CN111637837B - Method and system for measuring size and distance of object by monocular camera - Google Patents

Method and system for measuring size and distance of object by monocular camera Download PDF

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CN111637837B
CN111637837B CN202010493566.8A CN202010493566A CN111637837B CN 111637837 B CN111637837 B CN 111637837B CN 202010493566 A CN202010493566 A CN 202010493566A CN 111637837 B CN111637837 B CN 111637837B
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龙永南
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/026—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring distance between sensor and object
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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Abstract

The invention provides a method and a system for measuring the size and distance of an object by a monocular camera, belonging to the field of electronic information. The system comprises a monocular camera unit, a gyroscope unit, a display screen unit and an acceleration sensor unit. The method comprises the following steps: s1, measuring a pixel variation j of a specified target corresponding to the unit angle variation in a display screen; s2, measuring pixel variation k of a unit space displacement corresponding to a specified target in a display screen; s3, calculating the real distance l between two points r and r' on the display screen0(ii) a S4, calculating the real distance d between the object and the measuring system and the distance l between two points of the measured object3. The invention can calculate the size of the distant object and the distance between the object and the measuring system only by rotating and translating the operator to obtain two parameters j and k, thereby simplifying the measuring method, having no special requirements on equipment and having wide application prospect.

Description

Method and system for measuring size and distance of object by monocular camera
Technical Field
The invention relates to the technical field of electronic information, in particular to a method and a system for measuring the size and distance of an object by a monocular camera.
Background
The conventional handheld distance measuring device is generally provided with a signal transmitting device and a signal receiving device, and the distance between the conventional handheld distance measuring device and a target object is estimated by measuring the interval between the signal transmitting time and the reflected signal receiving time, wherein the conventional signals are ultrasonic waves, infrared rays, laser and the like. Along with the popularization of intelligent devices such as smart phones and tablet computers, the way for people to obtain information is more and more convenient, the functions of the intelligent devices such as the mobile phones are more and more abundant, and if the distance measuring function can be integrated into the intelligent devices, the cost for people to obtain the functions can be greatly reduced.
At present, some schemes have proposed to integrate the ranging function into smart devices such as mobile phones, which are mainly divided into three methods: the first method comprises the following steps: a signal transmitting device and a signal receiving device are additionally arranged on the mobile phone, and the distance is calculated by measuring the flight time of the signals; the second method comprises the following steps: using a binocular camera, using two cameras with different positions to shoot the same object at the same time, and calculating the distance between the binocular camera and the target object by measuring the phase difference of the target object in two images; the third method comprises the following steps: and (3) calculating the distance of the target object by measuring the image distance after focusing by using the monocular camera and combining the parameters of the camera lens. The first method and the second method need extra hardware cost and are not easy to popularize in a large scale, the third method is simple and easy to implement, does not need extra cost and is easy to popularize, but the problems that the existing monocular camera distance measurement is inaccurate in optical parameter estimation, the measurement result is greatly influenced by the measurement attitude and the like need to be solved.
Chinese patent application CN 108007426 a (a camera ranging method and system), the patent method is as follows: firstly, calibrating a code word value-object distance table; step two, executing an automatic focusing algorithm; acquiring a pitch angle; and step four, calculating the object distance. The disadvantages of this method are: 1. the system distance is required to be calibrated in advance aiming at different postures, the measurement result depends on the calibration result, and the system distance is required to be respectively calibrated aiming at different camera hardware systems, so that the universality of the application is poor; 2. the calibrated code word values are discontinuous, a large amount of blank spaces between the calibrated values need to be supplemented by linear interpolation, and the rationality of the linear interpolation is questioned; and the code word value obtained by linear interpolation and the actual code word value are in and out bound to exist, the interpolation result is used as the code word value, and errors are introduced.
Chinese patent CN 105203034B (a height and area measuring method based on a monocular camera three-dimensional distance measuring model), the patent method is as follows: firstly, calibrating and acquiring the focal length of a camera through a monocular camera; modeling a monocular camera ranging model, converting the problem from an object to a camera into the distance from the object to a camera ground projection point, and further solving the distance from the object to the camera ground projection point through the distance between the object and two vertical planes formed by a camera optical axis and an image plane; secondly, height measurement of the object is achieved according to the model and the measured distance; and step three, measuring the area of the object according to the results of the step three and the step two. The method has the following disadvantages: 1. the three parameters of the height of a camera system from the ground, the included angle between the optical axis of a lens of the camera and a horizontal line and the focal length of the camera need to be known in advance; 2. the measurement system needs to be calibrated for multiple samples before measurement (which is stated in the document as requiring 20 samples with different spatial positions).
In order to solve the defects of the prior art: firstly, hardware requirements are high, requirements are high (such as an infrared distance measuring device and a binocular camera distance measuring device), equipment cost is high, and popularization and application are not convenient; secondly, most methods need to calibrate the system for multiple times in advance, and each time hardware is replaced (for example, another camera unit is replaced), the calibration needs to be carried out again, so that the efficiency is low, and the real-time deployment and the real-time use cannot be realized; thirdly, some methods need to measure or predict system parameters in advance, and equipment deployment time is increased.
Disclosure of Invention
In order to solve the technical problems, the invention provides a method and a system for measuring the size and the distance of an object by a monocular camera, and aims to calculate the size of the object at a distance and the distance between the object and a measuring system by two actions (rotation and translation) of an operator to obtain two parameters (j and k).
The invention provides a system for measuring the size and distance of an object by a monocular camera, which comprises a monocular camera unit, a gyroscope unit, a display screen unit and an acceleration sensor unit, wherein the monocular camera unit, the gyroscope unit, the display screen unit and the acceleration sensor unit are all fixed in the same system and move and rotate uniformly.
The invention further protects a method for measuring the size and distance of an object by using a monocular camera, which comprises the following steps:
s1, image filtering:
the method comprises the following steps of carrying out weighted average on the value of a certain pixel and the values of other pixels in the template field, then endowing the result to the pixel so as to achieve a smoothing effect, setting the expression of an input image frequency domain as F (u, v), setting the expression of an output image frequency domain as G (u, v), and mathematically expressing as:
G(u,v)＝H(u,v)F(u,v)
h (u, v) is a gaussian kernel, expressed as:
Figure GDA0003142979810000031
d (u, v) is the distance from the point (u, v) to the center of the fourier transform, the gaussian kernel can be obtained by computing a two-dimensional gaussian function, and assuming that the discrete gaussian convolution kernel is of the (2k +1) × (2k +1) dimensions, then the elemental values of the (u, v) position are given by:
Figure GDA0003142979810000032
in the formula, k determines the dimension of a kernel matrix, the parameter sigma controls the smoothing degree, the larger the sigma is, the higher the smoothing degree is, and the smaller the sigma is, the lower the smoothing degree is;
s2, measuring the pixel variation j of a specified target corresponding to the unit angle variation in the display screen on the distance d: pointing the camera to the target object, rotating the camera system in situ to make the target object displace p in the display screen1Recording the angular change theta of the measurement system in the process by means of a gyroscope unit1，
j＝p1/θ1
Wherein p is1The unit of (a) is pixel, the unit of j is pixel/degree;
s3, measuring the pixel variation k of a specified target in a display screen corresponding to the unit space displacement on the distance d: the moving measurement system ensures that the moved target object is still within the range of the display screen, and in the process, the angle change theta of the measurement system is read through the gyroscope unit2Reading the spatial displacement l of the measuring system by the acceleration sensor unit2Displacement of object in display screen
Figure GDA0003142979810000033
This is achieved by
Figure GDA0003142979810000034
For displacement of target object in display screen caused by angle change of measuring system
Figure GDA0003142979810000035
And displacement of the target object in the display screen due to spatial displacement of the measurement system
Figure GDA0003142979810000036
The result of the vector addition, i.e.,
Figure GDA0003142979810000037
wherein the content of the first and second substances,
Figure GDA0003142979810000038
Figure GDA0003142979810000041
then:
Figure GDA0003142979810000042
wherein the content of the first and second substances,
Figure GDA0003142979810000043
the unit of (a) is pixel, the unit of k is pixel/meter;
s4, calculating the real distance l between two points r and r' on the display screen on the distance d0：
l0＝p0/k
Wherein p is0Is the pixel distance between r and r' in the display screen, and the unit is pixel;
s5, calculating the real distance d between the object and the measuring system and the distance l between two points of the measured object3: selecting two points M on an object or plane to be measured1And M2Their positions in the display screen are respectively denoted as m1And m2，m1And m2The pixel distance in the screen is denoted p3，m1And m2The actual distance between two points is recorded as l3Aim point m1Placing in the center of display screen, rotating the measuring system, and placing point m2The angle variation theta of the process measurement system is read from the gyroscope3Then the two point distances measured:
Figure GDA0003142979810000044
true distance of the measuring system from the measured target object:
d＝(l3/2)/Sin(θ3/2)。
as a further improvement of the invention, the target point m is set in S41Placed at an arbitrarily fixed position in the display screen.
As a further improvement of the present invention, the operation in S4 is to select a point to record the rotation theta of the measuring system through the gyro unit3During the course of the angle, it displaces the pixels on the screen by p3。
As a further improvement of the present invention, the steps S1-S4 may be repeated to take the average of multiple measurements as the final result.
As a further development of the invention, the pixel displacement p0、p1、
Figure GDA0003142979810000045
p3The displacement of the target object on the dot matrix of the photosensitive element of the camera can be used as a substitute.
As a further improvement of the invention, the camera photosensitive element includes but is not limited to CCD and CMOS.
The invention has the following beneficial effects: according to the invention, the size of the remote object and the distance between the object and the measuring system can be calculated only by performing two actions (rotation and translation) by an operator to obtain two parameters (j and k), so that the measuring method is simplified, and no special requirement is required on equipment; meanwhile, an acceleration sensor unit is introduced into the system, the influence of the inevitable spatial displacement on the measurement result in the shooting process of an operator is compensated through calculation of the spatial displacement of the system, and the problem of errors caused by shooting and measuring at different positions is solved, so that the result is more accurate.
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FIG. 1 is a schematic view of a measurement system;
FIG. 2 is a schematic view of step 1;
FIG. 3 is a schematic view of step 2;
FIG. 4 is a schematic diagram of vector addition;
FIG. 5 is a schematic view of step 3;
1, measuring the size and distance of an object by a monocular camera; 2. a display screen unit; 3. a gyroscope unit; 4. an acceleration sensor unit; 5. monocular camera unit.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention, and it is obvious that the embodiments described are only some representative embodiments of the present invention, rather than all embodiments, and all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
Referring to fig. 1, a system 1 for measuring a size and a distance of an object by a monocular camera includes a monocular camera unit 5, a gyro unit 3, a display screen unit 2, and an acceleration sensor unit 4. The monocular camera unit 5, the gyroscope unit 3, the display screen unit 2 and the acceleration sensor unit 4 are all fixed in the same system and move and rotate in a unified mode.
Referring to fig. 2-5, a method for measuring the size and distance of an object by a monocular camera comprises the following steps:
s1, image filtering:
various interference sources exist in the process of acquiring and transmitting the target image, and noise of different degrees is often generated under the influence of external factors, the performance of imaging equipment and a transmission system. The noise directly causes image quality degradation, mainly manifested as image blurring or annihilation of characteristic information, which will affect the results of subsequent image analysis.
More important in practical processing is the introduction of a mathematical model of the noise, which is removed mathematically, typically gaussian.
Gaussian noise: the noise with the probability density function following a gaussian distribution (i.e. a normal distribution) is called gaussian noise, and this type of noise appears as noise with random distribution of the amplitude and color of each point, and is called white gaussian noise if its power spectral density is uniformly distributed.
Gaussian filtering is to make a weighted average of a value of a certain pixel and values of other pixels in the template field, and then to give the result to the pixel, so as to achieve a smoothing effect, where an expression of an input image frequency domain is F (u, v), an expression of an output image frequency domain is G (u, v), and the mathematical expression is:
G(u,v)＝H(u,v)F(u,v)
h (u, v) is a gaussian kernel, expressed as:
Figure GDA0003142979810000061
d (u, v) is the distance from the point (u, v) to the center of the fourier transform, the gaussian kernel can be obtained by computing a two-dimensional gaussian function, and assuming that the discrete gaussian convolution kernel is of the (2k +1) × (2k +1) dimensions, then the elemental values of the (u, v) position are given by:
Figure GDA0003142979810000062
in the formula, k determines the dimension of a kernel matrix, the parameter sigma controls the smoothing degree, the larger the sigma is, the higher the smoothing degree is, and the smaller the sigma is, the lower the smoothing degree is;
s2, measuring the pixel variation j of a specified target corresponding to the unit angle variation in the display screen on the distance d:
pointing the camera to a target object, recording the position a of the target object in the display screen, rotating the camera system in situ to enable the target object to be displaced in the display screen by p, wherein the position of the measuring system is C, the position of the target object at the moment is T, and the position a of the target object in the display screen is recorded1To the a 'position, the angular change θ of the measurement system in this process (a → a') is recorded by the gyroscope unit1In the schematic diagram, an arrow pointing to the direction of the target object indicates the focal length direction of the image capturing unit, and the pixel change j of the target object corresponding to the unit angle change in the display screen is calculated according to the distance d between the target object and the pixel
j＝p1/θ1
Wherein p is1The unit of (a) is pixel, the unit of j is pixel/degree;
s3, measuring the pixel variation k of a specified target in a display screen corresponding to the unit space displacement on the distance d:
the mobile measuring system 1 is moved from the position C to the position C ', the moved target object is ensured to be still in the range of the display screen, and the position of the target object in the display screen is moved from a ' before the system 1 is moved to a ' after the system 1 is moved. In the process, the angle change theta of the measuring system is read through the gyroscope unit2Reading the spatial displacement l of the measuring system by the acceleration sensor unit2Displacement of object in display screen
Figure GDA0003142979810000071
This is achieved by
Figure GDA0003142979810000072
For displacement of target object in display screen caused by angle change of measuring system
Figure GDA0003142979810000073
And displacement of the target object in the display screen due to spatial displacement of the measurement system
Figure GDA0003142979810000074
The result of the vector addition, namely:
Figure GDA0003142979810000075
wherein
Figure GDA0003142979810000076
Figure GDA0003142979810000077
The unit spatial displacement corresponds to the amount of variation of the pixels of the specified target in the display screen:
Figure GDA0003142979810000078
wherein the content of the first and second substances,
Figure GDA0003142979810000079
the unit of (a) is pixel, the unit of k is pixel/meter;
s4, calculating the real distance l between two points r and r' on the display screen on the distance d0：
At distance d, the pixel distance p between r and r' in the display screen0，
p0＝kgl0
I.e. the true distance between two points
l0＝p0/k
S5, calculating the real distance d between the object and the measuring system and the distance l between two points of the measured object3：
Selecting two points M on an object or plane to be measured1And M2Their positions in the display screen are respectively denoted as m1And m2，m1And m2Image in screenThe elemental distance is denoted as p3，m1And m2The actual distance between two points is recorded as l3. Target point m1Placing the point m in the center of the display screen (or any fixed position in the display screen), and rotating the measuring system2The angle variation theta of the process measurement system is read from the gyroscope3Then the two point distances measured:
l3＝p3/k
true distance of the measuring system from the measured target object:
d＝(l3/2)/Sin(θ3/2)。
preferably, step S4 may also be a step of selecting a point for recording the rotation θ of the measuring system by the gyroscope unit3During the course of the angle, it displaces the pixels on the screen by p3。
The further the object is from the actual distance of the measurement system, the actual spatial displacement l in step S22The larger should be to help reduce the effect of systematic errors. If necessary, the steps S1-S4 may be repeated a plurality of times to measure the average value and used as the final result.
Pixel displacement p of target object in display screenn(p0、p1、
Figure GDA0003142979810000081
p3) The displacement of the target object on the lattice of the CCD, CMOS or other camera photosensitive element can be used instead.
The method is different from other monocular camera object size/distance measuring systems, camera parameters do not need to be known in advance, the monocular camera system does not need to be calibrated in advance, coordinate conversion is not needed, special equipment is not needed, the height of the camera system from the ground, the included angle between the lens optical axis of the camera and the horizontal line and the focal length of the camera do not need to be known in advance. There is no need to calibrate the measurement system for multiple samples before measurement (which is stated in the document as requiring 20 samples that differ in spatial location). The size of a distant object and the distance between the object and a measuring system can be calculated only by two actions (rotation and translation) of an operator to obtain two parameters (j and k), so that the measuring method is simplified, and no special requirement is required on equipment; meanwhile, an acceleration sensor unit is introduced into the system, the influence of the inevitable spatial displacement on the measurement result in the shooting process of an operator is compensated through calculation of the spatial displacement of the system, and the problem of errors caused by shooting and measuring at different positions is solved, so that the result is more accurate.
Various modifications may be made to the above without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is therefore intended to be limited not by the above description, but rather by the scope of the appended claims.

Claims (6)

1. A method for measuring the size and distance of an object by a monocular camera is characterized by comprising the following steps:
s1, image filtering:
the method comprises the following steps of carrying out weighted average on the value of a certain pixel and the values of other pixels in the template field, then endowing the result to the pixel so as to achieve a smoothing effect, setting the expression of an input image frequency domain as F (u, v), setting the expression of an output image frequency domain as G (u, v), and mathematically expressing as:
G(u,v)＝H(u,v)F(u,v)
h (u, v) is a gaussian kernel, expressed as:
Figure FDA0003501408770000011
d (u, v) is the distance from the point (u, v) to the center of the fourier transform, the gaussian kernel can be obtained by computing a two-dimensional gaussian function, and assuming that the discrete gaussian convolution kernel is of the (2k +1) × (2k +1) dimensions, then the elemental values of the (u, v) position are given by:
Figure FDA0003501408770000012
in the formula, k determines the dimension of a kernel matrix, the parameter sigma controls the smoothing degree, the larger the sigma is, the higher the smoothing degree is, and the smaller the sigma is, the lower the smoothing degree is;
s2, measuring the pixel variation j of a specified target corresponding to the unit angle variation in the display screen on the distance d: pointing the camera to the target object, rotating the camera system in situ to make the target object displace p in the display screen1Recording the angular change theta of the measurement system in the process by means of a gyroscope unit1，
j＝p1/θ1
Wherein p is1The unit of (a) is pixel, the unit of j is pixel/degree;
s3, measuring the pixel variation h of a specified target in a display screen corresponding to the unit space displacement on the distance d: the moving measurement system ensures that the moved target object is still within the range of the display screen, and in the process, the angle change theta of the measurement system is read through the gyroscope unit2Reading the spatial displacement l of the measuring system by the acceleration sensor unit2Displacement of object in display screen
Figure FDA0003501408770000013
This is achieved by
Figure FDA0003501408770000014
For displacement of target object in display screen caused by angle change of measuring system
Figure FDA0003501408770000015
And displacement of the target object in the display screen due to spatial displacement of the measurement system
Figure FDA0003501408770000016
The result of the vector addition, i.e.,
Figure FDA0003501408770000017
wherein the content of the first and second substances,
Figure FDA0003501408770000021
Figure FDA0003501408770000022
then:
Figure FDA0003501408770000023
wherein the content of the first and second substances,
Figure FDA0003501408770000025
the unit of (a) is pixel, the unit of h is pixel/meter;
s4, calculating the real distance l between two points r and r' on the display screen on the distance d0：
l0＝p0/h
Wherein p is0Is the pixel distance between r and r' in the display screen, and the unit is pixel;
s5, calculating the real distance d between the object and the measuring system and the distance l between two points of the measured object3: selecting two points M on an object or plane to be measured1And M2Their positions in the display screen are respectively denoted as m1And m2，m1And m2The pixel distance in the screen is denoted p3，m1And m2The actual distance between two points is recorded as l3Aim point m1Placing in the center of display screen, rotating the measuring system, and placing point m2The angle variation theta of the process measurement system is read from the gyroscope3Then the two point distances measured:
l3＝p3/h
true distance of the measuring system from the measured target object:
d＝(l3/2)/Sin(θ3/2)。
2. the method of claim 1, wherein the target point m is determined in step S41Placed at an arbitrarily fixed position in the display screen.
3. The method of claim 1, wherein the step of S4 is to select a point to record the rotation θ of the measuring system by the gyroscope unit3During the course of the angle, it displaces the pixels on the screen by p3。
4. The method of claim 1, wherein the steps S1-S4 are repeated to obtain the average value of the multiple measurements as the final result.
5. The method for measuring the size and distance of an object by using a monocular camera according to claim 1, wherein the pixel displacement p0、p1、
Figure FDA0003501408770000024
p3The displacement of the target object on the dot matrix of the photosensitive element of the camera can be used as a substitute.
6. The method of claim 5, wherein the camera is a CCD camera or a CMOS camera.
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