CN110213564A - A kind of omnibearing stereo photographic device and its system and method - Google Patents
A kind of omnibearing stereo photographic device and its system and method Download PDFInfo
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- CN110213564A CN110213564A CN201910379444.3A CN201910379444A CN110213564A CN 110213564 A CN110213564 A CN 110213564A CN 201910379444 A CN201910379444 A CN 201910379444A CN 110213564 A CN110213564 A CN 110213564A
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- camera
- photographic device
- picture
- omnibearing stereo
- mirror surface
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/243—Image signal generators using stereoscopic image cameras using three or more 2D image sensors
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/246—Calibration of cameras
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/67—Focus control based on electronic image sensor signals
Abstract
The present invention relates to stereo photographic device technical fields, and disclose a kind of omnibearing stereo photographic device, comprehensive mirror surface including multiple video cameras and for reflecting video camera institute camera picture, the comprehensive mirror surface installed above the camera shooting end inclination face of the video camera, is provided with the inner concave shape mirror surface for reflecting front picture at the back side of video camera；The omnibearing stereo photographic device and its system and method, realize all characteristics such as the cost effective of system, high speed, high-precision and flexibility, camera due to using internal system, which supplements Pipelining and method for parallel processing, the video camera such as correction process and Stereo matching processing, can be realized high speed processing；It is diversified with having very strong practicability on the way in autonomous robot, automatic Pilot etc. in addition, due to being easily assembled in actual camera chain.
Description
Technical field
The present invention relates to stereo photographic device technical field, specially a kind of omnibearing stereo photographic device and its system and
Method.
Background technique
Stereo technology is a kind of multiple video cameras of use while shooting object, and overall picture is divided into zonule,
Range information is obtained by triangulation and then generates the stereoscopic article recognition methods of range distribution portrait；Real-time volume is taken the photograph
The research of camera has more than 20 years history so far, applies in robot, autonomous driving vehicle, obstacle recognition sensor etc.
Aspect is by expectation.
Currently in order to realizing omnibearing stereo acquisition camera shooting, the video camera for installing multiple sensors or all angles is mostly used
It realizes, so not only higher cost, but also information detected by sensor and the collected information integration of video camera are more
It is cumbersome；Simultaneously because the reasons such as the structure of video camera installation position, temperature and physical contact, when the water of camera position
Even if slight deviations occurs in levelling, the serious problems that parallax precision declines to a great extent can be all generated.
Summary of the invention
(1) the technical issues of solving
In view of the deficiencies of the prior art, the present invention provides a kind of omnibearing stereo photographic device and its system and method,
Have the advantages that omnibearing stereo camera shooting, solves and imaged currently in order to realizing that omnibearing stereo acquires, mostly use installation multiple
Sensor or the video camera of all angles realize, so not only higher cost, and information detected by sensor with take the photograph
The collected information integration of camera is relatively complicated；Simultaneously because the structure of video camera installation position, temperature and physical contact
Etc. reasons, even if can all lead to the problem of parallax precision when slight deviations occurs in the horizontality of camera position and decline to a great extent.
(2) technical solution
The purpose of to realize the camera shooting of above-mentioned omnibearing stereo, the invention provides the following technical scheme: a kind of omnibearing stereo
Photographic device, the comprehensive mirror surface including multiple video cameras and for reflecting video camera institute camera picture, the camera shooting
The comprehensive mirror surface installed above the camera shooting end inclination face of machine, is provided at the back side of video camera for reflecting positive picture
The inner concave shape mirror surface in face；
The photographic device further includes target imaging unit and processing unit, between target imaging unit and processing unit
It is connected by receiving unit；The target imaging unit includes multiple camera mould groups, for Multi-angle omnibearing to object
Carry out shooting, collecting；The processing unit includes imaging comparator, full width Focusing module, focusing driving module and influences synthesis mould
Block.
Preferably, the comprehensive mirror surface is fixed on the top of inner concave shape mirror surface, and by bracket far from inner concave shape mirror surface
Side.
Preferably, the quantity of the video camera is four, and the central axis of four video cameras is uniformly configured same
On four points in one plane, while the distance between the central axis of two adjacent video cameras is a definite value.
Preferably, the imaging comparator is used to sample the difference degree for the image that the receiving unit is collected into, and carries out
Focusing driving module and full width Focusing module are passed to after comparative analysis.
Preferably, the focusing driving module and full width Focusing module are for controlling angle and side captured by camera mould group
Simultaneously photographic subjects object image is searched in position.
Preferably, the Image compounding module be used for by four shot by camera to picture analyzed after synthesize,
And it is handled by display unit displaying, while the external world is exported by output port.
According to a kind of omnibearing stereo photographic device, it is proposed that a kind of omnibearing stereo camera system, including with
Lower step:
S1, shooting, collecting is carried out to object by target imaging unit, utilizes four video cameras and corresponding comprehensive
Mirror surface and inner concave shape mirror surface acquire omnibearing stereo picture；
S2, collected picture is respectively transmitted to receiving unit, receiving unit received the same time after picture
Picture synchronization sends processing unit to；
The difference degree of S3, the image for recycling imaging comparator to be relatively collected into, are driven when difference degree is larger by focusing
Angle and orientation captured by dynamic model block and full width Focusing module control camera mould group, search and again photographic subjects object image；
S4, the i.e. available omnibearing stereo of picture synthesis for finally being arrived shot by camera using Image compounding module are drawn
Face.
A kind of omnibearing stereo image capture method, comprising the following steps:
1) route of planning from origin to destination；
2) photographic device is mounted on to the front of vehicle or robot, for acquiring ambient enviroment；
3) route for combining step 1 to be planned, obtains the position being presently in and ambient enviroment, while analyzing image data
It is sent to control terminal；
4) vehicle is controlled in the case where analysis has barrier when control terminal or robot changes direction of travel or stopping；When
Control terminal controls vehicle in the case where analyzing clear or robot direction of travel is constant.
It preferably, further include that video camera automatically corrects module in the step 3, for automatically correcting the small of video camera
Movement deviation.
(3) beneficial effect
Compared with prior art, the present invention provides a kind of omnibearing stereo photographic device and its system and method, have
Below the utility model has the advantages that
1, the omnibearing stereo photographic device and its system and method utilize four video cameras and inner concave shape mirror surface, Quan Fang
Omnibearing stereo camera shooting acquisition may be implemented in the cooperation of position mirror surface, while precision is high, at low cost, avoids asking brought by sensor
Topic.
2, the omnibearing stereo photographic device and its system and method realize the cost effective of system, high speed, high-precision
All characteristics such as degree and flexibility, since camera supplement correction process and the Stereo matching processing etc. that use internal system are managed
Line and method for parallel processing, video camera can be realized high speed processing；In addition, due to being easily assembled to actual video camera system
In system, thus it is diversified with having very strong practicability on the way in autonomous robot, automatic Pilot etc..
Detailed description of the invention
Fig. 1 is omnibearing stereo photographic device schematic top plan view of the present invention；
Fig. 2 is omnibearing stereo photographic device of the present invention side schematic diagram；
Fig. 3 is the system schematic of omnibearing stereo photographic device of the present invention；
Fig. 4 automatically corrects module diagram for omnibearing stereo image capture method of the present invention；
Fig. 5 is the result schematic diagram for automatically correcting offset correction of omnibearing stereo image capture method of the present invention.
In figure: the comprehensive mirror surface of 1-；2- inner concave shape mirror surface；3- video camera.
Specific embodiment
Below in conjunction with the embodiment of the present invention and attached drawing, technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Please refer to Fig. 1-3, a kind of omnibearing stereo photographic device, including multiple video cameras and for reflecting above-mentioned camera shooting
The comprehensive mirror surface of machine institute camera picture, the above-mentioned comprehensive mirror surface that the camera shooting end inclination face top of above-mentioned video camera is installed,
The back side of video camera is provided with the inner concave shape mirror surface for reflecting front picture；Above-mentioned comprehensive mirror surface is fixed on inner concave shape mirror
The top in face, and by bracket far from inner concave shape mirrored sides；The quantity of above-mentioned video camera is four, and the center of four video cameras
On four points of the vertical uniform configuration of axis in the same plane, while the distance between the central axis of two adjacent video cameras
It is a definite value.
Above-mentioned photographic device further includes target imaging unit and processing unit, between target imaging unit and processing unit
It is connected by receiving unit；Above-mentioned target imaging unit includes multiple camera mould groups, for Multi-angle omnibearing to object
Carry out shooting, collecting；Above-mentioned processing unit includes imaging comparator, full width Focusing module, focusing driving module and influences synthesis mould
Block；Above-mentioned imaging comparator is used to sample the difference degree for the image that above-mentioned receiving unit is collected into, and passes after carrying out comparative analysis
Pass focusing driving module and full width Focusing module；Above-mentioned focusing driving module and full width Focusing module are for controlling camera mould group
Captured angle and orientation searches for simultaneously photographic subjects object image；Above-mentioned Image compounding module is for being clapped four video cameras
The picture taken the photograph synthesizes after being analyzed, and is handled by display unit displaying, while being exported by output port to the external world.
A kind of omnibearing stereo camera system, comprising the following steps:
S1, shooting, collecting is carried out to object by target imaging unit, utilizes four video cameras and corresponding comprehensive
Mirror surface and inner concave shape mirror surface acquire omnibearing stereo picture；
S2, collected picture is respectively transmitted to receiving unit, receiving unit received the same time after picture
Picture synchronization sends processing unit to；
The difference degree of S3, the image for recycling imaging comparator to be relatively collected into, are driven when difference degree is larger by focusing
Angle and orientation captured by dynamic model block and full width Focusing module control camera mould group, search and again photographic subjects object image；
S4, the i.e. available omnibearing stereo of picture synthesis for finally being arrived shot by camera using Image compounding module are drawn
Face.
The omnibearing stereo photographic device and its system utilize four video cameras and inner concave shape mirror surface, comprehensive mirror surface
Omnibearing stereo camera shooting acquisition may be implemented in cooperation, while precision is high, at low cost, avoids problem brought by sensor.
A kind of omnibearing stereo image capture method, comprising the following steps:
1) route of planning from origin to destination；
2) photographic device is mounted on to the front of vehicle or robot, for acquiring ambient enviroment；
3) route for combining step 1 to be planned, obtains the position being presently in and ambient enviroment, while analyzing image data
It is sent to control terminal；
4) vehicle is controlled in the case where analysis has barrier when control terminal or robot changes direction of travel or stopping；When
Control terminal controls vehicle in the case where analyzing clear or robot direction of travel is constant.
It wherein, further include that video camera automatically corrects module (being detailed in Figure of description 4) in above-mentioned steps 3.
Automatically correct the detection of module real-time region:
It is the standard camera image of 752 × 480 pixels by the resolution ratio of input, is divided into since image center
The big module in lower left and right 8, and calculate the singular point detected in major module.The lateral dimension of big module is 188 pixels, longitudinal size
For the half of input picture longitudinal size, i.e. 240 pixels.Herein, the size of big module can according to the resolution ratio of input picture
Accordingly to make adjustment, corresponding maximum pixel is 1024 × 512.
In addition, major module segmentation is several little modules, singular point detection is carried out inside each little module, if discovery singular point
Then hang up the mark that search finishes.The lateral dimension of this little module is set as 188 × 8 pixels, the little module in 1 big module
Several is then 30.
In addition, about the search in 1 frame, never hang up search and finish the little module of mark and start, until detecting singular point
This period in, be moved to next little module and continue to search for.Pass through this lasting detection, Lai Tigao search efficiency.
Automatically correct the detection of module singular point:
Since matching is to carry out in the 2 d mode, in order to correctly be handled, require to have in both direction
There is the characteristic area of edge strengthening.Firstly, acquiring brightness step in the pixel for being connected to difference filter using formula (1)
Intensity and direction.
It is similarly handled in the characteristic area of 4 × 4 pixels, finds out the histogram of all directions.It carries out in 8 directions
Quantization, if intensity is no more than threshold value, without ballot.If the both direction of 180 degree is not presented, frequency is more than threshold value
Words, then using its characteristic area as singular point.
Automatically correct the two dimension matching of module sub-pixel precision:
Two-dimentional matching treatment uses zonal basis method.The size of region of search is 512 × 8 pixels, detects the window of singular point
Having a size of 4 × 4 pixels.In addition, using SAD (Sum of Absolute Difference) in evaluation function.When formula (2)
Value when reaching minimum value, dwFor lateral inclination, dhFor vertical misalignment.
In addition, there may be decimals for required vertical misalignment since matching is realized based on integer precision algorithm
Trueness error.Accordingly, it is considered to which the adjacent region data of the minimum value using SAD acquires sub-pixel precision using once linear interpolation method
Vertical misalignment.The parallax of integer is set as D, can be indicated with formula (3).
Automatically correct module estimation:
It is whether appropriate in order to investigate, contrast images are put english and turn 0.97mrad, to deviate 1.5 pixels in the longitudinal direction
It is tested.Rotation center is picture centre, later, carries out automatically correcting processing.It after 1 minute, can be found out since processing
Slope is 0.73mrad, and vertical misalignment is 1.5 pixels, is then modified；Offset correction result such as specification in 1 minute
Shown in attached drawing 5.
In addition, the case where being directed to 1 time automatically corrects processing, and the threshold value of detection singular point quantity is set as 50% in 1 big module
Down, it can be achieved that 120 frames, the frame rate of camera is if 30fps, then detection time is 4 seconds.
The omnibearing stereo image capture method realizes the institutes such as the cost effective of system, high speed, high-precision and flexibility
There is characteristic, the camera due to using internal system supplements the Pipelining and parallel processing such as correction process and Stereo matching processing
Method, video camera can be realized high speed processing；In addition, due to being easily assembled in actual camera chain, autonomous
Walking robot, automatic Pilot etc. are diversified with having very strong practicability on the way.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (9)
1. a kind of omnibearing stereo photographic device, which is characterized in that including multiple video cameras and for reflecting the video camera
The comprehensive mirror surface of institute's camera picture, the comprehensive mirror surface that the camera shooting end inclination face top of the video camera is installed,
The back side of video camera is provided with the inner concave shape mirror surface for reflecting front picture；
The photographic device further includes target imaging unit and processing unit, is passed through between target imaging unit and processing unit
Receiving unit is connected；The target imaging unit includes multiple camera mould groups, for carrying out to object for Multi-angle omnibearing
Shooting, collecting；The processing unit includes imaging comparator, full width Focusing module, focusing driving module and influences synthesis module.
2. a kind of omnibearing stereo photographic device according to claim 1, which is characterized in that the comprehensive mirror surface is fixed
At the top of inner concave shape mirror surface, and by bracket far from inner concave shape mirrored sides.
3. a kind of omnibearing stereo photographic device according to claim 1, which is characterized in that the quantity of the video camera is
Four, and the central axis of four video cameras uniformly configures on four points in the same plane, while two adjacent
The distance between central axis of video camera is a definite value.
4. a kind of omnibearing stereo photographic device according to claim 1, which is characterized in that the imaging comparator is used for
The difference degree for the image that the receiving unit is collected into is sampled, and passes to focusing driving module and full width after carrying out comparative analysis
Focusing module.
5. a kind of omnibearing stereo photographic device according to claim 1, which is characterized in that the focusing driving module and
Full width Focusing module searches for simultaneously photographic subjects object image for controlling angle and orientation captured by camera mould group.
6. a kind of omnibearing stereo photographic device according to claim 1, which is characterized in that the Image compounding module is used
In Jiang Sitai shot by camera to picture analyzed after synthesize, and handled by display unit displaying, while by defeated
Exit port exports the external world.
7. a kind of omnibearing stereo photographic device according to claim 1, it is proposed that a kind of omnibearing stereo camera system,
Characterized by comprising the following steps:
S1, shooting, collecting is carried out to object by target imaging unit, utilizes four video cameras and corresponding comprehensive mirror surface
Omnibearing stereo picture is acquired with inner concave shape mirror surface；
S2, collected picture is respectively transmitted to receiving unit, receiving unit receives the picture of same time after picture
Synchronous driving is to processing unit；
The difference degree of S3, the image for recycling imaging comparator to be relatively collected into pass through focusing driving mould when difference degree is larger
Angle and orientation captured by block and full width Focusing module control camera mould group, search and again photographic subjects object image；
S4, the i.e. available omnibearing stereo picture of picture synthesis for finally being arrived shot by camera using Image compounding module.
8. a kind of omnibearing stereo image capture method, which comprises the following steps:
1) route of planning from origin to destination；
2) photographic device is mounted on to the front of vehicle or robot, for acquiring ambient enviroment；
3) route for combining step 1 to be planned, obtains the position being presently in and ambient enviroment, while analyzing image data transmission
To control terminal；
4) vehicle is controlled in the case where analysis has barrier when control terminal or robot changes direction of travel or stopping；Work as control
End controls vehicle in the case where analyzing clear or robot direction of travel is constant.
9. a kind of omnibearing stereo image capture method according to claim 8, which is characterized in that further include in the step 3
Video camera automatically corrects module.
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