CN110798624B - HDR camera applied to outdoor SLAM field of mobile robot - Google Patents

HDR camera applied to outdoor SLAM field of mobile robot Download PDF

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CN110798624B
CN110798624B CN201911017543.3A CN201911017543A CN110798624B CN 110798624 B CN110798624 B CN 110798624B CN 201911017543 A CN201911017543 A CN 201911017543A CN 110798624 B CN110798624 B CN 110798624B
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CN110798624A (en
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吕恩利
王飞仁
王昱
夏晶晶
丘广俊
余乔东
罗毅智
李斌
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South China Agricultural University
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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
    • H04N23/70—Circuitry for compensating brightness variation in the scene
    • H04N23/73—Circuitry for compensating brightness variation in the scene by influencing the exposure time
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/70—Circuitry for compensating brightness variation in the scene
    • H04N23/741—Circuitry for compensating brightness variation in the scene by increasing the dynamic range of the image compared to the dynamic range of the electronic image sensors
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
    • H04N25/50—Control of the SSIS exposure
    • H04N25/57—Control of the dynamic range
    • H04N25/58—Control of the dynamic range involving two or more exposures

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Abstract

The invention discloses an HDR camera applied to the field of outdoor SLAM of a mobile robot, which comprises a PCB substrate, N groups of optical imaging lenses, N CMOS photosensitive chips, an FPGA chip and a lens base, wherein the N CMOS photosensitive chips are symmetrically distributed on the PCB substrate; the lens base is fixed on the PCB substrate, so that each CMOS photosensitive chip is positioned in a darkroom, and each fixing hole is opposite to one CMOS photosensitive chip; the N CMOS photosensitive chips are connected to the FPGA chip through the PCB substrate, and the FPGA chip is used for obtaining images collected by the CMOS photosensitive chips and synthesizing high dynamic range images. The invention utilizes a multi-CMOS simultaneous exposure mode to collect images under different exposure parameters to synthesize the HDR image, and compared with the traditional HDR imaging mode, the invention can reduce the whole exposure time and reduce the occurrence of image smear.

Description

HDR camera applied to outdoor SLAM field of mobile robot
Technical Field
The invention relates to the field of mobile robot positioning and navigation, in particular to a high dynamic range imaging (HDR) camera applied to the field of outdoor simultaneous positioning and map building (SLAM) of a mobile robot.
Background
The image-based positioning algorithm is a hot problem in the field of autonomous mobile robots and is a precondition for solving the motion planning and control of mobile robots. Based on image Simultaneous Localization and Mapping (SLAM), the map of the environment can be restored while the self pose of the robot is estimated by analyzing the image sequence in an unknown environment. Because the technology only depends on the image sensor of the robot, the environment is not required to be modified and the manual marking is not required, and meanwhile, the camera has the advantages of low cost and the like, the SLAM technology has gained wide attention at home and abroad. The visual SLAM mainly relies on the sensor being a camera, so the imaging quality of the camera is directly related to the positioning accuracy of the SLAM. However, in an outdoor environment, light rays are often complex, backlight and backlight conditions exist, meanwhile, the light tolerance of a common camera is limited, the shot image often has the conditions of over-exposure and under-exposure, the details of the image are insufficient, and the extraction of the feature points by the SLAM algorithm is seriously influenced; meanwhile, if a conventional camera works in a high dynamic range image (DHR) mode, at least 3 images with different exposure parameters need to be continuously obtained and then synthesized, but due to the motion of a mobile robot, the robot has moved a certain distance in the process of obtaining an HDR image, and thus the synthesized image has a fuzzy condition. In addition, a high-end high-light-tolerance camera is expensive, and is not economical to apply to a mobile robot. Therefore, the invention of the cheap high dynamic range camera has important significance for the application of the SLAM.
Disclosure of Invention
The invention aims to provide an HDR camera applied to the field of outdoor SLAM of a mobile robot, which is mainly used for solving the problems of insufficient light tolerance and motion blur in an HDR mode of the traditional camera.
In order to realize the task, the invention adopts the following technical scheme:
the utility model provides a be applied to HDR camera in outdoor SLAM field of mobile robot, includes PCB base plate, N group optical imaging lens, N piece CMOS sensitization chip, FPGA chip and camera lens base, wherein:
the N CMOS photosensitive chips are symmetrically distributed on the PCB substrate, a boss is arranged on the front side surface of the lens base, N mutually independent dark chambers are arranged on the rear side surface of the lens base, a fixing hole penetrating through the boss is formed from the bottom of each dark chamber to the front of the lens base, and the N groups of optical imaging lenses are respectively arranged in the fixing holes;
the lens base is fixed on the PCB substrate, so that each CMOS photosensitive chip is positioned in a darkroom, each CMOS photosensitive chip is positioned in a closed environment at the moment, and each fixing hole is opposite to one CMOS photosensitive chip, so that the optical imaging lens is in one-to-one correspondence with the CMOS photosensitive chips; the N CMOS photosensitive chips are connected to the FPGA chip through the PCB substrate, and the FPGA chip is used for obtaining images collected by the CMOS photosensitive chips and synthesizing high dynamic range images.
Furthermore, a groove is formed in the rear side face of the lens base, and the groove is divided into N mutually independent dark chambers through a rib plate.
Further, the HDR camera further comprises a data transmission interface, and the FPGA chip transmits data to the outside through the data transmission interface.
Further, when the FPGA chip receives an image request sent from the outside, exposure instructions with different exposure durations are sent to the N CMOS photosensitive chips, and the N CMOS photosensitive chips respectively and independently acquire images through corresponding optical imaging lenses.
Further, the working modes of the HDR camera comprise a weak light mode and a strong light mode, wherein the FPGA chip determines the light condition of the environment by analyzing the average brightness and the exposure time of the normally exposed images in the N images acquired last time by using the N CMOS photosensitive chips, and then selects to switch the working mode between the weak light mode and the strong light mode before acquiring the next frame of image.
Furthermore, the CMOS photosensitive chip has 4 pieces;
in the low light mode, the exposure instruction is as follows: prolonging the exposure time by 2 steps, prolonging the exposure time by 1 step, normally exposing and reducing the exposure time by 1 step, wherein 2 overexposed images, 1 normally exposed image and 1 underexposed image can be obtained, and the camera focuses more on the image details of the dark part;
in the strong light mode, the exposure instruction is as follows: and the exposure time is prolonged by 1 gear, the normal exposure is carried out, the exposure time is reduced by 1 gear, the exposure time is reduced by 2 gears, at the moment, 1 piece of overexposed image, 1 piece of normal exposure image and 2 pieces of underexposed image can be obtained, and the camera focuses more on the image details of the bright part.
Furthermore, the FPGA chip has image processing and synthesizing functions, and synthesizes the underexposure images, the normal exposure images and the overexposure images acquired by the N CMOS photosensitive chips into the high dynamic range image.
Further, the FPGA chip synthesizes the image acquired by each CMOS photosensitive chip into an image with a high dynamic range by means of coefficient fusion, including:
and for the image acquired by each CMOS photosensitive chip, corresponding each pixel point of each image to a fusion coefficient, and then calculating the pixel values of the same position on different images by weighting to obtain the high dynamic range image.
The invention has the following technical characteristics:
1. the invention adopts an integrated camera structure, and utilizes a multi-CMOS simultaneous exposure mode to acquire images under different exposure parameters to synthesize an HDR image.
2. The HDR image is obtained by adopting a plurality of low-cost CMOS photosensitive chips in a synthesis mode, has huge cost advantage compared with a chip with high light tolerance, and is beneficial to reducing the cost of a mobile robot positioning system.
3. Compared with a common camera, the camera disclosed by the invention has a higher dynamic range, and is beneficial to improving the positioning and mapping accuracy of the SLAM algorithm of the mobile robot.
Drawings
FIG. 1 is an exploded view of the present invention;
FIG. 2 is a schematic structural diagram of an optical imaging lens and a lens base according to the present invention;
the reference numbers in the figures illustrate: the optical imaging lens comprises an optical imaging lens body 1, a lens base 2, a boss 3, a fixing hole 4, a PCB substrate 5, a CMOS photosensitive chip 6, an FPGA chip 7, a groove 8, a darkroom 9 and rib plates 10.
Detailed Description
The invention discloses an HDR camera applied to the field of outdoor SLAM of a mobile robot, which comprises a PCB substrate 5, N groups of optical imaging lenses 1, N CMOS photosensitive chips 6, an FPGA chip 7 and a lens base 2, wherein:
the N CMOS photosensitive chips 6 are symmetrically distributed on the PCB substrate 5, a boss 3 is arranged on the front side surface of the lens base 2, N mutually independent dark chambers 9 are arranged on the rear side surface, a fixing hole 4 penetrating through the boss 3 is arranged from the bottom of each dark chamber 9 to the front of the lens base 2, and the N groups of optical imaging lenses 1 are respectively arranged in the fixing holes 4;
the lens base 2 is fixed on the PCB substrate 5, so that each CMOS photosensitive chip 6 is positioned in a darkroom 9, each CMOS photosensitive chip 6 is positioned in a closed environment, and each fixing hole 4 is over against one CMOS photosensitive chip 6, so that the optical imaging lens 1 corresponds to the CMOS photosensitive chips 6 one by one; the N CMOS photosensitive chips 6 are connected to the FPGA chip 7 through the PCB substrate 5, and the FPGA chip 7 is used for obtaining images collected by the CMOS photosensitive chips 6 and synthesizing high dynamic range images.
In this embodiment, the value of N is 4, that is, 4 CMOS photosensitive chips 6 are used, and 4 groups of optical imaging lenses 1 are provided correspondingly. In this scheme, PCB base plate 5 is the major structure of camera, plays the effect of installation, support other accessories. In the implementation, 4 CMOS photosensitive chips 6 form a 2 x 2 array which is symmetrical up and down and left and right, and the array is welded at the central position of the PCB bottom plate, so that a peripheral circuit of each CMOS photosensitive chip 6 is realized on the PCB. The FPGA chip 7 is welded at the center of the back surface of the PCB substrate 5 and is used for sending an exposure instruction of the CMOS photosensitive chip 6 and receiving, processing and synthesizing image data of the COMS photosensitive chip 6.
In the embodiment, the lens base 2 is of a rectangular structure, a rectangular groove 8 is formed in the rear side face of the lens base, and the groove 8 is divided into 4 mutually independent dark chambers 9 through a cross-shaped rib plate 10; the end face of the rib plate 10 and the surface of the PCB are both planes; after the lens base 2 is fixed on the PCB substrate 5, each darkroom 9 seals one CMOS photosensitive chip 6 in a relatively airtight environment so that the CMOS photosensitive chip 6 is not otherwise affected when acquiring image data. The front end of the lens base 2 is provided with a boss 3 so as to facilitate the installation of the optical imaging lens 1. Fixing holes 4 are formed from the darkroom 9 to the bosses 3, for example, the fixing holes 4 can be threaded holes, so that the optical imaging lens 1 can be installed in the fixing holes 4 in a threaded matching mode. The position of the fixed hole 4 is opposite to the CMOS photosensitive chip 6, wherein the opposite direction means that the axes of the fixed hole and the CMOS photosensitive chip are coincident; this also enables the optical imaging lens 1 to correspond one-to-one to the CMOS photosensitive chips 6.
In this embodiment, 4 groups of optical imaging lenses 1 have the same specification and model, and have the same focal length, aperture and focus; and 4 CMOS photosensitive chips 6 are also in the same specification model.
The HDR camera further comprises a data transmission interface, and the FPGA chip 7 transmits data to the outside through the data transmission interface; the data transmission interface can adopt USB3.0, and the FPGA chip 7 is connected with the USB3.0 through the PCB substrate 5.
The horizontal and vertical distances of the 4 CMOS photosensitive chips 6 are set to be small as much as possible, when the distance from a shot object to a camera exceeds a threshold value in an outdoor scene, the problem of image ghosting after synthesis caused by the fact that the CMOS is not in the same position for imaging disappears, and the nearest working distance accords with the following formula:
Figure BDA0002246188010000041
wherein, b is the distance between the object to be shot and the optical axis of the optical imaging lens 1, f is the focal length of the optical imaging lens 1, and Δ x is the distance between the image receiving point and the optical axis; when the image blur does not occur, Δ x is 1, and at this time, Z corresponding to the image blur is the closest working distance of the camera.
When the FPGA chip 7 receives an image request sent from the outside, exposure instructions with different exposure durations are sent to the N CMOS photosensitive chips 6 at the same time, and the 4 CMOS photosensitive chips 6 respectively and independently acquire images through the corresponding optical imaging lens 1. Wherein the image request may come from an external device, such as a computer, a controller of a mobile robot, etc.
The working modes of the HDR camera comprise a weak light mode and a strong light mode, wherein the FPGA chip 7 determines the light condition of the environment by analyzing the average brightness and the exposure time of the normally exposed image in 4 images acquired by the 4 CMOS photosensitive chips 6 last time, and then selects to switch the working mode to the weak light mode or the strong light mode before the next frame of image is acquired.
In the low light mode, the exposure instruction is as follows: prolonging the exposure time by 2 steps, prolonging the exposure time by 1 step, normally exposing and reducing the exposure time by 1 step, wherein 2 overexposed images, 1 normally exposed image and 1 underexposed image can be obtained, and the camera focuses more on the image details of the dark part;
in the strong light mode, the exposure instruction is as follows: and the exposure time is prolonged by 1 gear, the normal exposure is carried out, the exposure time is reduced by 1 gear, the exposure time is reduced by 2 gears, at the moment, 1 piece of overexposed image, 1 piece of normal exposure image and 2 pieces of underexposed image can be obtained, and the camera focuses more on the image details of the bright part.
Wherein, the 1 st gear and the 2 nd gear refer to the time degree of exposure, for example, if the exposure time is prolonged by 1 st gear to be prolonged by exposure time T, the exposure time is prolonged by 2 nd gear to be prolonged by exposure time 2T; the exposure time is reduced; the specific gear can be set according to actual requirements.
The time of the normal exposure is obtained according to the maximum entropy principle of the image, the entropy of the image reflects the average information amount in the image, after the normal exposure image is obtained each time, the FPGA chip 7 counts the current entropy value of the image, and then the exposure time of the next time is adjusted according to the entropy value. The image entropy is calculated using the following formula:
Figure BDA0002246188010000051
wherein p isiIs the probability that a pixel with a pixel grey value i appears in the image:
pi＝ni/M×N
wherein M, N respectively indicate the number of rows and columns of pixels in the image, niRepresenting the number of pixels in the image with a grey value i.
The FPGA chip 7 synthesizes the images acquired by each CMOS photosensitive chip 6 into images with a high dynamic range in a coefficient fusion mode, specifically, fusion weights of different exposure images are estimated firstly, then weighted average fusion is carried out, and a fusion method follows the following formula:
Figure BDA0002246188010000061
wherein Wn(x, y) is the fusion weight, In(x, y) represents different images, and n represents an image number.
That is, for each image obtained by the CMOS sensor chip 6, each pixel point of each image corresponds to one fusion coefficient, and then the high dynamic range image is obtained by calculating the pixel values at the same position on different images by weighting.
In one embodiment, the 4 sets of optical imaging lenses 1 are connected with the fixing holes 4 of the lens base 2 in a threaded fit manner, specifically in an M12 fine-thread connection manner, and the length of the thread screwed into the lens base 2 can be adjusted to adjust the focusing plane. Since the sensor is applied in outdoor environment, the lens herein is a wide-angle lens, preferably: the lens parameters are: the focal length is 3.37mm, the aperture is 2.8, the maximum image plane 1/3' of the adaptive CMOS, the horizontal visual angle is 70 degrees, the vertical visual angle is 50 degrees, the lens distortion is 0.6 percent, the lens length is 24mm, the maximum resolution of the lens is 5M, and the lens interface is M12 multiplied by P0.5.
The 4 CMOS photosensitive chips 6 are of the same type and fixedly connected with the PCB substrate 5 in a welding mode, and peripheral circuits necessary for the CMOS photosensitive chips 6 to work are arranged in the PCB. In this embodiment, the model of the CMOS photosensitive chip 6 is ON Semiconductor MT9V034C12STM, the image resolution 752H × 480V, the maximum image plane 1/3 ", the pixel size 6.0um × 6.0um, the gray scale imaging, the global shutter, the maximum frame rate 60Hz, the resolution of the 10-bit ADC, and the dynamic range are greater than 55 dB. The CMOS has low cost and high pixel size, and is favorable for improving the dynamic range of images.
The cross rib plate 10 is arranged in the groove 8 in the lens base 2 and is divided into 4 mutually independent parts, so that the problem that light rays interfere with each other in the imaging process is solved.
The FPGA chip 7 is connected and communicated with the outside through a USB3.0 interface, and is used for sending exposure instructions to the CMOS photosensitive chips 6, receiving, processing and synthesizing images at the same time, and sending the finally synthesized images to the outside through the USB3.0 interface. For example, the model number of the FPGA chip 75 may be: XilinxZynq7020, where the editable logic cell is 85K, has sufficient computational resources to process data for 4 CMOS photo-sensors 6. Meanwhile, the chip internally comprises a double-core ARMCortex-A9 SOC computing unit which can carry out general computation and is used for computing image entropy, exposure time and the like.

Claims (4)

1. The HDR camera applied to the field of outdoor SLAM of a mobile robot is characterized by comprising a PCB substrate (5), N groups of optical imaging lenses (1), N CMOS photosensitive chips (6), an FPGA chip (7) and a lens base (2), wherein:
the N CMOS photosensitive chips (6) are symmetrically distributed on the PCB substrate (5), a boss (3) is arranged on the front side surface of the lens base (2), N mutually independent dark chambers (9) are arranged on the rear side surface of the lens base, a fixing hole (4) penetrating through the boss (3) is formed from the bottom of each dark chamber (9) to the front of the lens base (2), and the N groups of optical imaging lenses (1) are respectively arranged in the fixing holes (4);
the lens base (2) is fixed on the PCB substrate (5), each CMOS photosensitive chip (6) is positioned in a darkroom (9), each CMOS photosensitive chip (6) is positioned in a closed environment at the moment, and each fixing hole (4) is over against one CMOS photosensitive chip (6), so that the optical imaging lens (1) is in one-to-one correspondence with the CMOS photosensitive chips (6); the N CMOS photosensitive chips (6) are connected to the FPGA chip (7) through the PCB substrate (5), and the FPGA chip (7) is used for acquiring images acquired by the CMOS photosensitive chips (6) and synthesizing high dynamic range images;
a groove (8) is formed in the rear side face of the lens base (2), and the groove (8) is divided into N mutually independent dark chambers (9) by a rib plate (10) in the groove (8);
the working modes of the HDR camera comprise a weak light mode and a strong light mode, wherein the FPGA chip (7) determines the light condition of the environment by analyzing the average brightness and the exposure time of the normally exposed images in the N images acquired by the N CMOS photosensitive chips (6) last time, and then selects to switch the working mode into the weak light mode or the strong light mode before the next frame of image is acquired;
in an outdoor scene, when the distance from a shot object to a camera exceeds a threshold value, the problem of image ghosting after synthesis caused by the fact that the CMOS is not imaged at the same position disappears, and the nearest working distance accords with the following formula:
Figure FDA0002913679890000011
b is the distance between a shot object and the optical axis of the optical imaging lens (1), f is the focal length of the optical imaging lens (1), and deltax is the distance between a receiving image point and the optical axis; when the image blur does not occur, Δ x is 1, and at this time, the corresponding Z is the closest working distance of the camera;
the FPGA chip (7) has image processing and synthesizing functions, and the FPGA chip (7) synthesizes the underexposed, normal exposed and overexposed images acquired by the N CMOS photosensitive chips (6) into the high dynamic range image;
the FPGA chip (7) synthesizes the images acquired by each CMOS photosensitive chip (6) into images with high dynamic range in a coefficient fusion mode, and the method comprises the following steps:
and for the image obtained by each CMOS photosensitive chip (6), corresponding each pixel point of each image to a fusion coefficient, and then calculating the pixel values of the same position on different images by weighting to obtain the high dynamic range image.
2. The HDR camera applied to the field of outdoor SLAM of mobile robot as claimed in claim 1, wherein the HDR camera further comprises a data transmission interface through which the FPGA chip (7) transmits data to the outside.
3. The HDR camera applied to the field of outdoor SLAM of mobile robot in claim 1, wherein when the FPGA chip (7) receives an image request sent from outside, it issues exposure commands with different exposure durations to N CMOS photosensitive chips (6) at the same time, and the N CMOS photosensitive chips (6) respectively acquire images independently through corresponding optical imaging lenses (1).
4. The HDR camera in the field of outdoor SLAM of mobile robot as claimed in claim 3 wherein said CMOS photosensitive chip (6) has 4 chips;
in the low light mode, the exposure instruction is as follows: prolonging the exposure time by 2 steps, prolonging the exposure time by 1 step, normally exposing and reducing the exposure time by 1 step, wherein 2 overexposed images, 1 normally exposed image and 1 underexposed image can be obtained, and the camera focuses more on the image details of the dark part;
in the strong light mode, the exposure instruction is as follows: and the exposure time is prolonged by 1 gear, the normal exposure is carried out, the exposure time is reduced by 1 gear, the exposure time is reduced by 2 gears, at the moment, 1 piece of overexposed image, 1 piece of normal exposure image and 2 pieces of underexposed image can be obtained, and the camera focuses more on the image details of the bright part.
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