CN109990756A - A kind of binocular distance measuring method and system - Google Patents
A kind of binocular distance measuring method and system Download PDFInfo
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- CN109990756A CN109990756A CN201910290887.5A CN201910290887A CN109990756A CN 109990756 A CN109990756 A CN 109990756A CN 201910290887 A CN201910290887 A CN 201910290887A CN 109990756 A CN109990756 A CN 109990756A
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Abstract
The present invention relates to computer vision field, disclosing a kind of binocular distance measuring method and system, method includes: to shoot material object to be measured by binocular camera, obtains the first material picture and the second material picture；Focal length correction is carried out to the first material picture or the second material picture according to the zoom factor precalculated, to reduce the focus difference of the first material picture and the second material picture；The first material picture and the second material picture after being corrected according to focal length calculate the distance in kind apart from binocular camera to be measured.The present invention is before binocular ranging, it is handled using the image that the algorithm that focal length is corrected uses binocular ranging, correct the different left images of script focal length, keep the focal length of the two approximate consistent, so that the inconsistent problem of concern camera focus is not needed when carrying out binocular ranging, it is not only time saving and energy saving, and the suitable environment of binocular ranging is expanded, reduce the use condition and equipment threshold of binocular ranging.
Description
Technical field
The invention belongs to technical field of computer vision, in particular to a kind of binocular distance measuring method and system.
Background technique
Foundation stone of the binocular ranging technology as binocular vision system, for promoting the increasing based on computer vision system
Instantly the most burning hot meters such as strong reality technology (AR technology), virtual reality technology (VR technology), artificial intelligence technology (AI technology)
The leading edge developments technology in calculation machine field has great effect.Therefore, research, improve and perfect binocular ranging technology are expanded double
Estimate away from application scenarios and suitable environment, improve binocular ranging technology range accuracy, reduce binocular ranging technology use
Threshold, the development for computer vision research direction, and the development of entire Computer Subject technical field all have very
Huge effect, and have a extensive future.
Currently, binocular ranging technology is still higher using threshold, the requirement for equipment is also higher, one of them is very heavy
The requirement wanted is exactly that two camera focus using of binocular camera must be consistent or approximate consistent, and the focal length of zoom camera is not
Can ensure that it is consistent, so as to cause binocular ranging application be restricted, be unfavorable for the further development of binocular ranging.
Summary of the invention
The object of the present invention is to provide a kind of binocular distance measuring method and systems, are acquired by the different binocular camera of focusing
Two images pre-processed, correct the different two images of script focal length so that the focal length of two images reaches unanimity,
To meet binocular ranging requirement consistent for binocular camera focal length.
Technical solution provided by the invention is as follows:
On the one hand, the present invention provides a kind of binocular distance measuring method, comprising:
Material object to be measured is shot by binocular camera, obtains the first material picture and the second material picture；
First material picture or second material picture are carried out according to the zoom factor precalculated burnt
Away from correction, to reduce the focus difference of first material picture Yu second material picture；
First material picture after being corrected according to focal length and second material picture calculate it is described it is to be measured it is in kind away from
With a distance from the binocular camera.
Further, the calculation method of the zoom factor are as follows:
Chessboard calibration plate is shot by the binocular camera, obtains the first chessboard calibration image and the second chessboard calibration figure
Picture；
Obtain the angle point information of the first chessboard calibration image and the second chessboard calibration image；
The angle point that three or more are chosen in the first chessboard calibration image, forms the first polygon；
The one-to-one point of angle point with described three or more is chosen in the second chessboard calibration image, forms second
Polygon；
According to the angle point information of first polygon and second polygon, the first chessboard calibration image is calculated
With the zoom factor between the second chessboard calibration image.
Further, the angle point information according to first polygon and second polygon calculates described the
Zoom factor between one chessboard calibration image and the second chessboard calibration image specifically includes:
Obtain the coordinate of each angle point of first polygon and second polygon；
It is consistent with the starting point coordinate of second polygon to define first polygon；
The coordinate of first polygon and the angle point of second polygon is substituted into formula (1), solution obtains b11、
b12、b13、b21、b22、b23、b31、b32、b33；
By the b11、b12、b13、b21、b22、b23、b31、b32、b33It substitutes into formula (2), solution obtains zoom factor；
Wherein, B representation space transformation matrix；S indicates zoom factor；(x, y, z, 1) indicates the angle point in the first polygon
Coordinate；(x ', y ', z ', 1) indicates the angular coordinate in the second polygon.
Further, it is described corrected according to focal length after first material picture and second material picture calculate institute
The distance in kind apart from the binocular camera to be measured is stated to specifically include:
First material picture and second pictorial diagram after being corrected according to the camera parameter focusing demarcated in advance
As carrying out distortion correction；
To first material picture and second material picture progress Stereo matching after distortion correction, parallax is obtained
Figure；
According to the disparity map and the camera parameter obtained by calibrating, the material object to be measured is calculated apart from the binocular phase
The distance of machine；
Wherein, the scaling method of the camera parameter are as follows: according to zoom factor to the first chessboard calibration image or institute
It states the second chessboard calibration image and carries out focal length correction；The first chessboard calibration image and described second after being corrected according to focal length
Chessboard calibration image demarcates the binocular camera, obtains the camera parameter of the binocular camera.
Further, the zoom factor that the basis precalculates is to first material picture or second reality
Object image carries out focal length correction, is specifically included with reducing the focus difference of first material picture and second material picture:
First material picture or second material picture are put according to the zoom factor precalculated
Greatly；
When first material picture is amplified, using the image center of first material picture of amplification as in
The heart is cut out using first material picture of the frame with the same size of the second material picture to amplification, obtains coke
Away from the first material picture after correction, to reduce the focus difference of first material picture Yu second material picture；
When second material picture is amplified, using the image center of second material picture of amplification as in
The heart is cut out using second material picture of the frame with the same size of the first material picture to amplification, obtains coke
Away from the second material picture after correction, to reduce the focus difference of first material picture Yu second material picture.
On the other hand, the present invention also provides a kind of binocular range-measurement systems, comprising:
Image capture module obtains the first material picture and the second material picture for shooting material object to be measured；
Focal length rectification module, for according to the zoom factor that precalculates to first material picture or described the
Two material pictures carry out focal length correction, to reduce the focus difference of first material picture Yu second material picture；
Range finder module, for after being corrected according to focal length first material picture and second material picture calculate institute
State the distance in kind apart from the binocular camera to be measured.
Further, described image acquisition module is also used to shoot chessboard calibration plate, obtain the first chessboard calibration image and
Second chessboard calibration image；
The system also includes zoom factor computing module, the zoom factor computing module includes:
Angle point information acquiring unit, for obtaining the first chessboard calibration image and the second chessboard calibration image
Angle point information；
Angle point selection unit forms first for choosing three or more angle points in the first chessboard calibration image
Polygon；
The angle point selection unit is also used to choose the angle with described three or more in the second chessboard calibration image
The one-to-one point of point, forms the second polygon；
Zoom factor computing unit, for the angle point information according to first polygon and second polygon, meter
Calculate the zoom factor between the first chessboard calibration image and the second chessboard calibration image.
Further, the zoom factor computing unit includes:
Coordinate obtains subelement, the seat of each angle point for obtaining first polygon and second polygon
Mark；
Subelement is defined, it is consistent with the starting point coordinate of second polygon for defining first polygon；
Subelement is solved, for the coordinate of first polygon and the angle point of second polygon to be substituted into formula
(1), it solves and obtains b11、b12、b13、b21、b22、b23、b31、b32、b33；
The solution subelement is also used to the b11、b12、b13、b21、b22、b23、b31、b32、b33It substitutes into formula (2),
Solution obtains zoom factor；
Wherein, B representation space transformation matrix；S indicates zoom factor；(x, y, z, 1) indicates the angle point in the first polygon
Coordinate；(x ', y ', z ', 1) indicates the angular coordinate in the second polygon.
Further, the range finder module includes:
Distortion correction unit, for according to first material picture after the camera parameter focusing correction demarcated in advance
Distortion correction is carried out with second material picture；
Stereo matching unit, for after distortion correction first material picture and second material picture carry out
Stereo matching obtains disparity map；
Metrics calculation unit, for calculating described to be measured according to the disparity map and the camera parameter obtained by calibrating
Distance of the material object apart from the binocular camera；
The system also includes camera calibration module, the camera calibration module, for according to zoom factor to described the
One chessboard calibration image or the second chessboard calibration image carry out focal length correction；And first chess after being corrected according to focal length
Disk uncalibrated image and the second chessboard calibration image demarcate the binocular camera, obtain the camera of the binocular camera
Parameter.
Further, the focal length rectification module includes:
Amplifying unit, for according to the zoom factor that precalculates to first material picture or described second real
Object image amplifies；
Unit is cut out, for when first material picture is amplified, by the figure of first material picture of amplification
Centered on inconocenter point, using the frame with the same size of the second material picture to first material picture of amplification into
Row is cut out, the first material picture after obtaining focal length correction, to reduce first material picture and second material picture
Focus difference；
It is described to cut out unit, it is also used to when second material picture is amplified, by second pictorial diagram of amplification
Centered on the image center of picture, using the frame with the same size of the first material picture to second material object of amplification
Image is cut out, the second material picture after obtaining focal length correction, to reduce first material picture and described second in fact
The focus difference of object image.
A kind of binocular distance measuring method and system provided through the invention, can bring have the beneficial effect that the present invention is logical
Binocular camera is crossed to shoot after obtaining the first material picture and the second material picture, it can be by the zoom factor pair that precalculates
First material picture or the second material picture carry out focal length correction, so that the focal length of the first material picture and the second material picture is close
It is seemingly consistent, so that not needing the inconsistent problem of concern camera focus, i.e., using any when carrying out binocular ranging
Two cameras, either zoom camera or fixed-focus camera can easily complete the task of binocular ranging, not only time saving province
Power, and the suitable environment of binocular ranging is expanded, the use condition and equipment threshold of binocular ranging are reduced, it is double for realizing
The promotion and application of visual poor ranging technology have great effect.
Detailed description of the invention
Below by clearly understandable mode, preferred embodiment is described with reference to the drawings, to a kind of binocular distance measuring method and
Above-mentioned characteristic, technical characteristic, advantage and its implementation of system are further described.
Fig. 1 is a kind of flow diagram of the first embodiment of binocular distance measuring method of the present invention；
Fig. 2 is a kind of flow diagram of the second embodiment of binocular distance measuring method of the present invention；
Fig. 3 is the relation schematic diagram of camera imaging size and focal length；
Fig. 4 is a kind of flow diagram of the fourth embodiment of binocular distance measuring method of the present invention；
Fig. 5 is the imaging model schematic illustration of binocular camera；
Fig. 6 is a kind of structural schematic block diagram of binocular range-measurement system of the present invention.
Drawing reference numeral explanation
100, image capture module；200, focal length rectification module；210, amplifying unit；220, unit is cut out；300, ranging
Module；310, distortion correction unit；320, Stereo matching unit；330, metrics calculation unit；400, zoom factor computing module；
410, angle point information acquiring unit；420, angle point selection unit；430, zoom factor computing unit；431, it is single to obtain son for coordinate
Member；432, subelement is defined；433, subelement is solved；500, camera calibration module.
Specific embodiment
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, Detailed description of the invention will be compareed below
A specific embodiment of the invention.It should be evident that drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing, and obtain other embodiments.
To make simplified form, part related to the present invention is only schematically shown in each figure, they are not represented
Its practical structures as product.In addition, there is identical structure or function in some figures so that simplified form is easy to understand
Component only symbolically depicts one of those, or has only marked one of those.Herein, "one" is not only indicated
" only this ", can also indicate the situation of " more than one ".
The first embodiment provided according to the present invention, as shown in Figure 1, a kind of binocular distance measuring method, comprising:
S110 shoots material object to be measured by binocular camera, obtains the first material picture and the second material picture；
Specifically, the image that binocular camera shoots material object to be measured is first passed through, image and right phase that left camera is shot can be obtained
The image namely the first material picture of machine shooting and the second material picture.Binocular camera makes two phases as far as possible when ranging
Machine is placed in parallel, and to guarantee that the imaging plane of two cameras remains approximately in same level, and then reduces measurement error.
S120 according to the zoom factor precalculated to first material picture or second material picture into
Row focal length correction, to reduce the focus difference of first material picture Yu second material picture；
Specifically, zoom factor can be calculated before ranging by the two width chessboard calibration images that binocular camera is shot.
After zoom factor is calculated by chessboard calibration image in binocular camera, to keep opposite between two cameras of binocular camera
Position is constant, i.e., shooting material picture when two cameras between relative position with shoot chessboard calibration image when two phases
Relative position between machine is completely the same, and focal length is also consistent with focal length when chessboard calibration Image Acquisition, only needs in this way
A zoom factor is calculated by chessboard calibration image before most starting ranging, this can be used directly in the ranging process below
Zoom factor does not need all to calculate a zoom factor when each ranging.Certainly, if changing the phase between two cameras
To position, then need to re-shoot chessboard calibration image to recalculate zoom factor.
Since zoom factor is calculated by the two width chessboard calibration images shot under identical shooting condition
Therefore the relevant parameter of focal length correction can directly carry out the first material picture or the second material picture according to zoom factor burnt
Away from correction, so that the first material picture is approximate with the focal length of the second material picture consistent, will pass through first after focal length correction
Material picture and the second material picture calculate the distance in kind apart from camera to be measured.
S130 corrected according to focal length after first material picture and second material picture calculate the reality to be measured
Distance of the object apart from the binocular camera.
Specifically, the focal length for correcting the first material picture or the second material picture makes the first material picture and the second material object
After the focal length approximation of image is consistent, so that it may it is double to calculate distance in kind to be measured by the first material picture and the second material picture
The distance of mesh camera.
In the present embodiment, shot after obtaining the first material picture and the second material picture by binocular camera, it can be by pre-
The zoom factor being first calculated carries out focal length correction to the first material picture or the second material picture, so that the first material picture
It is approximate consistent with the focal length of the second material picture, so that not needing concern camera focus not when carrying out binocular ranging
Consistent problem uses any two cameras, either zoom camera or fixed-focus camera, can easily complete double
Estimate away from task, not only time saving and energy saving, but also expand the suitable environment of binocular ranging, reduce binocular ranging uses item
Part and equipment threshold, for realizing that the promotion and application of binocular parallax ranging technology have great effect.
The second embodiment provided according to the present invention, a kind of binocular distance measuring method, as shown in Fig. 2, above-mentioned first embodiment
In zoom factor calculation method are as follows:
S210 shoots chessboard calibration plate by the binocular camera, obtains the first chessboard calibration image and the second chessboard calibration
Image；
Specifically, in chessboard calibration image acquisition process, chessboard calibration plate should be kept and camera imaging plane as far as possible
In parallel, if chessboard calibration plate and imaging plane cannot be guaranteed that less parallel, the correction belt of easy focusing carry out great error.?
In shooting process, needs ceaselessly shift position or rotate around z-axis to guarantee to have enough different visual fields, to obtain
Multiple series of images, every group of image all include the left image (the first chessboard calibration image) shot by left camera and are clapped by right camera
The right image (the second chessboard calibration image) taken the photograph.When calculating zoom factor, scaling can be calculated by every group of image respectively
Then the factor is averaged, to reduce the calculating error of zoom factor.
First chessboard calibration image and the second chessboard calibration image are that same time or so camera shoots same chessboard calibration
Two images that plate obtains.
S220 obtains the angle point information of the first chessboard calibration image and the second chessboard calibration image；
Specifically, chessboard calibration plate is exactly that grid chequered with black and white one by one is decorated on plate, and angle point refers to each of chessboard
Four vertex of black and white grid, angle point information are primarily referred to as the pixel coordinate information of angle point.
S230 chooses three or more angle points in the first chessboard calibration image, forms the first polygon；
S240 chooses the one-to-one point of angle point with described three or more in the second chessboard calibration image, is formed
Second polygon；
Specifically, after three or more angle point the first polygons of formation are chosen in the first chessboard calibration image, second
Angle point corresponding with each angle point of the first polygon is chosen in chessboard calibration image forms the second polygon.Chessboard calibration image
In be grid chequered with black and white one by one, corresponding angle point can be chosen by several grid, such as in the first chessboard calibration image
That chooses is first angle point of first row, the 4th ranked third angle point and the 4th and ranked fifth an angle point, then in the second chessboard calibration
First angle point of first row is equally chosen in image, the 4th be ranked third angle point and the 4th and be ranked fifth an angle point.In the first chessboard
The angle point quantity chosen in uncalibrated image is identical as the angle point quantity chosen in the second chessboard calibration image.
The angle point chosen on the first chessboard calibration image and the second chessboard calibration image must correspond, such two width
The first polygon and the second polygon being respectively enclosed on image can just be considered as the same figure and convert by three-dimensional space
The projection in imaging plane obtained later could be used to calculate the space conversion matrices and zoom factor of left images.
S250 calculates first chessboard calibration according to the angle point information of first polygon and second polygon
Zoom factor between image and the second chessboard calibration image.
Specifically, after obtaining the first polygon and the second polygon, by the first polygon and the second polygon regard as by
First polygon is converted to the second polygon by spatial alternation, or is converted to the by spatial alternation by the second polygon
One polygon.By establishing three-dimensional space transformation matrix, and according to the angle point information of the first polygon and the second polygon
Angle point information solves three-dimensional space transformation matrix, and space contracting is then extracted from the three-dimensional space transformation matrix solved
The factor is put, which is the zoom factor between the first chessboard calibration image and the second chessboard calibration image.
The present embodiment passes through binocular camera and shoots chessboard calibration plate, it is convenient to obtain the first polygon and second polygon
Shape, and the angle point information of the first polygon and the angle point information of the second polygon can be easily obtained, so as to simplify scaling
The calculating process of the factor.
The 3rd embodiment provided according to the present invention, a kind of binocular distance measuring method, on the basis of above-mentioned second embodiment,
Step S250 calculates the first chessboard calibration image according to the angle point information of first polygon and second polygon
Zoom factor between the second chessboard calibration image specifically includes:
Obtain the coordinate of each angle point of first polygon and second polygon；
It is consistent with the starting point coordinate of second polygon to define first polygon；
The coordinate of first polygon and the angle point of second polygon is substituted into formula (1), solution obtains b11、
b12、b13、b21、b22、b23、b31、b32、b33；
By the b11、b12、b13、b21、b22、b23、b31、b32、b33It substitutes into formula (2), solution obtains zoom factor；
Wherein, B representation space transformation matrix；S indicates zoom factor；(x, y, z, 1) indicates the angle point in the first polygon
Coordinate；(x ',y', z ', 1) indicate the second polygon in angular coordinate.
Specifically, during camera imaging, focal length is bigger, and visual angle is smaller, ratio occupied by material object in the image of shooting
It is bigger.When the pixel of two cameras is identical, the photo size of shooting is identical, if focal length is different, focal length is smaller, real in photo
Object is smaller.
As shown in figure 3, the same material object is in two kinds of different focal lengths, the ratio for accounting for camera perspective is respectively h/H1With
h/H2Although resolution ratio is constant since zoom camera focal length is variable, so the total size of image is constant, and
Ratio in kind in image be consistent with the ratio in kind when shooting in visual angle, then we assume that picture altitude be H, that
Height h in kind on two different focal length imaging planes1And h2It is as follows:
Defining two focal lengths is respectively f1And f2, according to similar triangles theorem:
The relationship of imaging and focal length in two images can be obtained in simultaneous formula (6) and formula (7) are as follows:
According to formula (8) it is found that natural scale is directly proportional to focal length in the picture, i.e., in the image that different focal length obtains,
The problem of being in equal proportions between the ratio and focal length between material object, amendment focal length is substantially exactly amendment imaging size, therefore,
The key of amendment focal length has reformed into the scale factor for seeking left images imaging, i.e. zoom factor.
When being converted to the second polygon by spatial alternation by the first polygon, usually by translation, rotation and scaling
Equal transformation are converted to.
Wherein, translation matrix are as follows:
Spin matrix are as follows:
Scaled matrix are as follows:
According to formula (9)-formula (11), our available three-dimensional space transformation matrixs are as follows:
In calculating process, we can define the first polygon and the starting point coordinate of the second polygon is consistent, then just
The influence of translation matrix can be eliminated, it is only necessary to spin matrix and scaled matrix are solved, as shown in formula (13).It is polygon by first
Shape is defined as consistent with the starting point coordinate of the second polygon, can simplify the calculating process of three-dimensional space transformation matrix.
Enable b11=ux·sx, b12=uy·sy, b13=uz·sz, b21=vx·sx, b22=vy·sy, b23=vz·sz, b31
=nx·sx, B32=ny·sy, b33=nz·sz, then can be obtained and change formula as shown in formula (1).
Wherein, B representation space transformation matrix；(x, y, z, 1) indicates the angular coordinate in the first polygon；(x ', y ', z ',
1) angular coordinate in the second polygon is indicated.
Formula (1) is transformed into equation group form, can be obtained:
Therefore it may only be necessary to which three groups of corresponding coordinate points, can solve b11、b12、b13、b21、b22、b23、b31、b32、
b33, i.e., can be solved using the angular coordinate of the first polygon and the angular coordinate of the second polygon.Choosing more than first
When side shape and the second polygon, a triangle can be chosen directly in the first chessboard calibration image, and in the second chessboard calibration
A corresponding triangle is chosen in image, can solve b11、b12、b13、b21、b22、b23、b31、b32、b33.Certain first
Polygon and the second polygon may be quadrangle, pentagon etc..
When solving, since z value is unknowable in flat image, so, it needs during actual measurement to two
The position of a camera is constrained, with the imaging plane of two cameras of guarantee on the same horizontal plane, this ensures that left
When right camera shoots the photo on chessboard calibration plate, each corresponding points of the chessboard that left and right camera is shot are in three dimensional space coordinate
Z value in system is equal.In this way, can be by b when calculatingijZ regards an entirety as.
Meanwhile according to the property of spin matrix, spin matrix is unit orthogonal matrix, and the transposed matrix of spin matrix is exactly
Its inverse matrix, i.e. unit orthogonal matrix, then haveTherefore It can similarly obtainFinally obtain formula
Above-mentioned (2), and zoom factor s is acquired according to above-mentioned formula (2).
The fourth embodiment provided according to the present invention, as shown in figure 4, a kind of binocular distance measuring method, in second embodiment
On the basis of, step S130 corrected according to focal length after first material picture and second material picture calculate it is described to be measured
Distance of the material object apart from the binocular camera specifically includes:
S131 is according to first material picture after the camera parameter focusing correction demarcated in advance and described second real
Object image carries out distortion correction；
Wherein, the scaling method of the camera parameter are as follows: according to zoom factor to the first chessboard calibration image or institute
It states the second chessboard calibration image and carries out focal length correction；The first chessboard calibration image and described second after being corrected according to focal length
Chessboard calibration image demarcates the binocular camera, obtains the camera parameter of the binocular camera；
Specifically, after carrying out focal length correction to the first material picture or the second material picture, then by advance to binocular phase
Machine carries out the first material picture after camera parameter focusing correction obtained by calibrating and the second material picture carries out distortion correction.
It is using the first chessboard calibration image and the second chessboard calibration image after focal length correction during camera calibration
Camera is demarcated, rather than uses the original first chessboard calibration image and original second chessboard calibration figure for most starting acquisition
Picture.For two chessboard calibration images for camera calibration after focal length is corrected, focal length is approximate consistent, meets traditional fixed-focus binocular
The requirement of vision range finding can be used for binocular camera and demarcate.Camera inside and outside parameter obtained by calibrating and distortion parameter be not herein
It is the true inside and outside parameter of left and right camera and distortion parameter, but it is consistent fixed according to two focal lengths of the image simulation after correction
The inside and outside parameter and distortion parameter of burnt camera.The calibration process phase of the process of camera calibration and traditional fixed-focus binocular parallax ranging
Together, it is no longer repeated herein.
S132 obtains first material picture and second material picture progress Stereo matching after distortion correction
Disparity map；
Specifically, the Stereo matching in this step is identical as the Stereo matching of traditional fixed-focus binocular parallax location algorithm, only
Be for Stereo matching image be also by the approximate consistent new material picture of the focal length obtained after focal length correction process,
Rather than the material picture of acquired original.By Stereo matching, left and right camera shooting disparity map in kind can be obtained.
S133 is calculated described to be measured in kind apart from described double according to the disparity map and the camera parameter obtained by calibrating
The distance of mesh camera.
Specifically, binocular testing principle: the calculating of parallax is carried out by the two images shot to left and right camera, directly
It connects and range measurement is carried out to front (range taken by image) in kind, without judging that it is what kind of that front occurs that
Barrier, so for any kind of barrier necessary early warning or braking can be carried out according to the variation of range information.
The principle of binocular camera is similar to human eye, and human eye can perceive the distance of object, is since two eyes are to the same object
The image of presentation has differences, also referred to as " parallax ".Object distance is remoter, and parallax is smaller；Conversely, parallax is bigger.The size of parallax
Correspond to the distance of distance between object and eyes.
As shown in figure 5, two images are in the same plane in Fig. 5, it is assumed that be measured in kind for point P, OLIndicate left phase
Machine central point, ORIndicate right image center point, the point that point P is imaged on left images is respectively PleftAnd Pright, point PleftCross
Coordinate is xl, point PrightAbscissa be xr。xlAnd xrRespectively indicate the horizontal position a little on the imager of left and right.Wherein parallax
It is defined as d=xl-xr, i.e., the difference of the same spatial point corresponding x coordinate in two camera imagings, parallax can be by disparity map
It obtains.Depth Z value can be derived using similar triangles theorem.
It is double that distance in kind to be measured can be acquired according to camera parameter f and B obtained by calibrating in step S131 and disparity map
The distance Z of mesh camera.Wherein, f is that camera carries out the focal length after focal length correction, and B is left and right camera baseline length.For example, first
The corresponding original focal length of material picture is f1, the corresponding original focal length of the second material picture is f2, carried out when to the first material picture
After focal length correction, so that the focal length of the first material picture is approximate with the focal length of the second material picture consistent, i.e., after focal length correction, the
The focal length of one material picture and the second material picture is all f2, at this point, the coke when calculating Z value according to depth formula, in formula
Away from f numerical value be the second material picture focal length f2。
The 5th embodiment provided according to the present invention, a kind of binocular distance measuring method, in above-mentioned first embodiment to the 4th reality
Apply in any embodiment of example, described in step S120 according to the zoom factor that precalculates to first material picture or
Second material picture carries out focal length correction, to reduce the focus difference of first material picture Yu second material picture
It specifically includes:
S121 according to the zoom factor precalculated to first material picture or second material picture into
Row amplification；
Specifically, in kind to the first material picture or second after zoom factor is calculated according to chessboard calibration image
Image carries out size correction, i.e., lesser image is imaged to material picture and makees enhanced processing.If being when calculating zoom factor
It is assumed that being transformed to right image from left image, then here also it should be assumed that three-dimensional space transformation is from left image (the first pictorial diagram
As) to right image (the second material picture) transformation, then, if zoom factor is greater than 1, illustrate that left image turns to right image
It is exaggerated operation when changing, then left image is amplified, magnification ratio is exactly zoom factor.If zoom factor less than 1,
Then illustrate to have carried out reduction operation when left image is converted to right image, then right image is amplified, magnification ratio is exactly to scale
The derivative of the factor.
S122 makees the image center of first material picture of amplification when first material picture is amplified
Centered on, it is cut out, is obtained using first material picture of the frame with the same size of the second material picture to amplification
The first material picture to after focal length correction, to reduce the focus difference of first material picture Yu second material picture；
S123 makees the image center of second material picture of amplification when second material picture is amplified
Centered on, it is cut out, is obtained using second material picture of the frame with the same size of the first material picture to amplification
The second material picture to after focal length correction, to reduce the focus difference of first material picture Yu second material picture.
Specifically, after being amplified to image, centered on the picture centre of amplified image, using with another not
The identical frame of image size of amplification cuts amplified image, so that the first material picture and the second material picture
Image size is equal again.After amplifying and cutting is handled, the focal length of the first material picture and the second material picture can be made
It is approximately equal.
The sixth embodiment provided according to the present invention, a kind of binocular distance measuring method, comprising:
S301 shoots chessboard calibration plate by the binocular camera, obtains the first chessboard calibration image and the second chessboard calibration
Image；
Specifically, the position of two cameras in the corresponding left and right of the step requires, it is necessary to assure the imaging of two cameras
Plane approximation is maintained at the same horizontal plane.
In chessboard calibration image acquisition process, chessboard calibration plate should keep parallel with camera imaging plane as far as possible, but
It is to need ceaselessly shift position or rotate the different visual fields to guarantee to have enough around z-axis, which is the research
Innovatory algorithm in a vital step, if chessboard calibration plate and imaging plane it cannot be guaranteed that less parallel, easily focuses
Away from correction belt come great error.By two cameras in left and right can shoot to obtain left image (the first chessboard calibration image) and
Right image (the second chessboard calibration image).
S302 obtains the angle point information of the first chessboard calibration image and the second chessboard calibration image；
Specifically, which is that the black and white grid of chessboard is extracted from each group left images shot in step S301
Angle point information, mainly the pixel coordinate information of angle point.
S303 chooses three or more angle points in the first chessboard calibration image, forms the first polygon；
S304 chooses the one-to-one point of angle point with described three or more in the second chessboard calibration image, is formed
Second polygon；
Specifically, the angle point chosen on the first chessboard calibration image and the second chessboard calibration image is not chosen at will,
But the one-to-one point chosen from the left and right two images for the same visual field (same material object) that the same time shoots.In this way
The polygon formed on left images can just be considered as the same figure and be imaged by what three-dimensional space transformation obtained later
The projection of plane could be used to calculate the space conversion matrices and zoom factor of left images.
S305 calculates first chessboard calibration according to the angle point information of first polygon and second polygon
Zoom factor between image and the second chessboard calibration image；
Specifically, the first polygon and second for calculating space conversion matrices has been obtained in step S303 and S304
Polygon, then the three-dimensional space transformation matrix between left images can be calculated, and from three-dimensional space transformation matrix
Extract zoom factor.Spatial alternation can be to be converted from left image to right image, naturally it is also possible to be from right image to left figure
As conversion, but change direction is once selected, the operation of subsequent left and right must all be carried out in strict accordance with this direction, no
Direction can be replaced again.It is assumed herein that spatial alternation is to transform to right image from left image.
S306 carries out focal length to the first chessboard calibration image or the second chessboard calibration image according to zoom factor
Correction, to reduce the focus difference of first material picture Yu second material picture；
Specifically, focal length correction is largely divided into two steps: amplification and cutting.
Amplification: using the zoom factor acquired in step S305, correcting the size of left images, and material object is imaged
Lesser image makees enhanced processing.Since front has assumed that three-dimensional space transformation is converted from left image to right image, that
, if zoom factor is greater than 1, illustrate the amplifying operation that carries out when left image is converted to right image, then to amplification left image,
Magnification ratio is exactly zoom factor.
It cuts: by the image of amplification centered on image center, with the frame of the same size of another camera image to it
It is cut, keeps left and right camera image size equal again.
S307 corrected according to focal length after the first chessboard calibration image and the second chessboard calibration image to binocular camera carry out
Calibration, obtains the camera parameter of the binocular camera；
Specifically, the step of this step is with traditional fixed-focus binocular parallax ranging is identical, is only intended to the checkerboard image of calibration
The chessboard original image for not starting acquisition not instead of most, the new chessboard calibration figure obtained after the correction of step S306 focal length
Picture.The focal length of new uncalibrated image its left and right two image is approximate consistent by processing, meets traditional fixed-focus binocular parallax ranging
It is demarcated it is required that can be used for binocular camera.The step obtains camera inside and outside parameter and distortion parameter after focal length correction, here
The intrinsic parameter and distortion parameter of acquisition are not the true inside and outside parameter of left and right camera and distortion parameter, but are corrected according to focal length
The inside and outside parameter and distortion parameter of two consistent fixed-focus cameras of focal length of image simulation afterwards.
S308 shoots material object to be measured by binocular camera, obtains the first material picture and the second material picture；
Specifically, material picture acquisition require and step S301 in chessboard calibration Image Acquisition when two cameras between
Relative position wants completely the same, and focal length is also consistent with focal length when chessboard calibration Image Acquisition, i.e. chessboard calibration image is adopted
Collection not make any change after completing to camera.If changing the opposite of camera after the completion of chessboard calibration Image Acquisition
Position or focal length then need to resurvey chessboard calibration image and calculate zoom factor and re-scale camera parameter；If in chess
The acquisition of disk uncalibrated image has not been changed relative position and the focal length of camera after completing, then when using the binocular camera ranging every time,
It does not all need to recalculate zoom factor again and carries out camera calibration, the zoom factor and camera parameter obtained before use before
?.
S309 according to the zoom factor precalculated to first material picture or second material picture into
Row focal length correction, to reduce the focus difference of first material picture Yu second material picture；
Specifically, the step is identical to the focal length corrective operations of chessboard calibration image with step S306, utilizes
Zoom factor is also identical, i.e. the left images three-dimensional space zoom factor obtained in step S305.
S310 is according to first material picture after the camera parameter focusing correction demarcated in advance and described second real
Object image carries out distortion correction；
Specifically, distort matrix used by the left and right material picture after step mid-focal length correction, is in step S307
New chessboard calibration image after focusing correction executes the obtained distortion matrix of camera calibration, when which obtains
The condition of focal length of condition when being obtained with new left and right material picture it is identical, it is used for the distortion school of new material picture
It is exactly right-on.
S311 obtains first material picture and second material picture progress Stereo matching after distortion correction
Disparity map；
Specifically, the step is also completely the same with traditional fixed-focus binocular parallax location algorithm focal length, is only intended to three-dimensional
The image matched is also the approximate consistent new material picture of focal length obtained after focal length correction pretreatment, rather than in kind
The original image of Image Acquisition.What Stereo matching obtained is left and right camera shooting disparity map in kind.
S312 is calculated described to be measured in kind apart from described double according to the disparity map and the camera parameter obtained by calibrating
The distance of mesh camera.
Specifically, which utilizes the inside and outside parameter of the camera obtained in the disparity map and step S307 in step S311
Each point distance in kind can be calculated.
The 7th embodiment provided according to the present invention, as shown in fig. 6, a kind of binocular range-measurement system, comprising:
Image capture module 100 obtains the first material picture and the second material picture for shooting material object to be measured；
Focal length rectification module 200, for according to the zoom factor that precalculates to first material picture or institute
It states the second material picture and carries out focal length correction, to reduce the focus difference of first material picture Yu second material picture；
Range finder module 300, based on first material picture and second material picture after being corrected according to focal length
Calculate the distance in kind apart from the binocular camera to be measured.
Preferably, image capture module 100 are also used to shoot chessboard calibration plate, obtain the first chessboard calibration image and
Two chessboard calibration images；
Binocular range-measurement system further includes zoom factor computing module 400, and zoom factor computing module 400 includes:
Angle point information acquiring unit 410, for obtaining the first chessboard calibration image and the second chessboard calibration figure
The angle point information of picture；
Angle point selection unit 420 forms for choosing three or more angle points in the first chessboard calibration image
One polygon；
Angle point selection unit 420 is also used to choose the angle with described three or more in the second chessboard calibration image
The one-to-one point of point, forms the second polygon；
Zoom factor computing unit 430, for the angle point information according to first polygon and second polygon,
Calculate the zoom factor between the first chessboard calibration image and the second chessboard calibration image.
Preferably, zoom factor computing unit 430 includes:
Coordinate obtains subelement 431, for obtaining each angle point of first polygon and second polygon
Coordinate；
Subelement 432 is defined, it is consistent with the starting point coordinate of second polygon for defining first polygon；
Subelement 433 is solved, it is public for substituting into the coordinate of first polygon and the angle point of second polygon
Formula (1), solution obtain b11、b12、b13、b21、b22、b23、b31、b32、b33；
Subelement 433 is solved, is also used to the b11、b12、b13、b21、b22、b23、b31、b32、b33It substitutes into formula (2), asks
Solution obtains zoom factor；
Wherein, B representation space transformation matrix；S indicates zoom factor；(x, y, z, 1) indicates the angle point in the first polygon
Coordinate；(x ', y ', z ', 1) indicates the angular coordinate in the second polygon.
Preferably, range finder module 300 includes:
Distortion correction unit 310, in kind according to described first after the camera parameter focusing correction demarcated in advance
Image and second material picture carry out distortion correction；
Stereo matching unit 320, for first material picture and second material picture after distortion correction
Stereo matching is carried out, disparity map is obtained；
Metrics calculation unit 330, for according to the disparity map and the camera parameter obtained by calibrating, calculate it is described to
Survey the distance in kind apart from the binocular camera；
Binocular range-measurement system further includes camera calibration module 500, camera calibration module 500, for according to zoom factor pair
The first chessboard calibration image or the second chessboard calibration image carry out focal length correction；And after being corrected according to focal length described in
First chessboard calibration image and the second chessboard calibration image demarcate the binocular camera, obtain the binocular camera
Camera parameter.
Preferably, focal length rectification module 200 includes:
Amplifying unit 210, for according to the zoom factor that precalculates to first material picture or described the
Two material pictures amplify；
Unit 220 is cut out, for when first material picture is amplified, by first material picture of amplification
Centered on image center, using the frame with the same size of the second material picture to first material picture of amplification
It is cut out, the first material picture after obtaining focal length correction, to reduce first material picture and second pictorial diagram
The focus difference of picture；
Unit 220 is cut out, is also used to when second material picture is amplified, by second material picture of amplification
Image center centered on, using the frame with the same size of the first material picture to second pictorial diagram of amplification
As being cut out, the second material picture after obtaining focal length correction, to reduce first material picture and second material object
The focus difference of image.
The concrete mode that modules in the present embodiment execute operation carries out in the embodiment of the method
Detailed description, no detailed explanation will be given here.
It should be noted that above-described embodiment can be freely combined as needed.The above is only of the invention preferred
Embodiment, it is noted that for those skilled in the art, in the premise for not departing from the principle of the invention
Under, several improvements and modifications can also be made, these modifications and embellishments should also be considered as the scope of protection of the present invention.
Claims (10)
1. a kind of binocular distance measuring method characterized by comprising
Material object to be measured is shot by binocular camera, obtains the first material picture and the second material picture；
Focal length is carried out to first material picture or second material picture according to the zoom factor precalculated to rectify
Just, to reduce the focus difference of first material picture Yu second material picture；
First material picture and second material picture after being corrected according to focal length calculate the material object to be measured apart from institute
State the distance of binocular camera.
2. a kind of binocular distance measuring method according to claim 1, which is characterized in that the calculation method of the zoom factor
Are as follows:
Chessboard calibration plate is shot by the binocular camera, obtains the first chessboard calibration image and the second chessboard calibration image；
Obtain the angle point information of the first chessboard calibration image and the second chessboard calibration image；
The angle point that three or more are chosen in the first chessboard calibration image, forms the first polygon；
The one-to-one point of angle point with described three or more is chosen in the second chessboard calibration image, and it is polygon to form second
Shape；
According to the angle point information of first polygon and second polygon, the first chessboard calibration image and institute are calculated
State the zoom factor between the second chessboard calibration image.
3. a kind of binocular distance measuring method according to claim 2, which is characterized in that it is described according to first polygon and
The angle point information of second polygon calculates between the first chessboard calibration image and the second chessboard calibration image
Zoom factor specifically includes:
Obtain the coordinate of each angle point of first polygon and second polygon；
It is consistent with the starting point coordinate of second polygon to define first polygon；
The coordinate of first polygon and the angle point of second polygon is substituted into formula (1), solution obtains b11、b12、
b13、b21、b22、b23、b31、b32、b33；
By the b11、b12、b13、b21、b22、b23、b31、b32、b33It substitutes into formula (2), solution obtains zoom factor；
Wherein, B representation space transformation matrix；S indicates zoom factor；(x, y, z, 1) indicates the angular coordinate in the first polygon；
(x ', y ', z ', 1) indicates the angular coordinate in the second polygon.
4. a kind of binocular distance measuring method according to claim 2, which is characterized in that it is described corrected according to focal length after described in
First material picture and second material picture calculate the distance in kind apart from the binocular camera to be measured and specifically include:
According to demarcate in advance camera parameter focusing correction after first material picture and second material picture into
Line distortion correction；
To first material picture and second material picture progress Stereo matching after distortion correction, disparity map is obtained；
According to the disparity map and the camera parameter obtained by calibrating, the material object to be measured is calculated apart from the binocular camera
Distance；
Wherein, the scaling method of the camera parameter are as follows: according to zoom factor to the first chessboard calibration image or described
Two chessboard calibration images carry out focal length correction；The first chessboard calibration image and second chessboard after being corrected according to focal length
Uncalibrated image demarcates the binocular camera, obtains the camera parameter of the binocular camera.
5. a kind of binocular distance measuring method according to claim 1-4, which is characterized in that the basis precalculates
Obtained zoom factor carries out focal length correction to first material picture or second material picture, to reduce described first
The focus difference of material picture and second material picture specifically includes:
First material picture or second material picture are amplified according to the zoom factor precalculated；
When first material picture is amplified, centered on the image center of first material picture of amplification,
It is cut out using first material picture of the frame with the same size of the second material picture to amplification, obtains focal length and rectify
The first material picture after just, to reduce the focus difference of first material picture Yu second material picture；
When second material picture is amplified, centered on the image center of second material picture of amplification,
It is cut out using second material picture of the frame with the same size of the first material picture to amplification, obtains focal length and rectify
The second material picture after just, to reduce the focus difference of first material picture Yu second material picture.
6. a kind of binocular range-measurement system characterized by comprising
Image capture module obtains the first material picture and the second material picture for shooting material object to be measured；
Focal length rectification module, for according to the zoom factor that precalculates to first material picture or described second real
Object image carries out focal length correction, to reduce the focus difference of first material picture Yu second material picture；
Range finder module, for after being corrected according to focal length first material picture and second material picture calculate it is described to
Survey the distance in kind apart from the binocular camera.
7. a kind of binocular range-measurement system according to claim 6, which is characterized in that
Described image acquisition module is also used to shoot chessboard calibration plate, obtains the first chessboard calibration image and the second chessboard calibration
Image；
The system also includes zoom factor computing module, the zoom factor computing module includes:
Angle point information acquiring unit, for obtaining the angle point of the first chessboard calibration image and the second chessboard calibration image
Information；
It is polygon to form first for choosing three or more angle points in the first chessboard calibration image for angle point selection unit
Shape；
The angle point selection unit is also used to choose the angle point one with described three or more in the second chessboard calibration image
Corresponding point forms the second polygon；
Zoom factor computing unit calculates institute for the angle point information according to first polygon and second polygon
State the zoom factor between the first chessboard calibration image and the second chessboard calibration image.
8. a kind of binocular range-measurement system according to claim 7, which is characterized in that the zoom factor computing unit packet
It includes:
Coordinate obtains subelement, the coordinate of each angle point for obtaining first polygon and second polygon；
Subelement is defined, it is consistent with the starting point coordinate of second polygon for defining first polygon；
Subelement is solved, for the coordinate of first polygon and the angle point of second polygon to be substituted into formula (1), is asked
Solution obtains b11、b12、b13、b21、b22、b23、b31、b32、b33；
The solution subelement is also used to the b11、b12、b13、b21、b22、b23、b31、b32、b33It substitutes into formula (2), solves
Obtain zoom factor；
Wherein, B representation space transformation matrix；S indicates zoom factor；(x, y, z, 1) indicates the angular coordinate in the first polygon；
(x ', y ', z ', 1) indicates the angular coordinate in the second polygon.
9. a kind of binocular range-measurement system according to claim 7, which is characterized in that the range finder module includes:
Distortion correction unit, first material picture and institute after the camera parameter focusing correction demarcated in advance for basis
It states the second material picture and carries out distortion correction；
Stereo matching unit, for first material picture and second material picture progress solid after distortion correction
Matching, obtains disparity map；
Metrics calculation unit, for calculating the material object to be measured according to the disparity map and the camera parameter obtained by calibrating
Distance apart from the binocular camera；
The system also includes camera calibration module, the camera calibration module is used for according to zoom factor to first chess
Disk uncalibrated image or the second chessboard calibration image carry out focal length correction；And the first chessboard mark after being corrected according to focal length
Determine image and the second chessboard calibration image demarcates the binocular camera, obtains the camera ginseng of the binocular camera
Number.
10. according to a kind of described in any item binocular range-measurement systems of claim 6-9, which is characterized in that the focal length corrects mould
Block includes:
Amplifying unit, for according to the zoom factor that precalculates to first material picture or second pictorial diagram
As amplifying；
Unit is cut out, it, will be in the image of first material picture of amplification for when first material picture is amplified
Centered on heart point, cut using first material picture of the frame with the same size of the second material picture to amplification
It cuts out, the first material picture after obtaining focal length correction, to reduce the coke of first material picture Yu second material picture
Away from difference；
It is described to cut out unit, it is also used to when second material picture is amplified, by second material picture of amplification
Centered on image center, using the frame with the same size of the first material picture to second material picture of amplification
It is cut out, the second material picture after obtaining focal length correction, to reduce first material picture and second pictorial diagram
The focus difference of picture.
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