CN109900301A - Binocular solid orientation angle compensation method under a kind of dynamic environment - Google Patents

Abstract

The invention discloses binocular solid orientation angle compensation methodes under a kind of dynamic environment, comprising the following steps: the mounted angle sensor in binocular equipment, obliquity sensor is parallel with baseline, obtains binocular equipment respectively around Y-axis and around X-axis and rotates angle, θ₁,θ₂；Space camera coordinate system is established using left eye camera photocentre in binocular equipment as coordinate origin；Binocular equipment is sought respectively according to the structural parameters of binocular equipment rotates θ around Y-axis₁Transformation matrix of coordinates and rotate θ around X-axis₂Transformation matrix of coordinates；Two transformation matrix of coordinates according to S3 seek the individual deviation of corresponding direction respectively, and then seek synthesis transformation matrix, then carry out angle compensation to the coordinate that binocular equipment obtains, obtain compensated coordinate.The present invention solves the problems, such as that binocular acquisition object space information is devious under dynamic condition, improves the precision of three-dimensional reconstruction.

Description

Binocular solid orientation angle compensation method under a kind of dynamic environment

Technical field

The invention belongs to the solid space field of locating technology based on binocular camera, and in particular to a kind of dynamic environment lower pair Mesh stereoscopic localized angle compensation calculation method.

Background technique

Binocular camera is a kind of equipment for being capable of providing Stereo Vision.Based on the image that binocular camera obtains, pass through Binocular parallax principle can calculate three-dimensional space position of the object taken by binocular camera relative to camera.

Binocular camera is demarcated by binocular solid, and according to the internal reference data obtained after camera calibration, (focal length, imaging are remote Point, distortion factor) and binocular relative position relationship (spin matrix and translation vector), elimination distortion is carried out to left and right view respectively It is aligned with row, keeps the imaging origin of left and right view consistent, two camera optical axises are parallel, left images co-planar, to pole The alignment of line row.Parallax is sought by row pixel difference in this way, depth information is asked by triangulation, determines 3 d space coordinate value. Above method measures the spatial position of object to be measured, be on the basis of keeping equipment and horizontal plane strictly parallel, could be really The relationship for determining world coordinate system and camera coordinates system, the object space location information needed.However in a dynamic environment, than Such as when being equipped with binocular equipment on ship, the carriers such as aircraft, a kind of angle compensation algorithm being simple and efficient seems most important.

Accurate object space information is hardly resulted under some dynamic environment for binocular camera ranging, is proposed a kind of dynamic Binocular solid orientation angle compensation method under state environment.The calculation method in binocular equipment mounted angle sensor (with baseline In parallel), equipment can be obtained respectively rotate angle, θ around Y-axis and around X-axis₁,θ₂Simultaneously according to the specific structure parameter of binocular equipment It seeks rotating θ around Y-axis respectively₁Transformation matrix of coordinates and rotate θ around X-axis₂Transformation matrix.It is finally unidirectional according to two Transformation matrix seeks the individual deviation of corresponding direction respectively, and then seeks the transformation of the synthesis under acting on simultaneously, then obtains to binocular The coordinate taken carries out angle compensation calculating, solves the problems, such as that binocular acquisition object space information is devious under dynamic condition, mentions The high precision of three-dimensional reconstruction.

Summary of the invention

For the above-mentioned prior art, the technical problem to be solved in the present invention is to provide one kind to be able to solve dynamic condition lower pair Mesh, which obtains object space information, to be had deviation and improves binocular solid orientation angle under the dynamic environment of reconstruction accuracy Spend compensation method.

In order to solve the above technical problems, the present invention provides binocular solid orientation angle compensation method under a kind of dynamic environment, Characterized by comprising the following steps:

S1: the mounted angle sensor in binocular equipment, the obliquity sensor is parallel with baseline, obtains binocular respectively and sets It is standby to rotate angle, θ around Y-axis and around X-axis₁,θ₂；

S2: space camera coordinate system is established using left eye camera photocentre in binocular equipment as coordinate origin；

S3: binocular equipment is sought respectively according to the structural parameters of binocular equipment and rotates θ around Y-axis₁Transformation matrix of coordinates and θ is rotated around X-axis₂Transformation matrix of coordinates；

S4: two transformation matrix of coordinates according to S3 seek the individual deviation of corresponding direction respectively, and then seek Transformation matrix is synthesized, angle compensation then is carried out to the coordinate that binocular equipment obtains, obtains compensated coordinate.

The invention also includes:

1, in step sl, obliquity sensor obtains the angle of the X-direction between current binocular equipment and horizontal plane With the angle of Y-direction.

2, in the space camera coordinate system in step S2, using left eye camera optical axis as Z axis, it is from left to right along baseline X-axis meets left hand rule and determines Y-axis.

3, θ is rotated around Y-axis in step S3₁Transformation matrix of coordinates and rotate θ around X-axis₂Transformation matrix of coordinates be rotation With the combination of translation matrix；θ is rotated around X-axis₂Transformation matrix of coordinates be Are as follows:

Wherein, the distance of Y-direction of the coordinate origin apart from plant machinery rotation center O be 0, h be coordinate origin away from With a distance from Z-direction from plant machinery rotation center O；

θ is rotated around Y-axis₁Transformation matrix of coordinates be Are as follows:

Wherein, l is X-direction distance of the coordinate origin apart from plant machinery rotation center O, and coordinate origin is apart from equipment The distance of the Y-direction of mechanical rotation center O be 0, h be Z-direction of the coordinate origin apart from plant machinery rotation center O away from From.

4, the synthesis transformation matrix in step S4 is Further obtain:

Wherein, E represents unit matrix；

Compensated coordinate is in step S4^CP,^CP is coordinate of the object P at ideal coordinate system { C },^CP meets:

Wherein,^ABP is coordinate of the object P at coordinate system { AB }, and { AB } is θ₁, θ₂Coordinate system under collective effect.

The invention has the advantages that: this method to be based on binocular solid space orientation principle and three-dimensional coordinate transformation, for dynamic There is deviations phenomenon caused by certain angle with horizontal plane as binocular measuring device under state environment, carries out certain correction and mend It repays, to calculate the spatial positional information closer to true value.This method considers benchmark on the basis of binocular solid positions Face may be inconsistent with horizontal plane, leads to occur biggish deviation when spatial algorithm, obtains X, the side Y by obliquity sensor To deflection angle and three-dimensional system of coordinate transformation, solve the problems, such as that traditional binocular positioning is inaccurate in a dynamic environment.

Detailed description of the invention

Fig. 1 is binocular solid orientation angle compensation calculation method flow diagram under dynamic environment；

Fig. 2 is X-direction, and the independent conversion process of Y-direction and X, Y act on conversion process schematic diagram simultaneously；

Fig. 3 is to solveSimplified pinciple figure；

Fig. 4 is to solveSimplified pinciple figure；

Specific embodiment

In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and It is not used in the restriction present invention.

The invention discloses binocular solid orientation angle compensation method under a kind of dynamic environment, this method includes following step It is rapid:

S1, mounted angle sensor (parallel with baseline) in binocular equipment can obtain equipment around Y-axis and around X respectively Axis rotates angle, θ₁,θ₂；

S2, left eye camera photocentre establishes space camera coordinate system as coordinate origin using in binocular camera；

S3, it seeks rotating θ around Y-axis respectively according to the specific structure parameter of binocular equipment₁Transformation matrix of coordinates and around X-axis Rotate θ₂Transformation matrix；

S4, the individual deviation of corresponding direction is sought respectively according to two unidirectional transformation matrixs, and then seek making simultaneously Synthesis transformation under, then carries out angle compensation calculating to the coordinate that binocular obtains.

In step sl, two readings of obliquity sensor embody the X between current binocular equipment and horizontal plane Direction, the angle of Y-direction.

In step s 2, left camera lens optical axis is X-axis along baseline as Z axis from left to right, meets left hand rule and determines Y-axis.

In step s3, it is contemplated that specific device structure parameter, angle compensation is not rotation transformation merely, and there are also certain Translation transformation, so the transformation matrix of both direction is rotation and the combination of translation matrix.

In step s 4, the space orientation deviation approximation that any two angle collective effect generates is seen as both direction The superposition of independent action, and then find out the spatial value after angle compensation.

For equipment due to X, grid deviation caused by the inclination of Y-direction is actually that coordinate system occurs translating and rotate.

Assuming that object P, at coordinate system { M }, the coordinate of { N } is respectively^MP,^NP,Coordinate system { M } is represented relative to { N } Transition matrix,Spin matrix of the coordinate system { M } relative to { N } is represented,^NP_MORGRepresent position of the origin of { M } relative to { N } Set satisfaction

Therefore it will seek around X, Y-axis rotates θ₁,θ₂The transformation matrix of axis rotation

As described in step S4, seeks the individual deviation of corresponding direction respectively according to two unidirectional transformation matrixs, pass through Synthesis transformation matrix under the mode approximate calculation of superposition effect simultaneously, then carries out angle compensation meter to the coordinate that binocular obtains It calculates.Algorithm flow is as shown in Figure 1

Transformation matrix seeks formula:

Wherein E represents unit matrix；

Coordinate Compensation Transformation formula:

It is specifically described below with reference to Fig. 2~Fig. 4.

As shown in Fig. 2, coordinate system { C } is ideal coordinates system, { AB } is that two angles are coefficient as a result, { A }, { B } It is around Y-axis respectively, X-axis rotates θ₁, θ₂As a result, the optical center of left camera be coordinate origin, along baseline be X-axis, optical axis is Z axis, Establish left-handed coordinate system.X-direction distance of the coordinate origin apart from plant machinery rotation center O is l, mark system initial point distance equipment The distance of the Y-direction of mechanical rotation center O is 0, and the distance of the Z-direction of mark system initial point distance plant machinery rotation center O is h. Assuming that object P, at coordinate system { A }, the coordinate of { B }, { C }, { AB } are respectively^AP,^BP,^CP,^ABP,It is opposite to represent coordinate system { M } In the transition matrix of { N },Spin matrix of the coordinate system { M } relative to { N } is represented,^MP_NORGRepresent { M } origin relative to The position of { N } meets

So

It solves belowSolution procedure can simplify as shown in figure 3, wherein thick line portion where KG is uncompensated original Beginning position, by rotating θ₁It is the place LJ thick line portion after compensation.

It was that O around Y-axis rotates θ₁Transformation matrix, it is possible to obtain

It is available according to the mechanical configuration parameter of equipment

It is available by geometrical relationship

AB=GH=h (1-cos θ₁) (8)

AI=AG-IG=lcos θ₁-hsinθ₁

So

BK=AK-AB=lsin θ₁-h(1-cosθ₁) (9)

LB=LJ-BJ=l (1-cos θ₁)+hsinθ₁

Therefore

^AP_CORG=[l (1-cos θ₁)+hsinθ₁ 0 lsinθ₁-h(1-cosθ₁)]^T (10)

It solves belowSolution procedure can simplify as shown in figure 4, wherein thick line portion where OL is uncompensated original Beginning position, by rotating θ₂It is the place OK thick line portion after compensation.

It was that O around X-axis rotates θ₂Transformation matrix, it is possible to obtain

It is available according to the mechanical configuration parameter of equipment

OK=OL=h (13)

It is available by geometrical relationship

LG=hsin θ₂ (14)

GK=OK-KG=h (1-cos θ₂)

Therefore

^BP_CORG=[0 hsin θ₂ -h(1-cosθ₂)]^T (15)

See the space orientation deviation approximation that any two angle collective effect generates as both direction independent action Superposition, and then the spatial value after angle compensation is found out, therefore transformation matrixIt can be obtained by following formula:

I.e.

Therefore:

So the compensation coordinate of the equipment of any attitude can be calculate by the following formula:

In fact this calculating is a kind of approximate evaluation of actual conditions, is not strictly to calculate, because it has ignored two The coupled relation in a direction, but error is within an acceptable range.Certainly, work as θ₁,θ₂When wherein to have one be zero, this meter It is stringent at last to calculate.

The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.

Claims (5)

1. binocular solid orientation angle compensation method under a kind of dynamic environment of the present invention, which comprises the following steps:

S1: the mounted angle sensor in binocular equipment, the obliquity sensor is parallel with baseline, respectively obtain binocular equipment around Y-axis and angle, θ is rotated around X-axis₁,θ₂；

S2: space camera coordinate system is established using left eye camera photocentre in binocular equipment as coordinate origin；

S3: binocular equipment is sought respectively according to the structural parameters of binocular equipment and rotates θ around Y-axis₁Transformation matrix of coordinates and around X-axis Rotate θ₂Transformation matrix of coordinates；

S4: two transformation matrix of coordinates according to S3 seek the individual deviation of corresponding direction respectively, and then seek synthesizing Then transformation matrix carries out angle compensation to the coordinate that binocular equipment obtains, obtains compensated coordinate.

2. binocular solid orientation angle compensation method under a kind of dynamic environment according to claim 1, it is characterised in that: In step S1, the obliquity sensor obtains the angle and Y-direction of X-direction between current binocular equipment and horizontal plane Angle.

3. binocular solid orientation angle compensation method under a kind of dynamic environment according to claim 1, it is characterised in that: step In space camera coordinate system described in rapid S2, using left eye camera optical axis as Z axis, from left to right it is X-axis along baseline, meets a left side Hand rule determines Y-axis.

4. binocular solid orientation angle compensation method under a kind of dynamic environment according to claim 1, it is characterised in that: step θ is rotated around Y-axis described in rapid S3₁Transformation matrix of coordinates and rotate θ around X-axis₂Transformation matrix of coordinates be rotation and translation matrix Combination；θ is rotated around X-axis₂Transformation matrix of coordinates beAre as follows:

Wherein, it is that coordinate origin distance is set that the distance of Y-direction of the coordinate origin apart from plant machinery rotation center O, which is 0, h, The distance of the Z-direction of standby host tool rotation center O；

θ is rotated around Y-axis₁Transformation matrix of coordinates beAre as follows:

Wherein, l is X-direction distance of the coordinate origin apart from plant machinery rotation center O, and coordinate origin is apart from plant machinery The distance of the Y-direction of rotation center O is the distance that 0, h is Z-direction of the coordinate origin apart from plant machinery rotation center O.

5. binocular solid orientation angle compensation method under a kind of dynamic environment according to claim 1, it is characterised in that: step Synthesizing transformation matrix described in rapid S4 is Further obtain:

Wherein, E represents unit matrix；

Compensated coordinate described in step S4 is^CP,^CP is coordinate of the object P at ideal coordinate system { C },^CP meets:

Wherein,^ABP is coordinate of the object P at coordinate system { AB }, and { AB } is θ₁, θ₂Coordinate system under collective effect.