CN112954298B - Modular stereo imaging system and control method thereof - Google Patents
Modular stereo imaging system and control method thereof Download PDFInfo
- Publication number
- CN112954298B CN112954298B CN202110105263.9A CN202110105263A CN112954298B CN 112954298 B CN112954298 B CN 112954298B CN 202110105263 A CN202110105263 A CN 202110105263A CN 112954298 B CN112954298 B CN 112954298B
- Authority
- CN
- China
- Prior art keywords
- camera
- imaging system
- image processing
- module
- shooting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
-
- 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
- H04N13/296—Synchronisation thereof; Control thereof
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Studio Devices (AREA)
- Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)
Abstract
The invention discloses a modularized stereo imaging system and a control method thereof, wherein the modularized stereo imaging system comprises: the device comprises a control module, a driving module, an image processing module, a camera bracket assembly and a plurality of area-array cameras arranged on the camera bracket assembly; the control module is electrically connected with the driving module and the area array camera respectively; the camera bracket assembly comprises a guide rail and a plurality of camera brackets which are connected in a sliding way; the driving module drives the camera bracket assembly to reciprocate along the guide rail under the control of the control module; the area array camera shoots under the control of the control module and transmits the shot pictures to the image processing module; the image processing module receives the pictures and carries out synthesis processing on the pictures to obtain a three-dimensional image. Through the camera bracket component that adopts the area array camera to set up, treat that the shooting object is shot simultaneously or the timesharing is pushed away and is swept and shoot, realized three-dimensional stereo imaging under the narrow and small space, improved three-dimensional stereo imaging's work efficiency, promoted the formation of image effect, satisfied user's demand.
Description
Technical Field
The invention relates to the technical field of stereo imaging, in particular to a modular stereo imaging system and a control method thereof.
Background
In the fields of daily life, industry, scientific research, archaeology, buildings and the like, a three-dimensional object is often required to be mapped and stereoscopically imaged, a three-dimensional model with high precision is formed, and three-dimensional information and color information of the real mapped object are formed. At present, three-dimensional mapping image acquisition methods are more, such as adopting manned or unmanned aircrafts to carry out aerial remote sensing and mapping, building truss type guide rails to carry out regional mobile mapping and the like. However, the above technical solutions have limitations and cannot satisfy the three-dimensional imaging requirements in various environments.
Disclosure of Invention
The embodiment of the invention aims to provide a modular stereo imaging system, which adopts a camera bracket assembly provided with a plurality of area array cameras to simultaneously photograph or time-sharing push-broom photograph an object to be photographed, thereby realizing three-dimensional stereo imaging in a narrow space, improving the working efficiency of the three-dimensional stereo imaging in a specific environment, improving the imaging effect and meeting the requirements of users.
The principle of optical stereo imaging and mapping is to collect images in different directions of an object, match the same-name points of the images collected at different positions through a software algorithm, and accurately restore the spatial position information of the object, thereby realizing the three-dimensional reconstruction of the object. Image acquisition is therefore the first step of stereo imaging and mapping, and a modular stereo imaging system is implemented to address the problem of image acquisition of a particular scene.
To solve the above technical problem, a first aspect of an embodiment of the present invention provides a modular stereoscopic imaging system, including: the system comprises a control module, a driving module, an image processing module, a camera bracket assembly and a plurality of area array cameras arranged on the camera bracket assembly;
the control module is electrically connected with the driving module and the area-array camera respectively;
the camera bracket assembly comprises a guide rail and a plurality of camera brackets which are connected in a sliding way;
the driving module drives the camera bracket assembly to reciprocate along the guide rail under the control of the control module;
the area-array camera shoots under the control of the control module and transmits the shot pictures to the image processing module;
and the image processing module receives the photos and performs synthesis processing on the photos to obtain a three-dimensional image.
Furthermore, a plurality of cameras are arranged on the camera support assembly at intervals according to a first preset distance.
Further, the preset interval is positively correlated with the vertical distance between the area-array camera and the object to be shot.
Further, the preset interval L2 is calculated by the following formula:
L2＝2H(1-P)sin(α/2)，
h is the vertical distance between the area-array camera and an object to be shot, alpha is the shooting angle of the area-array camera, and P is the overlapping rate.
Further, the camera support comprises a plurality of support units which are connected in sequence;
the holder unit includes: the first joint, the support rod and the second joint are fixedly connected in sequence;
the first joint and the second joint can be detachably connected with the adjacent second joint and the first joint respectively.
Further, the support rod is a carbon fiber rod.
Further, the camera support is perpendicular to the guide rail or forms a preset angle.
Further, the distance between two adjacent camera supports is a second preset distance.
Accordingly, a second aspect of the embodiments of the present invention provides a method for controlling a modular stereo imaging system, in which a camera stand assembly includes a camera stand, for performing three-dimensional image capturing by using any one of the above modular stereo imaging systems, the method including the steps of:
receiving a shooting instruction through a control module;
controlling a driving module to drive the camera support to move to a shooting position corresponding to the shooting instruction according to the shooting instruction;
controlling the area array camera to shoot simultaneously through the control module, and transmitting the shot pictures to the image processing module;
sequentially controlling the driving module to drive the camera support to move to a next shooting position, and controlling the area array camera to shoot and transmit the pictures at the same time;
and synthesizing the received photos through the image processing module to obtain a three-dimensional image.
Accordingly, a third aspect of the embodiments of the present invention provides a method for controlling a modular stereo imaging system, where three-dimensional image capturing is performed by any one of the above modular stereo imaging systems, and a camera stand assembly includes a plurality of camera stands, including the following steps:
receiving a shooting instruction through a control module;
controlling a driving module to drive the plurality of camera supports to move to shooting positions corresponding to the shooting instructions according to the shooting instructions;
controlling the area array camera to shoot simultaneously through the control module, and transmitting the shot pictures to the image processing module;
and synthesizing the received photos through the image processing module to obtain a three-dimensional image.
The technical scheme of the embodiment of the invention has the following beneficial technical effects:
through adopting the camera bracket component that is provided with a plurality of area array cameras, treating the shooting object and shoot simultaneously or the timesharing pushes away to sweep and shoot, realized three-dimensional stereo imaging under the narrow and small space, improved three-dimensional stereo imaging's under the specific environment work efficiency, promoted the imaging effect, satisfied user's demand.
Drawings
FIG. 1 is a schematic diagram of a modular stereo imaging system provided by an embodiment of the present invention;
FIG. 2 is a schematic view of a single camera stand provided by an embodiment of the present invention;
FIG. 3 is a schematic view of a plurality of camera stands provided by an embodiment of the present invention;
fig. 4 is a schematic diagram of the spacing distance of the area-array camera according to the embodiment of the invention;
FIG. 5 is a schematic structural diagram of a rack unit provided by an embodiment of the present invention;
FIG. 6 is a schematic view of a first joint of a rack unit provided by an embodiment of the invention;
FIG. 7 is a schematic view of a second connector of the rack unit provided by the embodiment of the present invention;
FIG. 8 is a schematic view of the connection of two adjacent rack units provided by the embodiment of the present invention;
fig. 9 is a flowchart of a control method of a modular stereo imaging system according to an embodiment of the present invention;
fig. 10 is a flowchart of a second method for controlling a modular stereo imaging system according to an embodiment of the present invention.
Reference numerals:
1. camera support, 11, support unit, 111, first joint, 1111, first connection portion, 1112, second connection portion, 112, cradling piece, 113, second joint, 1131, first groove, 1132, second groove, 2, area-array camera.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
Fig. 1 is a schematic diagram of a modular stereo imaging system provided by an embodiment of the present invention.
Fig. 2 is a schematic diagram of a single camera cradle provided by an embodiment of the invention.
Fig. 3 is a schematic diagram of a plurality of camera stands provided in an embodiment of the present invention.
Referring to fig. 1, fig. 2 and fig. 3, a first aspect of an embodiment of the present invention provides a modular stereoscopic imaging system, including: the device comprises a control module, a driving module, an image processing module, a camera bracket assembly and a plurality of area-array cameras 2 arranged on the camera bracket assembly; the control module is respectively electrically connected with the driving module and the area-array camera 2; the camera bracket assembly comprises a guide rail and a plurality of camera brackets 1 which are connected in a sliding way; the driving module drives the camera bracket assembly to reciprocate along the guide rail under the control of the control module; the area array camera 2 shoots under the control of the control module and transmits the shot pictures to the image processing module; the image processing module receives the pictures and carries out synthesis processing on the pictures to obtain a three-dimensional image.
According to the scheme, the camera support assembly provided with the plurality of area array cameras 2 is adopted, so that the object to be shot can be shot simultaneously or shot in a time-sharing sweeping manner, three-dimensional imaging in a narrow space is realized, the working efficiency of three-dimensional imaging in a specific environment is improved, the imaging effect is improved, and the requirements of users are met.
In the stereo imaging system, the camera support assembly may include only one camera support 1, or may include a plurality of camera supports 1. When only one camera support 1 is provided, the driving module is electrically connected with the camera support 1 to drive the camera support 1 to move back and forth; when camera support 1 has a plurality ofly, drive module is connected with a plurality of camera support 1 electricity respectively, drives a plurality of camera support 1 respectively along a plurality of camera support 1's the setting order and set up position reciprocating motion to treat that the shooting object shoots.
FIG. 4 is a schematic diagram of the spacing distance between the area-array cameras according to the embodiment of the invention
Optionally, referring to fig. 4, a plurality of cameras are disposed on the camera support assembly at intervals according to a first preset distance.
The three-dimensional imaging has requirements on the overlapping rate of the collected images, the progress of the three-dimensional imaging and surveying and mapping can be realized by higher overlapping rate, but the problems of overlarge data volume and difficult data processing can be inevitably brought by the overhigh overlapping rate, so that the collection system needs to select the proper overlapping rate according to the requirements.
Specifically, the number of the area-array cameras 2 is adjusted according to the overlapping rate, and the distance between two adjacent area-array cameras 2 is related to the overlapping rate preset by the system. A plurality of area-array cameras 2 on the same camera support 1 shoot simultaneously.
Continuously, the distance between two adjacent area-array cameras 2 may adopt the same distance setting value, or may be set to different distance values according to the image shooting requirement, so as to satisfy the requirements of image processing and synthesis. In the present invention, the distance between two adjacent area-array cameras 2 disposed on the camera support 1 is set to be the same distance setting value or different distance setting values, which falls into the protection scope of the present application.
In one implementation of the embodiment of the invention, when there is one camera support 1, the control module controls the area-array cameras 2 on the camera support 1 to shoot simultaneously. After shooting is finished, the camera support 1 is made to move to the next shooting position along the guide rail continuously for shooting until shooting is finished at all positions, and shot pictures are transmitted to the image processing module for synthesis to obtain a three-dimensional image.
When the number of the camera supports 1 is one, the control module receives a shooting instruction, controls the driving module to drive the camera supports 1 to move according to the control instruction, enables the camera supports 1 to stop at positions corresponding to the shooting instruction in sequence, then controls the plurality of area array cameras 2 to take pictures, and sends pictures shot at each shooting position to the image processing module to perform data processing, so that three-dimensional images of the object to be shot are obtained.
In the shooting process, the control driving module drives the camera support 1 to move according to the position corresponding to the shooting instruction, can move in sequence according to the length direction of the guide rail, and can also move in a reciprocating mode at a plurality of shooting positions according to the requirement that the image processing module processes the shot pictures to shoot the pictures. The moving mode of the camera support 1 in the above technical solution includes: the shooting positions along the guide rail move in sequence in a single direction or move back and forth along the guide rail according to the image processing requirements, and the invention falls into the protection scope of the invention.
In another implementation manner of the embodiment of the present invention, when the number of the camera holders 1 is multiple, the control module controls all the area-array cameras 2 on the multiple camera holders 1 to shoot simultaneously, and transmits all the pictures to the image processing module to be synthesized to obtain a three-dimensional image.
When the number of the camera mounts 1 is plural, the plural camera mounts 1 are sequentially arranged along the guide direction.
Alternatively, the distance between two adjacent camera brackets 1 may be the same preset distance value. Optionally, the distance between two adjacent camera brackets 1 may be set to different preset distance values according to the image processing requirements of the image processing module.
The present invention is within the scope of protection as long as the distance setting value between two adjacent camera brackets 1 can satisfy the image processing requirement of the image processing module.
After receiving the shooting instruction, the control module controls the driving module to drive the plurality of camera supports 1 to move to shooting positions corresponding to the shooting instruction along the guide rail, and then controls all the area-array cameras 2 on the plurality of camera supports 1 to shoot. When the shooting requirement of the image processing module is met by one-time shooting of all the area-array cameras 2, all the shot pictures can be transmitted to the image processing module, and image processing is carried out to obtain a three-dimensional image of an object to be shot; when all the pictures shot by all the area-array cameras 2 at one time can not meet the image processing requirements of the image processing module, the control module controls the driving module to drive the plurality of camera supports 1 to move to the shooting positions corresponding to the shooting instructions again, the pictures are shot again, and whether the shot pictures meet the image processing requirements or not is judged after the shooting is finished. If the number of the shot pictures meets the requirement, the shooting process is finished, and all the shot pictures are sent to an image processing module for image processing; if not, repeating the shooting process to shoot again until the shot picture meets the image processing requirement.
Wherein the preset interval is positively correlated with the vertical distance between the area-array camera 2 and the object to be photographed.
Further, when the overlap ratio has been set to a specific value, the calculation formula of the preset interval L2 is:
L2＝2H(1-P)sin(α/2)，
wherein H is a vertical distance between the area-array camera 2 and an object to be photographed, α is a photographing angle of the area-array camera 2, and P is an overlap ratio.
Fig. 5 is a schematic structural diagram of a rack unit provided in an embodiment of the present invention.
Fig. 6 is a schematic view of a first joint of a rack unit according to an embodiment of the present invention.
Fig. 7 is a schematic view of a second joint of the rack unit according to the embodiment of the present invention.
Fig. 8 is a schematic diagram of the connection between two adjacent rack units according to the embodiment of the present invention.
Further, the camera support 1 includes a plurality of support units 11 connected in sequence; the holder unit 11 includes: a first joint 111, a support rod 112 and a second joint 113 which are fixedly connected in sequence; the first joint 111 and the second joint 113 may be detachably connected to the second joint 113 and the first joint 111 adjacent thereto, respectively. By the mutually connectable bracket units 11, the expandability of the camera bracket 1 assembly in the transverse direction can be improved, and the adaptability to the object to be photographed can be improved.
In a specific implementation of the embodiment of the present invention, the first joint 111 includes: a first connection portion 1111 and a second connection portion 1112, and the second joint 113 includes a first groove 1131 at one end of the support bar 112 and a second groove 1132 at the bottom of the first groove 1131. The first connection portion 1111 is located at one end of the support rod 112, the second connection portion 1112 is located at one end of the first connection portion away from the support rod 112, the first connection portion 1111, the second connection portion 1112 and the support rod 112 are coaxial, and the diameters of the second connection portion 1112, the first connection portion 1111 and the support rod 112 are increased progressively. The first groove 1131 matches the shape of the first connection portion 1111, and the second groove 1132 matches the shape of the second connection portion 1112.
Optionally, the first joint 111 and the second joint 113 are respectively fixedly connected with the support rod 112 through structural adhesive. The above-mentioned connection method is only a distance connection method for explaining three parts of the camera bracket 1, and the protection scope is not limited to the fixed connection by the structural adhesive, and other connection and fixing methods as long as the fixed connection of the first joint 111, the second joint 113 and the bracket rod 112 can be realized fall within the protection scope of the present invention.
Optionally, the support rods 112 are carbon fiber rods. Through adopting carbon fiber material with cradling piece 112, can improve camera support 1's bulk strength, the increase can set up the maximum quantity of area array camera 2 on camera support 1, also can improve the security that is located area array camera 2 on camera support 1 in the use, prevent to treat the shooting object because of cradling piece 112 intensity leads to the area array camera 2 damage on it inadequately, and even further damage has improved three-dimensional imaging system's reliability and security.
Specifically, the camera mount 1 is perpendicular to the guide rail or forms a predetermined angle.
Fig. 9 is a flowchart of a method for controlling a modular stereo imaging system according to an embodiment of the present invention
Accordingly, referring to fig. 9, a second aspect of the embodiments of the present invention provides a method for controlling a modular stereo imaging system, in which a camera stand assembly includes a camera stand 1, for taking a three-dimensional image by using any one of the above modular stereo imaging systems, including the following steps:
and S110, receiving a shooting instruction through the control module.
And S120, controlling the driving module to drive the camera support 1 to move to a shooting position corresponding to the shooting instruction according to the shooting instruction.
And S130, controlling the area array camera 2 to take pictures simultaneously through the control module, and transmitting the taken pictures to the image processing module.
And S140, sequentially controlling the driving module to drive the camera bracket 1 to move to the next shooting position, and controlling the area-array camera 2 to shoot and transmit the pictures at the same time.
And S150, synthesizing the received photos through an image processing module to obtain a three-dimensional image.
According to the control method of the modular stereoscopic imaging system, the control module receives a shooting instruction, the drive module is controlled to drive the camera support 1 to move according to the control instruction, the camera support is enabled to stop at the position corresponding to the shooting instruction in sequence, then the control module controls the plurality of area array cameras 2 to take pictures, and then the pictures shot at each shooting position are sent to the image processing module to be subjected to data processing, so that a three-dimensional image of an object to be shot is obtained.
By the control method of the modular stereo imaging system, the object to be shot can be subjected to time-sharing push-scan shooting, three-dimensional stereo imaging in a narrow space is realized, the working efficiency of the three-dimensional stereo imaging in a specific environment is improved, the imaging effect is improved, and the requirements of users are met.
Fig. 10 is a second flowchart of a control method of a modular stereoscopic imaging system according to an embodiment of the present invention.
Accordingly, referring to fig. 10, a third aspect of the embodiments of the present invention provides a method for controlling a modular stereo imaging system, in which a camera stand assembly includes a plurality of camera stands 1, and the method includes the following steps:
and S210, receiving a shooting instruction through the control module.
And S220, controlling the driving module to drive the camera supports 1 to move to shooting positions corresponding to the shooting instructions according to the shooting instructions.
And S230, controlling the area array camera 2 to take pictures simultaneously through the control module, and transmitting the taken pictures to the image processing module.
And S240, synthesizing the received photos through the image processing module to obtain a three-dimensional image.
In the control method of the modular stereo imaging system, after a shooting instruction is received, the control module controls the driving module to drive the plurality of camera supports 1 to move to shooting positions corresponding to the shooting instruction along the guide rail, and then controls all the area-array cameras 2 on the plurality of camera supports 1 to shoot. When the shooting requirement of the image processing module is met by one-time shooting of all the area-array cameras 2, all the shot pictures can be transmitted to the image processing module, and image processing is carried out to obtain a three-dimensional image of an object to be shot; when all the pictures shot by all the area-array cameras 2 at one time can not meet the image processing requirements of the image processing module, the control module controls the driving module to drive the plurality of camera supports 1 to move to the shooting positions corresponding to the shooting instructions again, the pictures are shot again, and whether the shot pictures meet the image processing requirements or not is judged after the shooting is finished. If the number of the shot pictures meets the requirement, the shooting process is finished, and all the shot pictures are sent to an image processing module for image processing; if not, repeating the shooting process to shoot again until the shot picture meets the image processing requirement.
Similarly, when the stereoscopic imaging system including the plurality of camera brackets 1 is controlled, the distance between two adjacent camera brackets 1 may be the same preset distance value. Similarly, the distance between two adjacent camera brackets 1 can be set to different preset distance values according to the image processing requirements of the image processing module.
By the control method of the modular stereo imaging system, the object to be shot can be shot simultaneously, three-dimensional stereo imaging in a narrow space is realized, the working efficiency of the three-dimensional stereo imaging in a specific environment is improved, the imaging effect is improved, and the requirements of users are met.
The embodiment of the invention aims to protect a modularized three-dimensional imaging system and a control method thereof, wherein the modularized three-dimensional imaging system comprises: the system comprises a control module, a driving module, an image processing module, a camera bracket assembly and a plurality of area array cameras arranged on the camera bracket assembly; the control module is electrically connected with the driving module and the area array camera respectively; the camera bracket assembly comprises a guide rail and a plurality of camera brackets which are connected in a sliding way; the driving module drives the camera bracket assembly to reciprocate along the guide rail under the control of the control module; the area-array camera shoots under the control of the control module and transmits the shot pictures to the image processing module; the image processing module receives the pictures and carries out synthesis processing on the pictures to obtain a three-dimensional image. The following effects are provided:
through adopting the camera bracket component that is provided with a plurality of area array cameras, treating the shooting object and shoot simultaneously or the timesharing pushes away to sweep and shoot, realized three-dimensional stereo imaging under the narrow and small space, improved three-dimensional stereo imaging's under the specific environment work efficiency, promoted the imaging effect, satisfied user's demand.
It should be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.
Claims (9)
1. A modular stereoscopic imaging system, comprising: the device comprises a control module, a driving module, an image processing module, a camera bracket assembly and a plurality of area array cameras arranged on the camera bracket assembly;
the control module is electrically connected with the driving module and the area-array camera respectively;
the camera bracket assembly includes: a plurality of camera supports;
the driving module drives the camera support assembly which is in sliding connection with the guide rail to reciprocate along the guide rail under the control of the control module;
the area-array camera shoots under the control of the control module and transmits the shot pictures to the image processing module;
the image processing module receives the photos and carries out synthesis processing on the photos to obtain a three-dimensional image;
the camera support comprises a plurality of support units which are connected in sequence;
the holder unit includes: the first joint, the support rod and the second joint are fixedly connected in sequence;
the first joint and the second joint can be detachably connected with the adjacent second joint and the first joint respectively;
the first joint includes: the first connecting portion and the second connecting portion, the second connects including being located the first recess of cradling piece one end and being located the second recess of first recess bottom, first connecting portion are located the one end of cradling piece, the second connecting portion are located first connection is kept away from the one end of cradling piece, just first connecting portion the second connecting portion with the cradling piece is coaxial, just the second connecting portion the first connecting portion with the diameter of cradling piece increases progressively, first recess with the shape phase-match of first connecting portion, the second recess with the shape phase-match of second connecting portion.
2. The modular stereoscopic imaging system of claim 1,
the camera support assembly is provided with a plurality of cameras at intervals according to a first preset distance.
3. The modular stereoscopic imaging system of claim 2,
the first preset distance is positively correlated with the vertical distance between the area-array camera and the object to be shot.
4. The modular stereoscopic imaging system of claim 3,
the calculation formula of the first preset distance L2 is as follows:
L2＝2H(1-P)sin(α/2)，
h is the vertical distance between the area-array camera and an object to be shot, alpha is the shooting angle of the area-array camera, and P is the overlapping rate.
5. The modular stereoscopic imaging system of claim 1,
the support rod is a carbon fiber rod.
6. The modular stereoscopic imaging system of claim 1,
the camera bracket is perpendicular to the guide rail or forms a preset angle.
7. The modular stereoscopic imaging system of claim 1,
and the distance between two adjacent camera supports is a second preset distance.
8. A method for controlling a modular stereoscopic imaging system, wherein a three-dimensional image is captured by the modular stereoscopic imaging system of any one of claims 1 to 7, and a camera stand assembly including a camera stand, comprising the steps of:
receiving a shooting instruction through a control module;
controlling a driving module to drive the camera support to move to a shooting position corresponding to the shooting instruction according to the shooting instruction;
controlling the area array camera to shoot simultaneously through the control module, and transmitting the shot pictures to the image processing module;
sequentially controlling the driving module to drive the camera support to move to a next shooting position, and controlling the area array camera to shoot and transmit the pictures at the same time;
and synthesizing the received photos through the image processing module to obtain a three-dimensional image.
9. A method for controlling a modular stereoscopic imaging system, wherein three-dimensional image photographing is performed by the modular stereoscopic imaging system of any one of claims 1 to 7, and a camera stand assembly includes a plurality of camera stands, comprising the steps of:
receiving a shooting instruction through a control module;
controlling a driving module to drive the plurality of camera supports to move to shooting positions corresponding to the shooting instructions according to the shooting instructions;
controlling the area array camera to shoot simultaneously through the control module, and transmitting the shot pictures to the image processing module;
and synthesizing the received photos through the image processing module to obtain a three-dimensional image.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110105263.9A CN112954298B (en) | 2021-01-26 | 2021-01-26 | Modular stereo imaging system and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110105263.9A CN112954298B (en) | 2021-01-26 | 2021-01-26 | Modular stereo imaging system and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112954298A CN112954298A (en) | 2021-06-11 |
| CN112954298B true CN112954298B (en) | 2022-08-26 |
Family
ID=76237179
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110105263.9A Active CN112954298B (en) | 2021-01-26 | 2021-01-26 | Modular stereo imaging system and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112954298B (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106200248A (en) * | 2015-05-28 | 2016-12-07 | 长沙维纳斯克信息技术有限公司 | A kind of automatic shooting system of 3D digitized video |
| CN111022883A (en) * | 2019-12-12 | 2020-04-17 | 天目爱视（北京）科技有限公司 | Three-dimensional acquisition device capable of moving horizontally |
| CN211645792U (en) * | 2020-05-30 | 2020-10-09 | 连云港振江轨道交通设备有限公司 | Track beam convenient to install and track |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106559664A (en) * | 2015-09-30 | 2017-04-05 | 成都理想境界科技有限公司 | The filming apparatus and equipment of three-dimensional panoramic image |
| KR101914476B1 (en) * | 2017-10-31 | 2018-11-02 | 주식회사 웨어로보 | Object photographing system using spiral rail |
-
2021
- 2021-01-26 CN CN202110105263.9A patent/CN112954298B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106200248A (en) * | 2015-05-28 | 2016-12-07 | 长沙维纳斯克信息技术有限公司 | A kind of automatic shooting system of 3D digitized video |
| CN111022883A (en) * | 2019-12-12 | 2020-04-17 | 天目爱视（北京）科技有限公司 | Three-dimensional acquisition device capable of moving horizontally |
| CN211645792U (en) * | 2020-05-30 | 2020-10-09 | 连云港振江轨道交通设备有限公司 | Track beam convenient to install and track |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112954298A (en) | 2021-06-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106550182B (en) | Shared unmanned aerial vehicle viewing system | |
| CN106412439B (en) | Image acquisition equipment, image acquisition method and controller | |
| CN106657923B (en) | Scene switching type shared viewing system based on position | |
| US10008028B2 (en) | 3D scanning apparatus including scanning sensor detachable from screen | |
| CN107438152B (en) | Method and system for quickly positioning and capturing panoramic target by motion camera | |
| KR101827494B1 (en) | Image acquisition system and image acquisition method | |
| CN105340267A (en) | Method for generating picture and twin-lens device | |
| CN103345114A (en) | Mobile stereo imaging system | |
| CN106657792B (en) | Shared viewing device | |
| CN206117890U (en) | 360 degrees virtual reality imaging system in panorama | |
| CN108696724B (en) | Live broadcast system capable of instantly obtaining high-definition photos | |
| CN110602400A (en) | Video shooting method and device and computer readable storage medium | |
| CN106851252A (en) | Adaptive strain baseline binocular solid camera system | |
| KR101796539B1 (en) | Image photographing apparatus and method thereof | |
| CN108391095A (en) | Video capture method and system for monitoring automatic driving vehicle | |
| CN112954298B (en) | Modular stereo imaging system and control method thereof | |
| CN106934828A (en) | Depth image processing method and depth image processing system | |
| CN110786008A (en) | Method for shooting image and mobile platform | |
| CN109660734A (en) | A kind of distant view photograph image pickup method and device | |
| CN207429059U (en) | A kind of real-time monitoring system based on sweeping robot | |
| CN209216160U (en) | A kind of line laser stereoscopic camera article detection device | |
| KR101649754B1 (en) | Control signal transmitting method in distributed system for multiview cameras and distributed system for multiview cameras | |
| CN106131429A (en) | Multi-angle spatial imaging system | |
| CN205320172U (en) | Holography is scanner in twinkling of an eye | |
| CN105979150A (en) | High-definition three-dimensional panoramic information collection and splicing system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |