CN109239727A - A kind of distance measuring method of combination solid-state face battle array laser radar and double CCD cameras - Google Patents
A kind of distance measuring method of combination solid-state face battle array laser radar and double CCD cameras Download PDFInfo
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- CN109239727A CN109239727A CN201811053555.7A CN201811053555A CN109239727A CN 109239727 A CN109239727 A CN 109239727A CN 201811053555 A CN201811053555 A CN 201811053555A CN 109239727 A CN109239727 A CN 109239727A
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- laser radar
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- array laser
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000005259 measurement Methods 0.000 claims abstract description 15
- 241000208340 Araliaceae Species 0.000 claims abstract description 14
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims abstract description 14
- 235000003140 Panax quinquefolius Nutrition 0.000 claims abstract description 14
- 235000008434 ginseng Nutrition 0.000 claims abstract description 14
- 238000003708 edge detection Methods 0.000 claims abstract description 10
- 238000012937 correction Methods 0.000 claims abstract description 6
- 230000000007 visual effect Effects 0.000 claims description 4
- 230000010354 integration Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 description 5
- 230000003287 optical effect Effects 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 238000010606 normalization Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000006854 communication Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
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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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- G06T5/80—
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/13—Edge detection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
Abstract
The present invention discloses the distance measuring method of a kind of combination solid-state face battle array laser radar and double CCD cameras, first double CCD cameras and solid-state face battle array laser radar are demarcated to obtain respective internal reference, outer ginseng and distortion factor, distortion correction is carried out using field of regard image of the respective distortion factor to double CCD cameras and the battle array laser radar acquisition of solid-state face, then object edge detection is carried out to the collected field of regard image of double CCD cameras, and calculates object edge range information using the internal reference of double CCD cameras；Double CCD cameras are substituted into solid-state face battle array laser radar in the distance measurement result of object edge in the distance measurement result of object edge using the outer ginseng of double CCD cameras, obtain the distance measurement result of field of regard.
Description
Technical field
The invention belongs to the technical fields of face battle array ranging, and in particular to a kind of combination solid-state face battle array laser radar and double CCD
The distance measuring method of camera.
Background technique
Laser radar is the system for carrying out ranging by transmitting laser and reception laser, its working principle is that: light source drives
Dynamic module drive optical transmitting set issues optical signal, which encounters barrier in communication process and reflected and scattered, light
After receiver receives the optical signal of reflection or scattering, signal processing module is to transmitting light and receives light progress operation, to obtain
Radar to barrier relative distance.
Two CCD cameras are the systems by binocular vision algorithm to carry out ranging, its working principle is that: two CCD phases
Machine is analyzed for simulating binocular, the detection object image of the different location of shooting, the image obtained to shooting, so that it is determined that figure
As in characteristic point or image all the points distance.
Existing laser radar and realize that the precision of CCD camera of ranging has been able to be suitable for by binocular vision algorithm
More application scenarios.And for needing the higher application scenarios of precision, single system is often unable to get preferable result.
There are edge reflection effects for discovery face battle array laser radar during the test, lead to the edge distance measurement result of object not
It is credible.The existing method for solving edge reflection effect is mainly repaired by way of interpolation, and this method repairing effect is not
It is ideal.
Summary of the invention
In view of this, the present invention provides the distance measuring method of a kind of combination solid-state face battle array laser radar and double CCD cameras, energy
It is enough that high-precision range measurement is carried out to object in visual field, reduce edge reflection effect.
Realize that technical scheme is as follows:
The distance measuring method of a kind of combination solid-state face battle array laser radar and double CCD cameras, first to double CCD cameras and solid-state face
Battle array laser radar is demarcated to obtain respective internal reference, outer ginseng and distortion factor, using respective distortion factor to double CCD cameras
Distortion correction is carried out with the field of regard image of solid-state face battle array laser radar acquisition, then to the collected target of double CCD cameras
View field image carries out object edge detection, and calculates object edge range information using the internal reference of double CCD cameras；Utilize double CCD
Double CCD cameras are substituted solid-state face battle array laser radar in the ranging of object edge in the distance measurement result of object edge by the outer ginseng of camera
As a result, obtaining the distance measurement result of field of regard.
Further, the step of calibration includes:
Step 1: solid-state face battle array laser radar and double CCD cameras are fixed respectively, wherein solid-state face battle array laser radar with pair
CCD camera is horizontally arranged, and solid-state face battle array laser radar is placed in the center of two CCD cameras；
Step 2: gridiron pattern will be demarcated and be placed in the visual field of solid-state face battle array laser radar and double CCD cameras；
Step 3: starting solid-state face battle array laser radar and double CCD cameras；
Step 4: mobile calibration gridiron pattern changes relative distance and the side of calibration gridiron pattern and solid-state face battle array laser radar
To；
Step 5: setting grayscale mode for solid-state face battle array laser radar, the adjusting time of integration makes gridiron pattern in the picture
It is high-visible；
Step 6: control solid-state face battle array laser radar and double CCD cameras acquire simultaneously and save the tessellated image of calibration；
Step 7: above step 4-6 is repeated, until collecting 10-20 group image；
Step 8: respective to solid-state face battle array laser radar camera and double CCD cameras using collected 10-20 group image
Internal reference, outer ginseng and distortion factor are demarcated.
Further, the object edge of double CCD camera acquisition images is detected using Sobel edge detection algorithm, and is calculated
The range information of object edge.
The utility model has the advantages that
The present invention corrects solid-state face battle array laser radar edge using the edge distance measurement result that double CCD cameras measure in real time and misses
Difference reduces edge reflection effect, to obtain high-precision distance measurement result.
Detailed description of the invention
Fig. 1 is in the method for the present invention to the flow chart of internal reference, outer ginseng and distortion factor calibration.
Fig. 2 is the present invention by correcting reduction edge reflections method flow diagram in real time based on double CCD cameras.
Specific embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
The present invention provides the distance measuring methods of a kind of combination solid-state face battle array laser radar and double CCD cameras, including walk as follows
It is rapid:
Step 1: being demarcated to obtain solid-state face battle array laser radar and double to double CCD cameras and solid-state face battle array laser radar
The respective internal reference of CCD camera, outer ginseng and distortion factor；
Step 2: using respective distortion factor to the field of regard figure of double CCD cameras and the battle array laser radar acquisition of solid-state face
As information carries out distortion correction；
Step 3: object edge detection being carried out to the collected field of regard image of double CCD cameras, and utilizes double CCD cameras
Internal reference calculate object edge range information；
Step 4: using the outer ginseng of double CCD cameras by double CCD cameras in the distance measurement result substitution solid-state face gust of object edge
Distance measurement result of the laser radar in object edge, the distance measurement result of the field of regard after obtaining data fusion.
The present invention detects the edge of object in CCD camera acquired image using Sobel edge detection algorithm, and calculates
The Edge Distance of object in image.
Edge detection is carried out to every group of picture and uses Sobel edge detection algorithm.Algorithm uses cross form:
And vertical framework:Calculate each pixel transverse direction G1With longitudinal gradient value G2It obtains
Gradient magnitudeAnd gradient directionTo carry out edge detection.
As shown in Figure 1, the step of calibration, includes:
Step 1: solid-state face battle array laser radar and double CCD cameras are fixed respectively, wherein solid-state face battle array laser radar with pair
CCD camera is horizontally arranged, and solid-state face battle array laser radar is placed in the center of two CCD cameras；
Step 2: gridiron pattern will be demarcated and be placed in the visual field of solid-state face battle array laser radar and double CCD cameras；
Step 3: starting solid-state face battle array laser radar and double CCD cameras, the acquisition of connection data and control device；
Step 4: mobile calibration gridiron pattern changes relative distance and the side of calibration gridiron pattern and solid-state face battle array laser radar
To；
Step 5: setting grayscale mode for solid-state face battle array laser radar, the adjusting time of integration makes gridiron pattern in the picture
It is high-visible；
Step 6: control solid-state face battle array laser radar and double CCD cameras acquire simultaneously and save the tessellated image of calibration；
Step 7: above step 4-6 is repeated, until collecting 10-20 group image；
Step 8: using collected 10-20 group image to solid-state face battle array laser radar camera and double CCD camera internal references, outside
Ginseng and distortion factor are demarcated.
Realize that the present invention needs the range unit of a set of faying face battle array laser radar and double CCD cameras, a chessboard case marker
Fixed board, a data processing and control device.
In the present invention, internal reference is used to describe the transformational relation of the point in spatial point and pixel planes:
Wherein, fx,fy,cx,cyFor the internal reference of camera, wherein (cx,cy) be CCD camera principal point, fx,fyExist for CCD camera
Scale factor on horizontal and vertical direction, (X, Y, Z) are the space coordinate put under world coordinates.(u, v) is and spatial point pair
The coordinate put on the pixel planes answered.
In the present invention, outer ginseng is for describing the transformational relation between face battle array laser radar and double CCD camera camera coordinates systems:
Wherein, (X2,Y2,Z2, 1) and in the coordinate of CCD camera coordinate system down space point, (X1,Y1,Z1, 1) and it is in laser thunder
Up to the coordinate of coordinate system down space, [R | T] is the outer ginseng of corresponding camera.
The distortion factor is used to correct the distortion of camera:
xcorrected=x (1+k1r2+k2r4)+2p1xy+p2(r2+2x2)
ycorrected=y (1+k1r2+k2r4)+p1(r2+2x2)+2p2xy
Wherein, k1,k2,p1,p2For the distortion factor of camera, (xcorrect,ycorrect, 1) be correction after normalization plane
On point, (x, y, 1) is the point in the normalization plane before correction, and x=X/Z, y=Y/Z, r is
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (3)
1. the distance measuring method of a kind of combination solid-state face battle array laser radar and double CCD cameras, which is characterized in that first to double CCD phases
Machine and solid-state face battle array laser radar are demarcated to obtain respective internal reference, outer ginseng and distortion factor, utilize respective distortion factor
Distortion correction is carried out to the field of regard image of double CCD cameras and the battle array laser radar acquisition of solid-state face, then double CCD cameras are adopted
The field of regard image collected carries out object edge detection, and calculates object edge range information using the internal reference of double CCD cameras；
Double CCD cameras are substituted into solid-state face battle array laser radar in target in the distance measurement result of object edge using the outer ginseng of double CCD cameras
The distance measurement result at edge obtains the distance measurement result of field of regard.
2. the distance measuring method of a kind of combination solid-state face battle array laser radar and double CCD cameras as described in claim 1, feature exist
Include: in the step of, calibration
Step 1: solid-state face battle array laser radar and double CCD cameras are fixed respectively, wherein solid-state face battle array laser radar and double CCD
Camera is horizontally arranged, and solid-state face battle array laser radar is placed in the center of two CCD cameras；
Step 2: gridiron pattern will be demarcated and be placed in the visual field of solid-state face battle array laser radar and double CCD cameras；
Step 3: starting solid-state face battle array laser radar and double CCD cameras；
Step 4: mobile calibration gridiron pattern changes relative distance and the direction of calibration gridiron pattern and solid-state face battle array laser radar；
Step 5: setting grayscale mode for solid-state face battle array laser radar, the adjusting time of integration makes gridiron pattern clear in the picture
It can be seen that；
Step 6: control solid-state face battle array laser radar and double CCD cameras acquire simultaneously and save the tessellated image of calibration；
Step 7: above step 4-6 is repeated, until collecting 10-20 group image；
Step 8: using collected 10-20 group image to solid-state face battle array laser radar camera and the respective internal reference of pair CCD camera,
Outer ginseng and distortion factor are demarcated.
3. the distance measuring method of a kind of combination solid-state face battle array laser radar and double CCD cameras as described in claim 1, feature exist
In detecting the object edge of double CCD cameras acquisition images using Sobel edge detection algorithm, and calculate the distance of object edge
Information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811053555.7A CN109239727B (en) | 2018-09-11 | 2018-09-11 | Distance measurement method combining solid-state area array laser radar and double CCD cameras |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811053555.7A CN109239727B (en) | 2018-09-11 | 2018-09-11 | Distance measurement method combining solid-state area array laser radar and double CCD cameras |
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| Publication Number | Publication Date |
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| CN109239727A true CN109239727A (en) | 2019-01-18 |
| CN109239727B CN109239727B (en) | 2022-08-05 |
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Citations (5)
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|---|---|---|---|---|
| CN101882313A (en) * | 2010-07-14 | 2010-11-10 | 中国人民解放军国防科学技术大学 | Calibration method of correlation between single line laser radar and CCD (Charge Coupled Device) camera |
| CN105758426A (en) * | 2016-02-19 | 2016-07-13 | 深圳杉川科技有限公司 | Combined calibration method for multiple sensors of mobile robot |
| CN106781536A (en) * | 2016-11-21 | 2017-05-31 | 四川大学 | A kind of vehicle speed measuring method based on video detection |
| CN107167811A (en) * | 2017-04-26 | 2017-09-15 | 西安交通大学 | The road drivable region detection method merged based on monocular vision with laser radar |
| CN107976668A (en) * | 2016-10-21 | 2018-05-01 | 法乐第(北京)网络科技有限公司 | A kind of method of outer parameter between definite camera and laser radar |
-
2018
- 2018-09-11 CN CN201811053555.7A patent/CN109239727B/en active Active
Patent Citations (5)
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|---|---|---|---|---|
| CN101882313A (en) * | 2010-07-14 | 2010-11-10 | 中国人民解放军国防科学技术大学 | Calibration method of correlation between single line laser radar and CCD (Charge Coupled Device) camera |
| CN105758426A (en) * | 2016-02-19 | 2016-07-13 | 深圳杉川科技有限公司 | Combined calibration method for multiple sensors of mobile robot |
| CN107976668A (en) * | 2016-10-21 | 2018-05-01 | 法乐第(北京)网络科技有限公司 | A kind of method of outer parameter between definite camera and laser radar |
| CN106781536A (en) * | 2016-11-21 | 2017-05-31 | 四川大学 | A kind of vehicle speed measuring method based on video detection |
| CN107167811A (en) * | 2017-04-26 | 2017-09-15 | 西安交通大学 | The road drivable region detection method merged based on monocular vision with laser radar |
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