CN109212546B - Method and device for calculating depth direction measurement error of binocular camera - Google Patents
Method and device for calculating depth direction measurement error of binocular camera Download PDFInfo
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- CN109212546B CN109212546B CN201811129013.3A CN201811129013A CN109212546B CN 109212546 B CN109212546 B CN 109212546B CN 201811129013 A CN201811129013 A CN 201811129013A CN 109212546 B CN109212546 B CN 109212546B
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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
Abstract
The present specification provides a method and an apparatus for calculating a binocular camera depth direction measurement error, wherein the method includes: adjusting the distance between a calibration plate and a fixed plate to a working distance to be measured and enabling the calibration plate and the fixed plate to be parallel, wherein a binocular camera is arranged at the center of the fixed plate, the working distance to be measured enables the calibration plate to be filled with imaging pictures of the binocular camera, the calibration plate is located at the center of the pictures of the binocular camera, and the filling means that the distance between the edge of the calibration plate and the edge of the imaging pictures in the imaging pictures of the binocular camera is smaller than a set threshold value; respectively acquiring vertex coordinates of the calibration plate through a first camera and a second camera of the binocular camera to obtain a measured value of the binocular camera in the depth direction; and obtaining the measurement error of the binocular camera according to the working distance to be measured and the measurement value.
Description
Technical Field
The specification relates to the technical field of machine vision, in particular to a method and a device for calculating a binocular camera depth direction measurement error.
Background
The binocular camera is used for obtaining depth information, which is the basic work of applications such as three-dimensional recognition, obstacle detection, three-dimensional measurement and the like, and depth direction measurement errors are important indexes of the binocular camera. The method has important significance for accurately acquiring the depth direction measurement error of the binocular camera in scenes with high precision requirements such as three-dimensional measurement.
The measurement error in the depth direction of the binocular camera increases as the working distance increases, and for convenience of measurement, the measurement error at a plurality of typical working distances is generally measured according to the focal length of the lens. For the determined working distance, the measurement errors in different directions of the visual field are different due to the influence of lens distortion, and for the convenience of calculation and use, the arithmetic mean value of the measurement errors in different directions is calculated to be used as the measurement error of the working distance.
In order to calculate the binocular camera depth direction measurement error value as accurately as possible, the used test method needs to reduce the influence of factors such as lens distortion, test environment, measurement tools, algorithm extraction precision and the like to the minimum.
However, there is no unified method for calculating the depth direction measurement error of the binocular camera at present, and how to simply, conveniently and accurately measure the depth direction measurement error of the binocular camera is a common problem in the binocular vision industry.
Disclosure of Invention
In view of this, embodiments of the present disclosure provide a method and an apparatus for calculating a binocular camera depth direction measurement error, so as to solve technical defects in the prior art.
According to a first aspect of embodiments of the present specification, there is provided a method for calculating a binocular camera depth direction measurement error, including:
adjusting the distance between a calibration plate and a fixed plate to a working distance to be measured and enabling the calibration plate and the fixed plate to be parallel, wherein a binocular camera is arranged at the center of the fixed plate, the working distance to be measured enables the calibration plate to be filled with imaging pictures of the binocular camera, the calibration plate is located at the center of the pictures of the binocular camera, and the filling means that the distance between the edge of the calibration plate and the edge of the imaging pictures in the imaging pictures of the binocular camera is smaller than a set threshold value;
respectively acquiring vertex coordinates of the calibration plate through a first camera and a second camera of the binocular camera to obtain a measured value of the binocular camera in the depth direction;
and obtaining the measurement error of the binocular camera according to the working distance to be measured and the measurement value.
Optionally, the fixing plate is disposed at one end of the guide rail, and the calibration plate is slidably disposed at the other end of the guide rail.
Optionally, the four corners of fixed plate is provided with the distancer respectively, adjust the distance between calibration board and the fixed plate to the working distance that awaits measuring and make calibration board with the fixed plate parallel includes:
adjusting the position of the calibration plate on the guide rail to enable the distance between the calibration plate and the fixed plate to be equal to the working distance to be measured;
respectively acquiring vertex distances of the four corners corresponding to the calibration plate through distance measuring instruments on the four corners of the fixed plate;
and judging whether the acquired vertex distances of the four corners of the calibration plate are the same or not, if so, enabling the calibration plate to be parallel to the fixed plate, and if not, adjusting the angles of the calibration plate to enable the distance meters on the four corners of the fixed plate to acquire the vertex distances of the four corners corresponding to the calibration plate respectively to be the same.
Optionally, the distance meter is a laser distance meter with a measurement error within a set range.
Optionally, light supplement equipment with the illumination intensity not lower than the set light intensity is arranged on two sides of the calibration plate.
Optionally, the obtaining of the vertex coordinates of the calibration plate by the first camera and the second camera of the binocular camera respectively includes:
respectively acquiring a first image and a second image of the calibration plate through a first camera and a second camera of a binocular camera;
setting a point P as any one of 4 vertexes of the calibration plate, and respectively extracting an abscissa xl of the point P under the first image coordinate system and an abscissa xr under the second image coordinate system;
calculating the coordinate Zc of the point P according to the following formula:
wherein Zc is the distance between the point P and the optical center plane, f is the focal length of the binocular camera, T is the baseline distance, namely the distance between the left optical center and the right optical center of the binocular camera, and the optical center plane is the plane with the centers of the photoelectric sensors of the first camera and the second camera;
and calculating the distance Z between the point P and the measuring reference surface according to the following formula to obtain the measured value of the binocular camera in the depth direction:
Z＝Zc+d
and d is the distance from the optical center plane to the measurement reference plane, and the measurement reference plane is the plane where the fixed plate is located.
Optionally, the obtaining of the measurement error of the binocular camera according to the working distance to be measured and the measurement value includes:
calculating the arithmetic mean value of the distances from the vertexes of the calibration plate to the measuring reference surface according to the distances from the vertexes of the calibration plate to the measuring reference surface
The measurement error e of the binocular camera is calculated by the following formula:
and Hs is the working distance to be measured, and n is the number of vertexes on the calibration plate.
Optionally, the calibration plate is a checkerboard calibration plate.
According to a second aspect of embodiments of the present specification, there is also provided a binocular camera depth direction measurement error calculation apparatus including:
the adjusting module is configured to adjust the distance between a calibration plate and a fixed plate to a working distance to be measured and enable the calibration plate and the fixed plate to be parallel, wherein a binocular camera is arranged at the center of the fixed plate, the working distance to be measured enables the calibration plate to be filled with an imaging picture of the binocular camera, the calibration plate is located at the center of the picture of the binocular camera, and the filling means that the distance between the edge of the calibration plate and the edge of the imaging picture in the imaging picture of the binocular camera is smaller than a set threshold value;
the measuring module is configured to obtain the vertex coordinates of the calibration plate through a first camera and a second camera of the binocular camera respectively to obtain the measured values of the binocular camera in the depth direction;
and the error calculation module is configured to obtain the measurement error of the binocular camera according to the working distance to be measured and the measurement value.
Optionally, the fixing plate is disposed at one end of the guide rail, and the calibration plate is slidably disposed at the other end of the guide rail.
The method and the device for calculating the depth direction measurement errors of the binocular camera in the embodiment of the specification are built and debugged through the test environment, the average value of the depth measurement errors of the binocular camera in all directions in the whole view field range at different working distances is calculated, a corresponding solution is provided for influences of factors such as lens distortion, a measurement tool, the test environment and algorithm extraction precision on the measurement precision, and the measurement result is guaranteed to have higher accuracy.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a view illustrating a measurement environment of a method of calculating a measurement error in a depth direction of a base binocular camera according to an embodiment of the present specification;
FIG. 2 is a schematic diagram illustrating a measured distance relationship according to one embodiment of the present description;
FIG. 3 is a schematic diagram illustrating a checkerboard calibration board according to one embodiment of the present description.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present description. This description may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will be able to make and use the present disclosure without departing from the spirit and scope of the present disclosure.
The method for calculating the binocular camera depth direction measurement error in one embodiment of the present specification includes:
step 102: adjusting the distance between a calibration plate and a fixed plate to a working distance to be measured and enabling the calibration plate and the fixed plate to be parallel, wherein a binocular camera is arranged at the center of the fixed plate, the working distance to be measured enables the calibration plate to be filled with imaging pictures of the binocular camera, the calibration plate is located at the center of the pictures of the binocular camera, and the filling means that the distance between the edge of the calibration plate and the edge of the imaging pictures in the imaging pictures of the binocular camera is smaller than a set threshold value;
step 104: respectively acquiring vertex coordinates of the calibration plate through a first camera and a second camera of the binocular camera to obtain a measured value of the binocular camera in the depth direction;
step 106: and obtaining the measurement error of the binocular camera according to the working distance to be measured and the measurement value.
In one implementation, the fixing plate is disposed at one end of the guide rail, and the calibration plate is slidably disposed at the other end of the guide rail.
The method and the device for calculating the depth direction measurement errors of the binocular camera in the embodiment of the specification are built and debugged through the test environment, the average value of the depth measurement errors of the binocular camera in all directions in the whole view field range at different working distances is calculated, a corresponding solution is provided for influences of factors such as lens distortion, a measurement tool, the test environment and algorithm extraction precision on the measurement precision, and the measurement result is guaranteed to have higher accuracy.
In one implementation, the four corners of the fixed plate are respectively provided with a distance meter, and the distance between the calibration plate and the fixed plate is adjusted to the working distance to be measured and is made to be parallel to the calibration plate and the fixed plate, including:
adjusting the position of the calibration plate on the guide rail to enable the distance between the calibration plate and the fixed plate to be equal to the working distance to be measured;
respectively acquiring vertex distances of the four corners corresponding to the calibration plate through distance measuring instruments on the four corners of the fixed plate;
and judging whether the acquired vertex distances of the four corners of the calibration plate are the same or not, if so, enabling the calibration plate to be parallel to the fixed plate, and if not, adjusting the angles of the calibration plate to enable the distance meters on the four corners of the fixed plate to acquire the vertex distances of the four corners corresponding to the calibration plate respectively to be the same.
In one implementation, the range finder is a laser range finder with a measurement error within a set range.
In one implementation, light supplement equipment with the illumination intensity not lower than the set light intensity is arranged on two sides of the calibration plate.
In one implementation, the obtaining the vertex coordinates of the calibration board by the first camera and the second camera of the binocular camera respectively includes:
respectively acquiring a first image and a second image of the calibration plate through a first camera and a second camera of a binocular camera;
setting a point P as any one of 4 vertexes of the calibration plate, and respectively extracting an abscissa xl of the point P under the first image coordinate system and an abscissa xr under the second image coordinate system;
calculating the coordinate Zc of the point P according to the following formula:
wherein Zc is the distance between the point P and the optical center plane, f is the focal length of the binocular camera, T is the baseline distance, namely the distance between the left optical center and the right optical center of the binocular camera, and the optical center plane is the plane with the centers of the photoelectric sensors of the first camera and the second camera;
and calculating the distance Z between the point P and the measuring reference surface according to the following formula to obtain the measured value of the binocular camera in the depth direction:
Z＝Zc+d
and d is the distance from the optical center plane to the measurement reference plane, and the measurement reference plane is the plane where the fixed plate is located.
In one implementation, the obtaining a measurement error of the binocular camera according to the working distance to be measured and the measurement value includes:
according to the distance from each vertex of the calibration plate to the measurement reference surfaceCalculating the arithmetic mean value of the distances of all vertexes of the calibration plate
The measurement error e of the binocular camera is calculated by the following formula:
and Hs is the working distance to be measured, and n is the number of vertexes on the calibration plate.
In one implementation, the calibration board is a checkerboard calibration board, as shown in fig. 3.
Referring to fig. 1 and 2, the device comprises a fixing plate 1, a guide rail and support 2, a calibration plate 3, a laser range finder 4, a binocular camera 5, a light supplement lamp 6, a calibration plate plane 7, a measurement reference plane 8 and a light center plane 9. The specific implementation process comprises the following steps:
1) a test environment was set up as shown in figure 1.
2) And adjusting the horizontal distance between the calibration plate and the fixing plate to be the working distance to be measured.
3) And checking whether the plane of the calibration plate and the measuring reference plane are parallel or not by using a laser range finder, and if not, adjusting the plane of the calibration plate and the measuring reference plane to be parallel.
4) Reading the distance Hs between the plane of the calibration plate and the measuring reference plane.
5) The binocular camera takes a picture to obtain images of the left camera and the right camera.
6) And extracting the image coordinates of each vertex of the checkerboard calibration board in the image.
7) The distance Z from each vertex to the measurement reference plane is calculated.
8) Calculating the arithmetic mean of the distances of each vertex
9) The depth direction measurement error e is calculated.
The embodiment measures the distance to the calibration plate through a plurality of laser range finders fixed on the same plane, and checks whether the calibration plate and the imaging plane of the binocular camera are parallel or not. And fixing a chessboard pattern calibration plate at the working distance to be measured, and measuring the vertex coordinates of the chessboard pattern calibration plate to obtain the measured value of the binocular camera in the depth direction. And calculating the average value of the depth measurement values in all directions in the view field of the binocular camera at the working distance to be measured, and taking the average value as the depth measurement value of the working distance.
The method has high requirement on the installation precision of the test environment, and is suitable for occasions with high requirement on the precision of the measurement error of the binocular camera in the depth direction.
Corresponding to the foregoing method, the present specification also provides an apparatus embodiment, which may be implemented by software, or by hardware, or by a combination of hardware and software. The software implementation is taken as an example, and is formed by reading corresponding computer program instructions in the nonvolatile memory into the memory for operation through the processor of the device where the software implementation is located as a logical means. In terms of hardware, a hardware structure of the apparatus in this specification may include a processor, a network interface, a memory, and a nonvolatile memory, and the apparatus in the embodiment may also include other hardware according to an actual function, which is not described herein again.
An embodiment of the present specification provides an apparatus including:
the adjusting module is configured to adjust the distance between a calibration plate and a fixed plate to a working distance to be measured and enable the calibration plate and the fixed plate to be parallel, wherein a binocular camera is arranged at the center of the fixed plate, the working distance to be measured enables the calibration plate to be filled with an imaging picture of the binocular camera, the calibration plate is located at the center of the picture of the binocular camera, and the filling means that the distance between the edge of the calibration plate and the edge of the imaging picture in the imaging picture of the binocular camera is smaller than a set threshold value;
the measuring module is configured to obtain the vertex coordinates of the calibration plate through a first camera and a second camera of the binocular camera respectively to obtain the measured values of the binocular camera in the depth direction;
and the error calculation module is configured to obtain the measurement error of the binocular camera according to the working distance to be measured and the measurement value.
In one implementation, the fixing plate is disposed at one end of the guide rail, and the calibration plate is slidably disposed at the other end of the guide rail.
The apparatuses, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or implemented by a product with certain functions. A typical implementation device is a computer, which may take the form of a personal computer, laptop computer, cellular telephone, camera phone, smart phone, personal digital assistant, media player, navigation device, email messaging device, game console, tablet computer, wearable device, or a combination of any of these devices.
The implementation process of the functions and actions of each unit in the above device is specifically described in the implementation process of the corresponding step in the above method, and is not described herein again.
For the device embodiments, since they substantially correspond to the method embodiments, reference may be made to the partial description of the method embodiments for relevant points. The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution in the specification. One of ordinary skill in the art can understand and implement it without inventive effort.
An embodiment of the present specification also provides a computing device comprising a memory, a processor, and computer instructions stored on the memory and executable on the processor, the processor implementing the steps of the method when executing the instructions.
An embodiment of the present specification also provides a computer readable storage medium storing computer instructions which, when executed by a processor, implement the steps of the method.
The above is an illustrative scheme of a computer-readable storage medium of the present embodiment. It should be noted that the technical solution of the storage medium belongs to the same concept as the technical solution of the above-mentioned automatic testing method, and details that are not described in detail in the technical solution of the storage medium can be referred to the description of the technical solution of the above-mentioned automatic testing method.
The computer instructions comprise computer program code which may be in the form of source code, object code, an executable file or some intermediate form, or the like. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
It should be noted that, for the sake of simplicity, the foregoing method embodiments are described as a series of acts or combinations, but those skilled in the art should understand that the present disclosure is not limited by the described order of acts, as some steps may be performed in other orders or simultaneously according to the present disclosure.
Further, those skilled in the art should also appreciate that the embodiments described in this specification are preferred embodiments and that acts and modules referred to are not necessarily required for this description.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
The preferred embodiments of the present specification disclosed above are intended only to aid in the description of the specification. Alternative embodiments are not exhaustive and do not limit the invention to the precise embodiments described. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the specification and its practical application, to thereby enable others skilled in the art to best understand the specification and its practical application. The specification is limited only by the claims and their full scope and equivalents.
Claims (7)
1. A method for calculating a binocular camera depth direction measurement error is characterized by comprising the following steps:
adjusting the distance between a calibration plate and a fixed plate to a working distance to be measured and enabling the calibration plate and the fixed plate to be parallel, wherein a binocular camera is arranged at the center of the fixed plate, the working distance to be measured enables the calibration plate to be filled with imaging pictures of the binocular camera, the calibration plate is located at the center of the pictures of the binocular camera, and the filling means that the distance between the edge of the calibration plate and the edge of the imaging pictures in the imaging pictures of the binocular camera is smaller than a set threshold value;
respectively acquiring vertex coordinates of the calibration plate through a first camera and a second camera of the binocular camera to obtain a measured value of the binocular camera in the depth direction;
obtaining a measurement error of the binocular camera according to the working distance to be measured and the measurement value;
the fixed plate is arranged at one end of the guide rail, and the calibration plate is slidably arranged at the other end of the guide rail;
the four corners of fixed plate is provided with the distancer respectively, adjust the distance between calibration board and the fixed plate to the working distance that awaits measuring and make the calibration board with the fixed plate parallel includes:
adjusting the position of the calibration plate on the guide rail to enable the distance between the calibration plate and the fixed plate to be equal to the working distance to be measured;
respectively acquiring vertex distances of the four corners corresponding to the calibration plate through distance measuring instruments on the four corners of the fixed plate;
and judging whether the acquired vertex distances of the four corners of the calibration plate are the same or not, if so, enabling the calibration plate to be parallel to the fixed plate, and if not, adjusting the angles of the calibration plate to enable the distance meters on the four corners of the fixed plate to acquire the vertex distances of the four corners corresponding to the calibration plate respectively to be the same.
2. The calculation method according to claim 1, wherein the range finder is a laser range finder having a measurement error within a set range.
3. The calculation method according to claim 1, wherein light supplement devices with illumination intensity not lower than a set light intensity are arranged on two sides of the calibration plate.
4. The calculation method according to claim 1, wherein the obtaining of the vertex coordinates of the calibration plate by the first camera and the second camera of the binocular camera respectively comprises:
respectively acquiring a first image and a second image of the calibration plate through a first camera and a second camera of a binocular camera;
setting a point P as any one of 4 vertexes of the calibration plate, and respectively extracting an abscissa xl of the point P under the first image coordinate system and an abscissa xr under the second image coordinate system;
calculating the coordinate Zc of the point P according to the following formula:
wherein Zc is the distance between the point P and the optical center plane, f is the focal length of the binocular camera, T is the baseline distance, namely the distance between the left optical center and the right optical center of the binocular camera, and the optical center plane is the plane with the centers of the photoelectric sensors of the first camera and the second camera;
and calculating the distance Z between the point P and the measuring reference surface according to the following formula to obtain the measured value of the binocular camera in the depth direction:
Z＝Zc+d
and d is the distance from the optical center plane to the measurement reference plane, and the measurement reference plane is the plane where the fixed plate is located.
5. The calculation method according to claim 4, wherein the obtaining of the measurement error of the binocular camera according to the working distance to be measured and the measurement value comprises:
calculating the arithmetic mean value of the distances from the vertexes of the calibration plate to the measuring reference surface according to the distances from the vertexes of the calibration plate to the measuring reference surface
The measurement error e of the binocular camera is calculated by the following formula:
and Hs is the working distance to be measured, and n is the number of vertexes on the calibration plate.
6. The computing method of claim 1, wherein the calibration plate is a checkerboard calibration plate.
7. A binocular camera depth direction measurement error calculation apparatus, comprising:
the adjusting module is configured to adjust the distance between a calibration plate and a fixed plate to a working distance to be measured and enable the calibration plate and the fixed plate to be parallel, wherein a binocular camera is arranged at the center of the fixed plate, the working distance to be measured enables the calibration plate to be filled with an imaging picture of the binocular camera, the calibration plate is located at the center of the picture of the binocular camera, and the filling means that the distance between the edge of the calibration plate and the edge of the imaging picture in the imaging picture of the binocular camera is smaller than a set threshold value;
the measuring module is configured to obtain the vertex coordinates of the calibration plate through a first camera and a second camera of the binocular camera respectively to obtain the measured values of the binocular camera in the depth direction;
the error calculation module is configured to obtain a measurement error of the binocular camera according to the working distance to be measured and the measurement value;
the fixed plate is arranged at one end of the guide rail, and the calibration plate is slidably arranged at the other end of the guide rail;
the four corners of fixed plate are provided with the distancer respectively, the adjusting module is specifically configured as:
adjusting the position of the calibration plate on the guide rail to enable the distance between the calibration plate and the fixed plate to be equal to the working distance to be measured;
respectively acquiring vertex distances of the four corners corresponding to the calibration plate through distance measuring instruments on the four corners of the fixed plate;
and judging whether the acquired vertex distances of the four corners of the calibration plate are the same or not, if so, enabling the calibration plate to be parallel to the fixed plate, and if not, adjusting the angles of the calibration plate to enable the distance meters on the four corners of the fixed plate to acquire the vertex distances of the four corners corresponding to the calibration plate respectively to be the same.
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