CN204177378U - A kind of image range measurement system - Google Patents
A kind of image range measurement system Download PDFInfo
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- CN204177378U CN204177378U CN201420568603.7U CN201420568603U CN204177378U CN 204177378 U CN204177378 U CN 204177378U CN 201420568603 U CN201420568603 U CN 201420568603U CN 204177378 U CN204177378 U CN 204177378U
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Abstract
The utility model discloses a kind of image range measurement system, relate to image processing field, comprising: vision sensor, described vision sensor, from different angle shots shooting Same Scene, obtains video information; Described image range measurement system also comprises: dsp processor and LCD display, and described dsp processor processes the video information obtained, and marks off barrier and non-barrier, and shows the distance of barrier, obstacle information is supplied to LCD display module; The distance of described LCD display display barrier, for and driver between man-machine interaction, realize reporting to the police and reminding.The image range measurement system that the utility model provides, improves the precision of range finding, meets the needs in actual answering.
Description
Technical field
The utility model relates to image processing field, particularly relates to a kind of image range measurement system.
Background technology
Image procossing mainly comprises image processor, Iamge Segmentation, graphical analysis and image understanding.From research range, image processing techniques is intersected mutually with pattern-recognition, computer vision, computer graphics etc., in addition, the contact that the progress of image technique and artificial intelligence, neural network, genetic algorithm, fuzzy logic scheduling theory and technology have this close, its development is also indivisible with many fields such as communication, medical science, remote sensing, industrial automation.
Along with the fast development of computer technology and the constantly perfect of correlation theory, image processing techniques is in widespread attention and achieve great pioneering achievement in many applications.What belong to these fields has Aero-Space, biomedical engineering, industrial detection, robot vision, police and judicial, military guidance, culture and arts etc.This technology becomes the new discipline that noticeable, prospect is long-range.
About detection of obstacles research, propose many detection techniques both at home and abroad, comprising: based on the detection of obstacles of computer vision, comprise monocular, binocular and multi-vision visual technology; Based on the detection technique of laser radar; The detection technique of structure based light stream; SCM Based detection of obstacles technology; Based on the detection technique etc. of neural network.
Above-mentioned technology does not obtain higher distance accuracy, when practical application, also can there is higher range error, cannot meet the needs in practical application.
Utility model content
The utility model provides a kind of image range measurement system, and the utility model marks off barrier and non-barrier, and shows the distance of barrier, improves distance accuracy, reduces range error, described below:
A kind of image range measurement system, comprising: vision sensor, and described vision sensor, from different angle shot Same Scene, obtains video information; Described image range measurement system also comprises: dsp processor and LCD display,
Described dsp processor processes the video information obtained, and marks off barrier and non-barrier, and shows the distance of barrier, obstacle information is supplied to LCD display module;
The distance of described LCD display display barrier, for and driver between man-machine interaction, realize reporting to the police and remind.
Wherein, described vision sensor is specially: cmos image sensor.
The beneficial effect of the technical scheme that the utility model provides is: the video information of the multiple angles got by the vision sensor in this image range measurement system, dsp processor processes it, mark off barrier and non-barrier, and show the distance of barrier, obstacle information is supplied to LCD display module, reach the object of reporting to the police and reminding, this image range measurement system improves the precision of range finding, meets the needs in actual answering.
Accompanying drawing explanation
Fig. 1 is a kind of operating diagram of image range measurement system;
Fig. 2 is a kind of structural representation of image range measurement system;
Fig. 3 is the schematic diagram of coordinate system before motion, after motion.
1: vision sensor; 2:DSP processor;
3:LCD display screen.
Embodiment
For making the purpose of this utility model, technical scheme and advantage clearly, below the utility model embodiment is described in further detail.
The utility model adopts single camera vision system, and complete the identification to barrier, the workflow of image range measurement system as shown in Figure 1.As shown in Figure 1, image acquisition, and each frame data gathered are through the process of dsp processor 2, obtain range data, then be added in the view data of collection, finally show in LCD display 3, reach the requirement of image Ranging System.
See Fig. 2, this image range measurement system comprises: vision sensor 1, dsp processor 2 and LCD display 3,
Vision sensor 1, i.e. COMS sensor;
Dsp processor 2, according to the need satisfaction of system to the process of image information;
LCD display 3, shows obstacle distance.
Due to advantages such as vision system have acquisition of signal wide ranges relative to the sensing system such as sonar, laser radar, and goal systems is complete, therefore application visual information is carried out detection of obstacles and is become crucial.
Visual information detects barrier and mainly contains four aspects: the three-dimensional information of color and gray scale, edge, light stream, stereoscopic vision.The essence wherein adopting stereoscopic vision to detect barrier whether divides barrier zone on the ground by the point on judgment object.Stereoscopic vision can draw the three-dimensional information such as height, distance of object, little by environmental constraints.And the environmental information of barrier and three-dimensional information can turn back to dsp processor 2.
In order to obtain the three-dimensional coordinate feature of object being measured from two dimensional image, vision sensor 1 must obtain two width images when automobile is advanced from two different angles, reaches the effect of stereoscopic vision.
General said stereoscopic vision takes Same Scene from different perspectives by two video cameras.In fact the image obtaining two width different angles might not need two video cameras.Can also be that a video camera adds optical imaging moieties, also can be that same video camera passes through motion, take same scene in different positions, these two kinds of modes can meet the requirement of stereoscopic vision.The utility model embodiment adopts same imageing sensor to obtain Same Scene at not image in the same time by translation.
A sensor moves as shown in Figure 3 in a static environment.Secure the frame of a coordinate system on a sensor, thus this frame also moves in time.If the coordinate before motion is Cxyz, post exercise coordinate is C ' x ' y ' z '.Add a translation t by a rotation R and just the frame in the second moment can be brought back to for the first moment, a motion can not resolve into unique rotation and translation.
In order to ensure uniqueness, regulation turning axle is by true origin, and translation after rotation.Like this, if a some coordinate under the first coordinate system is M, so the coordinate under second coordinate system is: M '=RM+t this o'clock.Can see, the problem that study and stereoscopic vision similar, but in stereoscopic vision, the relative position between known twin camera, and in motion analysis, required unknown number is exactly relative position (R and t) camera motion that describes thus.
Two width images are not absorbed at two in the same time by a fixed cameras.Suppose that two width images are projections of the mobiles in same dance hall, otherwise, need first Iamge Segmentation to be become zones of different, then estimate kinematic parameter and the form parameter of object.
Two width images are not absorbed synchronization or two in the same time by two video cameras.In the case of the latter, suppose that image is static.What estimate is the relative position of two video cameras and the form parameter of direction and scene.
In above problem, suppose that the inner parameter of video camera is demarcated.First take road surface ahead information with vision sensor 1, then complete image procossing by dsp processor 2, mark off barrier and non-barrier, obstacle information is supplied to LCD display module 3, reach the object of reporting to the police and reminding.
General all unsaturated by the image of camera collection, always there is color distortion between road surface and barrier.Utilize this characteristic Preliminary division can go out the feasible region of road surface ahead and suspicious barrier zone, then detect reliable complaint message further.Suspicious barrier region mentioned here refers to the barrier region that may exist, this is because after Iamge Segmentation, non-for some in image barrier is always inevitably divided into barrier region by system, such as ground shade, reflective, label and the scraps of paper etc.This is because there is obvious difference on the color of these " pseudo-barriers " and ground.In the further detection of obstacles process of vision system, the impact of these " pseudo-barriers " can be eliminated completely.
The utility model, by adopting dsp processor 2, has fast operation, high resolving power, processes screen data at high speed, thus ensures the effect of the accurate of measurement data and real-time.In the entire system, various piece co-ordination, rationally runs, and has both embodied the superiority automatically controlled, has overcome again many drawbacks.
The utility model embodiment is to the model of each device except doing specified otherwise, and the model of other devices does not limit, as long as can complete the device of above-mentioned functions.
It will be appreciated by those skilled in the art that accompanying drawing is the schematic diagram of a preferred embodiment, above-mentioned the utility model embodiment sequence number, just to describing, does not represent the quality of embodiment.
The foregoing is only preferred embodiment of the present utility model, not in order to limit the utility model, all within spirit of the present utility model and principle, any amendment done, equivalent replacement, improvement etc., all should be included within protection domain of the present utility model.
Claims (2)
1. an image range measurement system, comprising: vision sensor, it is characterized in that, described vision sensor, from different angle shot Same Scene, obtains video information; Described image range measurement system also comprises: dsp processor and LCD display,
Described dsp processor processes the video information obtained, and marks off barrier and non-barrier, and shows the distance of barrier, obstacle information is supplied to LCD display module;
The distance of described LCD display display barrier, for and driver between man-machine interaction, realize reporting to the police and reminding.
2. a kind of image range measurement system according to claim 1, it is characterized in that, described vision sensor is specially: cmos image sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420568603.7U CN204177378U (en) | 2014-09-29 | 2014-09-29 | A kind of image range measurement system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201420568603.7U CN204177378U (en) | 2014-09-29 | 2014-09-29 | A kind of image range measurement system |
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| CN204177378U true CN204177378U (en) | 2015-02-25 |
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| CN201420568603.7U Expired - Fee Related CN204177378U (en) | 2014-09-29 | 2014-09-29 | A kind of image range measurement system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106123864B (en) * | 2016-06-21 | 2018-10-12 | 徐贵力 | Image distance measuring method based on image-forming principle and Data Regression Model |
| CN110857859A (en) * | 2018-08-23 | 2020-03-03 | 杭州海康机器人技术有限公司 | Obstacle detection method and device |
-
2014
- 2014-09-29 CN CN201420568603.7U patent/CN204177378U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106123864B (en) * | 2016-06-21 | 2018-10-12 | 徐贵力 | Image distance measuring method based on image-forming principle and Data Regression Model |
| CN110857859A (en) * | 2018-08-23 | 2020-03-03 | 杭州海康机器人技术有限公司 | Obstacle detection method and device |
| CN110857859B (en) * | 2018-08-23 | 2022-02-08 | 杭州海康机器人技术有限公司 | Obstacle detection method and device |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150225 Termination date: 20150929 |
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| EXPY | Termination of patent right or utility model |