination
In the light filling equipment of setting light intensity.
6. calculation method according to claim 1, which is characterized in that described to pass through the first camera of binocular camera and
Two cameras obtain the apex coordinate of the scaling board respectively, obtain binocular camera in the measured value of depth direction and include:
Obtain the first image and the second figure of the scaling board respectively by the first camera and second camera of binocular camera
Picture；
P point is set as any one vertex in 4 vertex of the scaling board, extracts P point respectively in the first image coordinate
The abscissa xr under abscissa xl and second image coordinate system under system；
The coordinate Zc of P point is calculated according to lower formula:
Wherein, Zc is P point at a distance from optical center plane, and f is the focal length of binocular camera, and T is parallax range, i.e. binocular camera or so
Distance between optical center, optical center plane refer to the photoelectric sensor center of the first camera and second camera plane；
P point is calculated to the distance Z of measurement datum according to following formula, obtains binocular camera in the measured value of depth direction:
Z=Zc+d
Wherein, d is distance of the optical center plane to measurement datum, and measurement datum is the plane where the fixed plate.
7. calculation method according to claim 6, which is characterized in that described according to the operating distance to be measured and the survey
The measurement error that magnitude obtains binocular camera includes:
According to the distance of the scaling board each vertex to the measurement datum calculate each vertex of the scaling board apart from arithmetic
Average value
The measurement error e of binocular camera is calculated by following formula:
Wherein, Hs is the operating distance to be measured, and n is the quantity on vertex on the scaling board.
8. calculation method according to claim 1, which is characterized in that the scaling board is gridiron pattern scaling board.
9. a kind of computing device of binocular camera depth direction measurement error characterized by comprising adjustment module is configured
To adjust the distance between scaling board and fixed plate to operating distance to be measured and making the scaling board parallel with the fixed plate,
Wherein, the center of the fixed plate is arranged in binocular camera, and the operating distance to be measured makes the scaling board full of double
The imaging picture of mesh camera, the scaling board are located at the picture center of binocular camera, are filled with and refer in binocular camera
Imaging picture described in scaling board edge and imaging picture edge distance be less than given threshold；
Measurement module is configured as obtaining the scaling board respectively by the first camera and second camera of binocular camera
Apex coordinate obtains binocular camera in the measured value of depth direction；
Error calculating module, the measurement for being configured as obtaining binocular camera according to the operating distance to be measured and the measured value miss
Difference.
10. computing device according to claim 9, which is characterized in that one end of guide rail is arranged in the fixed plate, described
Scaling board is slidably disposed on the other end of the guide rail.
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