CN111986110B - Image calibration transmission system and method applied to high-intelligent robot - Google Patents
Image calibration transmission system and method applied to high-intelligent robot Download PDFInfo
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- CN111986110B CN111986110B CN202010814961.1A CN202010814961A CN111986110B CN 111986110 B CN111986110 B CN 111986110B CN 202010814961 A CN202010814961 A CN 202010814961A CN 111986110 B CN111986110 B CN 111986110B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/80—Geometric correction
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T15/00—3D [Three Dimensional] image rendering
- G06T15/50—Lighting effects
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/90—Dynamic range modification of images or parts thereof
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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
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
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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
- H04N23/80—Camera processing pipelines; Components thereof
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10032—Satellite or aerial image; Remote sensing
- G06T2207/10044—Radar image
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Abstract
The invention discloses an image calibration transmission system and method applied to a high intelligent robot, and particularly comprises a robot side image calibration transmission module and a control side image calibration transmission module, wherein the robot side image calibration transmission module further comprises a first calibration unit, a camera driving unit, a Bayer decomposition unit and a downsampling unit; the control side image calibration transmission module further comprises a second calibration unit, an image correction unit and a processing unit. Through the technical scheme, the transmission bandwidth and the operation processing time of the robot side in the image transmission process between the high intelligent robot and the remote control end can be reduced as much as possible under the condition that the image acquired by the panoramic camera of the high intelligent robot can be clearly and undistorted and transmitted to the processing unit, and the communication bandwidth pressure of the high intelligent robot is further reduced.
Description
Technical Field
The invention relates to the technical field of image calibration of high-intelligent robots, in particular to an image calibration transmission system and method applied to the high-intelligent robots.
Background
With the progress and development of modern society technologies, robots are applied to more and more fields, such as service fields, public fields, etc. An operator often needs to perform tasks by remotely controlling the robot, and thus needs to acquire real-time pictures around the robot through an image acquisition device carried by the robot.
The images acquired by the existing robot image acquisition system often need to be subjected to distortion correction processing, most of the existing robot image calibration transmission is concentrated on the robot side for processing, so that the task processing amount of the robot side is increased, the operation time is prolonged, and the bandwidth pressure during transmission is increased when the robot side data are sent to the control end side. There is a need for an effective solution to the above application problems.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an image calibration transmission system and method applied to a high intelligent robot, and the specific technical scheme is as follows:
the image calibration transmission system of the high intelligent robot is applied to a panoramic camera module of the high intelligent robot and comprises a robot side image calibration transmission module and a control side image calibration transmission module, wherein the control side image calibration module is remotely connected with the robot side image calibration module;
the robot-side image calibration transmission module specifically comprises:
the first calibration unit is used for performing calibration processing on the panoramic camera module according to a preset rule and generating a calibration data file;
the camera driving unit is connected with the first calibration unit and is used for receiving the original image information acquired by the panoramic camera module and sending the calibration data file generated by the calibration unit to the Bayer resolution unit;
the Bayer resolution unit is connected with the driving unit and is used for performing Bayer resolution processing on the original calibration image and outputting a color image;
the downsampling unit is connected with the Bayer decomposition unit and is used for downsampling the colored image and outputting a corresponding downsampled colored image;
the control side image calibration transmission module specifically comprises:
the second calibration unit is used for calibrating the panoramic camera module according to the preset rule and generating the calibration data file;
the image correction unit is connected with the second calibration unit and is used for carrying out lossless correction on the downsampled colored image according to the calibration data file and outputting a lossless colored image;
and the processing unit is connected with the image correction unit and is used for receiving and outputting the lossless color image subjected to distortion calibration.
Preferably, the robot-side image calibration transmission module further comprises a point cloud coloring unit;
the point cloud coloring unit is respectively connected with the camera driving unit and the Bayer solving unit and is used for extracting the original image information and the colored image so as to perform coloring treatment on the point cloud image acquired by the laser radar of the high intelligent robot.
Preferably, the first calibration unit generates a data file with a format of. Yaml after calibrating the camera, and transmits the data file to the camera driving unit.
Preferably, the camera driving unit is configured to process the calibration data from the first calibration unit to obtain an original RAW image file, and the camera driving unit transmits the RAW image file obtained after the processing to the bayer resolution unit, and simultaneously transmits the camera parameters extracted by the first calibration unit to the point Yun Zhaose unit.
Preferably, the bayer resolution unit is configured to perform bayer resolution calculation on all color information of each pixel included in the received RAW image file to convert the color information into visualized pixel information, and transmit the processed color image to the downsampling unit and the point cloud shader unit respectively.
Preferably, a data transmission module is further connected between the control side image calibration module and the robot side image calibration module, and is configured to transmit the downsampled color image from the robot side image calibration module to the control side image calibration transmission module.
The image calibration transmission method of the high intelligent robot is applied to the image calibration transmission system of any one of the above, and specifically comprises the following steps:
step S1, calibrating the panoramic camera module according to a preset rule and generating a corresponding calibration data file at each side of the robot side image calibration transmission module and the control side image calibration transmission module;
step S2, obtaining original image information acquired by the panoramic camera module, performing Bayer decomposition processing, and outputting a color image;
step S3, carrying out downsampling processing on the colored image and outputting a corresponding downsampled colored image;
step S4, the downsampled colored image is transmitted from the robot side image calibration module to the control side image calibration transmission module;
s5, carrying out lossless correction on the downsampled colored image according to the calibration data file, and outputting a lossless colored image;
s6, the control side image calibration transmission module acquires correction image information according to the lossless color image and the downsampled color image;
and step S7, receiving and outputting the lossless color image subjected to distortion calibration.
Preferably, between the step S3 and the step S4, further includes:
and step A1, receiving the original image information output by the camera driving unit and the colored image output by the Bayer solving unit, and coloring the point cloud image acquired by the laser radar of the highly intelligent robot.
The technical scheme has the following advantages or beneficial effects:
through the technical scheme, the camera calibration data units are respectively arranged at the high intelligent robot end and the control end and respectively transmit the image information and the camera parameters to the driving unit and the image correction unit, so that the transmission bandwidth and the operation processing time of the robot side in the image transmission process between the high intelligent robot and the remote control end can be reduced as much as possible under the condition that the image acquired by the panoramic camera of the high intelligent robot can be clearly and undistorted transmitted to the processing unit, and the communication bandwidth pressure of the high intelligent robot is further reduced, and the processing efficiency of the image is improved.
Drawings
Fig. 1 is a schematic structural diagram of an image calibration transmission system and method applied to a highly intelligent robot.
Fig. 2 is a schematic flow chart of an image calibration transmission method applied to a high-intelligent robot.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
The invention is further described below with reference to the drawings and specific examples, which are not intended to be limiting.
Aiming at the problems in the prior art, the invention provides an image calibration transmission system of a high intelligent robot, which is applied to a panoramic camera module of the high intelligent robot, and the specific technical scheme is as follows:
the image calibration transmission system of the high intelligent robot is applied to a panoramic camera module of the high intelligent robot, and comprises a robot side image calibration transmission module 1 and a control side image calibration transmission module 2, wherein the control side image calibration module 1 is remotely connected with the robot side image calibration module 2;
as shown in fig. 1, the robot-side image calibration transmission module 1 specifically includes:
a first calibration unit 11, configured to perform calibration processing on the panoramic camera module according to a preset rule and generate a calibration data file;
a camera driving unit 12 connected to the first calibration unit 11, for receiving the original image information acquired by the panoramic camera module, and sending the calibration data file generated by the calibration unit to the bayer resolution unit 13;
a bayer resolution unit 13 connected to the camera driving unit 12, for performing bayer resolution processing on the original calibration image, and outputting a color image;
a downsampling unit 14 connected to the bayer resolution unit 13, for downsampling the color image and outputting a corresponding downsampled color image;
the control-side image calibration transmission module 2 specifically includes:
a second calibration unit 21, configured to calibrate the panoramic camera module according to a preset rule and generate a calibration data file;
an image correction unit 22, connected to the second calibration unit 21, for performing lossless correction on the downsampled colored image according to the calibration data file, and outputting a lossless colored image;
and a processing unit 23 connected to the image correction unit 22 for receiving and outputting the distortion-calibrated lossless color image.
As a preferred embodiment, the robot-side image calibration transmission module 1 further includes a point cloud coloring unit 15;
the point cloud coloring unit 15 is connected to the camera driving unit 12 and the bayer resolution unit 12, respectively, for receiving the original image information output by the camera driving unit 12 and the color-added image output by the bayer resolution unit 13, and performing coloring processing on the point cloud image acquired by the laser radar.
As a preferred embodiment, the first calibration unit 11 generates a data file in the format of. Yaml by calibrating the camera, and transmits the data file to the camera driving unit 12.
As a preferred embodiment, the camera driving unit 12 is configured to process the calibration data from the first calibration unit 11 to obtain an original RAW image file, and the camera driving unit 12 transmits the RAW image file obtained after the processing to the bayer resolution unit 13, and simultaneously transmits the camera parameters extracted by the first calibration unit 11 to the point Yun Zhaose unit 15.
As a preferred embodiment, the bayer resolution unit 13 is configured to perform bayer resolution calculation on all color information of each pixel included in the received RAW image file to convert the color information into visualized pixel information, and transfer the processed color image to the downsampling unit 14 and the point cloud shader unit 15, respectively.
In a preferred embodiment of the present invention, the bayer resolution unit 13 is used to convert the color information of each pixel into visualized pixel information, which improves the accuracy of image processing and provides good guarantee for the subsequent use of the downsampling unit and the point cloud coloring unit 15.
In another preferred embodiment of the present invention, the downsampling unit 14 performs downsampling processing on the color image output from the bayer unit 13, reduces the size of the image file while retaining the pixel information, increases the image transmission speed, and further reduces the transmission bandwidth.
As a preferred embodiment, a data transmission module is further connected between the control side image calibration module and the robot side image calibration module, and is configured to transmit the data file generated by the control side image calibration module to the robot side image calibration module.
Furthermore, the technical scheme also provides an image calibration transmission method applied to the high intelligent robot, which is applied to any one of the image calibration transmission systems, as shown in fig. 2, and specifically comprises the following steps:
step S1, calibrating the panoramic camera module and generating a calibration data file;
step S2, receiving original image information acquired by a panoramic camera module, and sending a calibration data file generated by a first calibration unit 11 to a Bayer resolution unit 12;
step S3, performing Bayer decomposition treatment on the original calibration image, and outputting a color image;
step S4, carrying out downsampling processing on the colored image and outputting a corresponding downsampled colored image;
step S5, calibrating the panoramic camera module through a second calibration unit 21 and generating a calibration data file;
step S6, carrying out lossless correction on the downsampled colored image, and outputting a lossless colored image;
and S7, receiving and outputting the lossless color image subjected to distortion calibration.
As a preferred embodiment, between step S3 and step S4, further includes:
step A1 of receiving the original image information output by the camera driving unit 12 and the color image output by the bayer resolution unit 13, and performing coloring processing on the point cloud image acquired by the laser radar.
A specific embodiment is provided to further explain and illustrate the present technical solution:
in the embodiment of the present invention, the first calibration unit pair 11 performs calibration processing on the panoramic camera module according to a preset rule, generates a calibration data file, and then transmits the calibration data file to the camera driving unit 12, the camera driving unit 12 receives the calibration data and then transmits the calibration data to the bayer resolution unit 13, and meanwhile, the camera driving unit 12 also transmits the camera information to the point cloud coloring unit 15; the bayer resolution unit 13 performs bayer resolution processing on the original calibration image and outputs a color image to the point cloud coloring unit 15 and the downsampling unit 14, respectively; the point cloud coloring unit 15 colors the point cloud image acquired by the laser radar after receiving the original image information and the colored image; the downsampling unit 14 downsampling the color image and transfers the downsampled color image to the image correction unit 22; the second calibration unit 21 calibrates the panoramic camera module and transmits the generated calibration data file to the image correction unit 22, the image correction unit 22 performs lossless correction on the downsampled colored image according to the calibration data file, and finally outputs a lossless colored image to the processing unit 23, and the processing unit 23 finally outputs the lossless colored image after distortion calibration.
In summary, through this technical scheme, respectively set up a camera calibration data unit at high intelligent robot end and control end and send image information and camera parameter to drive unit and image correction unit respectively, can be under the condition that satisfies the clear and undistorted conveying to processing unit of image that high intelligent robot's panorama camera gathered, reduce transmission bandwidth and the operation processing time in the image transmission in-process between high intelligent robot and the remote control end as far as, further reduced high intelligent robot's communication bandwidth pressure, improved the processing efficiency to the image.
The foregoing description is only illustrative of the preferred embodiments of the present invention and is not to be construed as limiting the scope of the invention, and it will be appreciated by those skilled in the art that equivalent substitutions and obvious variations may be made using the description and illustrations of the present invention, and are intended to be included within the scope of the present invention.
Claims (8)
1. The image calibration transmission system of the high intelligent robot is applied to a panoramic camera module of the high intelligent robot and is characterized by comprising a robot side image calibration transmission module and a control side image calibration transmission module, wherein the control side image calibration module is remotely connected with the robot side image calibration module;
the robot-side image calibration transmission module specifically comprises:
the first calibration unit is used for performing calibration processing on the panoramic camera module according to a preset rule and generating a calibration data file;
the camera driving unit is connected with the first calibration unit and is used for receiving the original image information acquired by the panoramic camera module and sending the calibration data file generated by the calibration unit to the Bayer resolution unit;
the Bayer resolution unit is connected with the camera driving unit and is used for performing Bayer resolution processing on the original calibration image and outputting a color image;
the downsampling unit is connected with the Bayer decomposition unit and is used for downsampling the colored image and outputting a corresponding downsampled colored image;
the control side image calibration transmission module specifically comprises:
the second calibration unit is used for calibrating the panoramic camera module according to the preset rule and generating the calibration data file;
the image correction unit is connected with the second calibration unit and is used for carrying out lossless correction on the downsampled colored image according to the calibration data file and outputting a lossless colored image;
and the processing unit is connected with the image correction unit and is used for receiving and outputting the lossless color image subjected to distortion calibration.
2. The image calibration transmission system of a highly intelligent robot according to claim 1, wherein the robot-side image calibration transmission module further comprises a point cloud coloring unit;
the point cloud coloring unit is respectively connected with the camera driving unit and the Bayer solving unit and is used for receiving the original image information output by the camera driving unit and the colored image output by the Bayer solving unit and coloring the point cloud image acquired by the laser radar.
3. The image calibration transmission system of a highly intelligent robot according to claim 1,
the method is characterized in that the first calibration unit generates a data file with the format of yaml after calibrating the camera, and transmits the data file to the camera driving unit.
4. The image calibration transmission system of a highly intelligent robot according to claim 1,
the camera driving unit is used for processing the calibration data from the first calibration unit to obtain an original RAW image file, transmitting the RAW original image file obtained after processing to the Bayer solving unit, and transmitting the camera parameters extracted by the first calibration unit to the point Yun Zhaose unit.
5. The image calibration transmission system of a highly intelligent robot according to claim 1,
the method is characterized in that the bayer resolution unit is used for performing bayer resolution calculation on all color information of each pixel contained in the received original RAW image file to convert the color information into visualized pixel information, and the processed color image is respectively transmitted to the downsampling unit and the point cloud shader unit.
6. The image calibration transmission system of a highly intelligent robot according to claim 1,
the robot-side image calibration system is characterized in that a data transmission module is further connected between the control-side image calibration module and the robot-side image calibration module and used for transmitting a data file generated by the control-side image calibration module to the robot-side image calibration module.
7. An image calibration transmission method of a highly intelligent robot, which is applied to the image calibration transmission system according to any one of claims 1 to 6, specifically comprising the following steps:
step S1, calibrating the panoramic camera module and generating a calibration data file;
step S2, receiving original image information acquired by the panoramic camera module, and sending the calibration data file generated by the calibration unit to a Bayer resolution unit;
step S3, performing Bayer decomposition treatment on the original calibration image, and outputting a color image;
step S4, carrying out downsampling processing on the colored image and outputting a corresponding downsampled colored image;
s5, calibrating the panoramic camera module through the second calibration unit and generating the calibration data file;
step S6, carrying out lossless correction on the downsampled colored image, and outputting a lossless colored image;
and step S7, receiving and outputting the lossless color image subjected to distortion calibration.
8. The method for transmitting the image calibration of the highly intelligent robot according to claim 7, further comprising, between the step S3 and the step S4:
and step A1, receiving the original image information output by the camera driving unit and the colored image output by the Bayer solving unit, and coloring the point cloud image acquired by the laser radar.
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