KR100688456B1 - Method for controlling zoom-convergence interlock in parallel translation axis typed stereo camera system - Google Patents

Abstract

A method for controlling a zoom-convergence interlock in a stereo camera system of a parallel translation axis type is provided to smoothly control the zoom-convergence interlock without an intermittent feeling. When an automatic mode is selected, focal distance(f0) is extracted from a lookup table by a current zoon value and a current focus value and then interpolated(S130). An operation of the focal distance(f0), a zoom value(v0) and an interval(s0) between cameras are carried out and thereby distance(d0) to a lens is calculated(S140). An operation of the distance(d0) and the focal distance(f0) is carried out and thereby distance(D) to an image sensor is calculated(S150). If a zoom value or a focus value is changed, varied focal distance(f1) is extracted from the lookup table by the changed zoom value and focus value and then interpolated(S170). An operation of the distance(D) and the focal distance(f1) is carried out and thereby distance(d1) to a lens is calculated(S180). An operation of the interval(s0), the focal distance(f1) and the distance(d1) is carried out and thereby a convergence value(v1) is calculated and then a camera sensor is moved by the convergence value(v1)(S190).

Description

TECHNICAL FOR CONTROLLING ZOOM-CONVERGENCE INTERLOCK IN PARALLEL TRANSLATION AXIS TYPED STEREO CAMERA SYSTEM}

1 is a view for explaining three basic structures of a stereo camera,

2 is a graph obtained by actual measurement of convergence according to distance and zoom,

3 is a part of a lens data table showing an angle of view and a focal length according to zoom and focus values of a zoom lens according to the present invention;

4 is a structural diagram for explaining a geometric principle of a parallel axis stereo camera system;

5 is a view schematically showing the configuration of a parallel moving axis stereo camera system applied to the present invention,

6 is a view for explaining a change according to a zoom operation applied to FIG. 4;

7 is a flowchart illustrating a zoom-periodic interlocking control method of a parallel moving axis stereo camera system according to the present invention.

*** Explanation of main parts of drawing ***

10, 12: camera image sensor

14, 16: lens module

18: Motor for adjusting binocular camera spacing (for 3D effect control)

20: motor for control of the angle of view

22: control unit

The present invention relates to a zoom-peripheral coordinated control method in a parallel camera axis type stereo camera system.

More specifically, the angle of view may be calculated using the distance between the binocular camera, the distance from the object to the lens, and the focal length value from the lens to the image sensor according to the geometry of the stereo camera image, and the zoom may be changed. The present invention relates to a zoom-peri-angle coordinated control method of a parallel axis stereo camera that automatically controls a vergence value to maintain a natural three-dimensional effect.

In particular, the focal length changes according to the zoom value and the focus value adjustment of the lens.The look-up table of some values precisely measured according to the lens characteristics is used, and the values of the parts not in the table are calculated by linear interpolation. Use it.

In general, unlike conventional cameras, stereo cameras need to be able to accurately control the viewing angles of both cameras to produce high quality stereoscopic images that minimize eye strain.

1 is a diagram illustrating three basic structures of a stereo camera, and a stereo camera may be classified into a parallel axis method, a cross axis method, and a parallel moving axis method.

The parallel axis method has the disadvantage that it is easy to manufacture the camera and easy to measure the distance, but has a disadvantage of inability to control the angle, and the cross-axis method is relatively easy to manufacture the camera, and can control the viewing angle independently. On the other hand, the distortion of the stereoscopic image is excessive. In addition, the parallel axis method has the advantage of controlling the angle of view independently, focusing independently, and low distortion of the stereoscopic image, so that it is possible to produce a comfortable stereoscopic image that can be viewed for a long time. Have

In a broadcast camera produced according to the above method, a zoom operation is essential, and the zoom-peripheral coordinated control corresponding to this zoom operation is one of very important functions in a stereo camera. This allows the camera to maintain an appropriate parallax despite the camera's zoom operation, so that the photographer can capture high-quality stereoscopic images with proper parallax without having to worry about binocular parallax when shooting while zooming. it means. On the other hand, in a camera that releases the interlocking control or does not have the function of the interlocking control, the zoom and angle of view are manually controlled according to the intention of the photographer and a corresponding stereoscopic image will be taken. It is true that it is difficult to photograph high quality stereoscopic images with proper binocular disparity.

Accordingly, in the conventional stereo camera zoom-peripheral coordinated control method, the measured value of the binocular disparity according to the zoom value of the lens, the distance from the object to the lens, and the distance between the cameras is measured with respect to the respective values. As described above, a look-up table (LUT) is formed and a value is calculated by interpolation for the interval between the measured values, so that even if the zoom value is changed, the predetermined viewing angle is maintained.

When the zoom-time is interlocked and controlled using the above-described method, there is a problem that it is difficult to guarantee the accuracy in obtaining a table value by measurement.

The present invention has been made to solve the problems of the prior art as described above, the object of the present invention is the distance between the binocular camera, the distance value from the object to the lens and the image sensor in the lens according to the geometry of the stereo camera image Calculates the visual angle value using the proportional relationship of each camera parameter such as the focal length value, which is the distance to the camera, and the zoom of the parallel axis stereo camera that automatically controls the visual angle value to maintain a natural three-dimensional effect even when the zoom is changed. The present invention provides a control method for vergence interworking. The focal length is changed by adjusting the zoom value and the focus value of the lens, using a lookup table of some values that are precisely measured according to the lens characteristics, and calculating the values of parts not included in the table by linear interpolation.

In addition, another object of the present invention is to calculate the value of the other parameter immediately when any one of the parameters of the stereo camera changes the parallel movement axis to smoothly implement the zoom-time interlocking control without intermittent feeling The present invention provides a zoom-main time-linked control method of a stereo camera.

According to an embodiment of the present invention for achieving the above object, in the zoom-periodic interlocking control method of a stereo camera of a parallel moving axis type, (1) the control unit, the current zoom value when the automatic mode is selected by the photographer Extracting and interpolating a focal length f0 from the lookup table using the and focus values; (2) The control unit calculates the focal length f0, the vergence value v0, and the distance s0 between the cameras to calculate the distance d0 from the object to the lens (hereinafter referred to as a 'distance from the lens'). Calculating a process; (3) The control unit calculates a distance D from the object to the lens and a focal length f0 to calculate a distance D from the object to the image sensor (hereinafter referred to as a 'distance from the image sensor'). process; (4) the control unit determining whether the zoom value or the focus value has been changed by the photographer; (5) the control unit extracting and interpolating the changed focal length f1 from the lookup table using the changed zoom value and the focus value when the zoom value or the focus value is changed; (6) the control unit calculating a distance d1 to the lens by calculating a distance D to the image sensor and a focal length f1; (7) The controller calculates the viewing angle value v1 by calculating the camera interval s0, the changed focal length f1 and the distance d1 to the changed lens, and by the calculated viewing angle value v1. Controlling the entire system to move the camera sensor; (8) The control unit substitutes the changed viewing angle value v1 into the initial viewing angle value v0, and substitutes the changed focal length f1 into the initial focal length f0, and then checks whether the automatic mode is in the automatic mode. Characterized in that the process consisting of controlling the entire system to be re-run from the process.

In addition, another embodiment of the present invention is to control the stereoscopic effect of the acquired image by controlling the separation distance between the left and right camera image sensor, the lens module to form an image on the sensor, the left, right camera sensor and the lens Parallel moving shaft consisting of a motor for controlling 3D effects, a motor for controlling the angle of symmetry to control the camera sensors and lenses on the left and right for interlocking control of zoom and angle of view, and a controller for controlling the entire system. In the stereo camera system of the type, the controller is configured to extract and interpolate a focal length f0 from a look-up table using a current zoom value and a focus value when an automatic mode is selected by a photographer, and the focal length f0. The distance d0 to the lens is calculated by calculating the vergence value v0 and the distance s0 between the cameras, and the distance d0 and the focal length f0 to the lens are calculated. Calculates the distance D to the image sensor, determines whether the zoom value or the focus value has been changed by the photographer, and extracts and interpolates the changed focal length f1 from the lookup table using the changed zoom value and focus value. The distance D1 to the lens is calculated by calculating the distance D to the image sensor and the focal length f1, and the camera distance s0, the changed focal length f1 and the distance to the changed lens ( d1) is calculated to calculate the viewing angle value v1, and the entire system is controlled to move the camera sensor by the calculated viewing angle value v1.

Hereinafter, the present invention will be described with reference to the accompanying drawings for a zoom-periodic interlocking control method of a stereo camera of a parallel moving axis type.

First, as shown in FIG. 5, the stereo camera system of the parallel moving axis type includes the left and right camera sensors 10 and 12 and the lens module 14 which forms an image on the sensors 10 and 12. 16, the camera interval control motor 18 for controlling the three-dimensional effect of the acquired image by controlling the mutual separation distance between the left and right camera sensors 10, 12 and the lens module 14, 16, In order to control the zoom and the viewing angle cooperatively, the viewing angle control motor 20 symmetrically controls the camera sensors 10, 12 and the lenses 14, 16 on the left and the right, and automatically by the photographer. When the mode is selected, the focal length f0 is extracted and interpolated from the lookup table using the current zoom value and the focus value, and the focal length f0, the viewing angle value v0, and the distance between the cameras s0 are determined. Calculate the distance to the lens (d0), calculate the distance to the lens (d0) and the focal length (f0) to calculate the image Calculates the distance (D) to the user, determines whether the zoom value or the focus value has been changed by the photographer, and extracts and interpolates the changed focal length f1 from the lookup table using the changed zoom value and the focus value, and the image sensor Calculates the distance d1 to the lens by calculating the distance D and the focal length f1, and calculates the camera interval s0, the changed focal length f1 and the distance d1 to the changed lens. And a control unit 22 which calculates a viewing angle value v1 and controls the entire system such that the camera sensors 10 and 12 are moved by the calculated viewing angle value v1.

The lookup table stored in the internal memory of the controller 22 is generated by an angular field of view and a focal length table according to the zoom value and the focus value precisely measured by the lens manufacturer. In other words, by using the angle of view (angular field of view) and the focal length table (refer to FIG. 3) according to the zoom and focus values provided by the lens manufacturer, Create and use lookup tables. This lookup table divides the zoom value into 50 steps of 2% from 0 to 100% in 50 steps and the focus value to 50 steps of 2% from 0 to 100%. Since it has distance data, it can be used to accurately control zoom-main time. For zoom and focus values between 2% of sampled values, peripheral distances are interpolated in real time by linear interpolation to calculate the focal length.

Referring to the accompanying drawings, a method for interlocking control of the zoom-major angle of the parallel moving axis-type stereo camera system configured as described above is as follows.

First, FIG. 4 is a geometric representation of a stereo camera photographed image, w is the width of the object 1 to be photographed by the left and right cameras, w = wl1 + wl2 = wr1 + wr2, and c is the image sensor 3 inside each camera. ) Is the width of the image c = cl1 + cl2 = cr1 + cr2. They can be seen that the left and right divided by 1, 2 based on the optical axis. s is the distance between both cameras, f is the focal length, and d is the distance from the object 1 to the lens 2.

FIG. 6 is a diagram illustrating a camera state at an initial point in time and a camera state after a zoom-in operation, which is a diagram illustrating a case in which the binocular disparity of the left and right images is adjusted to 0 at an object position. Here, the zoom-in operation is that the camera lens approaches the object in a state where the distance between the object and the image sensor is fixed, so that the viewing angle is narrowed, so that the image formed on the image sensor is zoomed to the same width of the sensor as before the zoom-in. Since a narrower range of objects is represented than humans, it can be seen that the object is enlarged and the focal length is also increased. In this case, the blue dotted line 4 maintains the same left and right viewing angle values as the initial state as the state of the camera when the zoom-periodic interlocking control does not operate. This state is an increase of binocular disparity of the left and right images at the object position, and becomes a stereoscopic image of excessive binocular disparity that may cause eye fatigue compared to the initial state, or in some cases too excessively fused This may be an image that is impossible and cannot be used as a stereoscopic image. Therefore, in order to maintain an appropriate binocular parallax such as the initial state, the angle of view is increased so that an image is formed on the image sensor (CCD) 12 of the right camera as shown by the black solid line 6, and the image sensor of the right camera is moved to the right. By moving finely, binocular disparity of the left and right images at the object position can be maintained at zero.

How much to move the image sensor 10 (12) of the camera for the above effect will be described below with reference to the accompanying drawings, FIG.

As shown in FIG. 7, the controller 22 determines whether the photographer inputs an end command after setting the initial angle of vision v0 and the initial interval of camera interval s0 (S100) (S110). . As a result of the determination, when the photographer inputs the end command, the controller 22 ends the operation of the camera. When the photographer does not input the end command, the controller 22 determines whether the zoom-period control is in the automatic mode (S120). ). In the manual mode, the zoom and the viewing angle are controlled separately by the photographer's manual operation (S125). When the automatic mode is selected by the photographer, the zoom-peripheral coordinated control mode is started. The focal length f0 is extracted and interpolated from the lookup table using the and focus values (S130).

The controller 22 calculates the distance d0 to the lens by calculating the focal length f0, the viewing angle value v0, and the distance s0 between the cameras (S140). That is, when the focal length f0 is multiplied by the camera distance s0, the multiplication result value is divided by the vergence value v0, and the divided result value is the distance d0 to the lens.

The controller 22 calculates the distance D to the image sensor by calculating the distance d0 and the focal length f0 to the lens (S150). That is, when the focal length f0 is added to the distance d0 to the lens, the addition result is the distance D to the image sensor.

Then, the controller 22 adjusts the zoom value or the focus value by the photographer (S160), and extracts and interpolates the changed value of the focal length f1 from the lookup table using the adjusted zoom value and the focus value (S160). .

The controller 22 calculates the distance d1 to the lens by calculating the distance D to the image sensor and the focal length f1 (S180). That is, if the focal length is subtracted from the distance D to the image sensor, the result of the subtraction becomes the distance d1 to the lens after the zoom value or the focus value is changed.

The controller 22 calculates the viewing angle value v1 by calculating the changed focal length f1, the distance d1 to the changed lens, and the camera interval s0, and calculates the calculated viewing angle value v1. The control to move the camera image sensor to be so (S190). That is, when the focal length is multiplied by the camera interval s0, and the multiplication result value is divided by the distance d1 to the lens, the dividing result value becomes the viewing angle value v1 after the zoom value or the focus value is changed. .

Then, the controller 22 substitutes the changed viewing angle value v1 into the initial viewing angle value v0, and substitutes the changed focal length f1 into the initial focal length f0 (S200), and then enters the automatic mode. The whole system is controlled to be re-run from the initial stage of checking whether it is.

When the user manually adjusts the camera interval knob (S125), the controller 22 recognizes that the camera interval is adjusted (S210), and first recognizes the newly generated camera interval (S1) (S220). After adjusting to the new camera interval s1 (S230), the newly created camera interval s1 is substituted into the initial camera interval s0 (S240) so that the camera interval is readjusted.

If the user manually adjusts the viewing angle knob (S250), first, the newly generated viewing angle v1 is recognized (S260), and the viewing angle is adjusted to the recognized new viewing angle v1 (S250). S270). Subsequently, the newly generated viewing angle v1 is substituted into the initial viewing angle v0 to re-adjust the main time (S280).

By using the basic geometric structure of the stereo camera as described above, each camera parameter is derived in a proportional relation, and when one parameter value is changed, another parameter value is directly substituted into the calculation formula and calculated. Since the zoom-time is interlocked so that it changes to a parameter value, it can be controlled smoothly without intermittent feeling to maintain a natural three-dimensional effect.

Therefore, the present invention is based on a data sheet that calculates the focal length values for zoom and viewing angles every 2% precisely measured by a lens manufacturer, and a look-up table for zoom-principal coordinated control of a parallel axis stereo camera. Since the values that are not created in the lookup table are linearly interpolated based on the reference values, they have higher accuracy than the case in which the lookup table is generated by the user's actual measurement, and thus the accuracy of zoom-visual interlocking control is greatly improved.

In addition, according to the present invention, since the conventional zoom-peripheral control method has different tables depending on the distance between the camera and the object, three tables are prepared and used according to each case, so that the boundary in each case There was a disadvantage that it is difficult to expect accurate control in the vicinity. By solving this problem, it is possible to reduce the operation time during shooting, which makes the shooting more convenient and efficient.

In addition, the present invention uses only three methods in which the conventional method does not control by the association between the main parameters, but only maintains the gaze value in a certain state despite the change of zoom. With the interlocking control of any one mode according to the table, it removes the limitation that the binocular spacing and angle of view cannot be controlled, and adapts to the change of all parameters such as zoom, focus, camera distance, and angle of view with only one table. Therefore, it is possible to achieve zoom-peripheral interlocking control by controlling zoom-peri-chronous interlocking control with improved convenience, instantaneousness, and accuracy.

Claims (6)

In the zoom-vision time-linked control method of a parallel moving axis stereo camera, (1) the controller extracting and interpolating the focal length f0 from the lookup table using the current zoom value and the focus value when the automatic mode is selected by the photographer; (2) the control unit calculating a distance d0 to a lens by calculating values of the focal length f0, the zoom value v0, and the distance s0 between the cameras; (3) the control unit calculating a distance D to the image sensor by calculating a distance d0 and a focal length f0 to the lens; (4) the control unit determining whether the zoom value or the focus value has been changed by the photographer; (5) the control unit extracting and interpolating the changed focal length f1 from the lookup table using the changed zoom value and the focus value when the zoom value or the focus value is changed; (6) the control unit calculating a distance d1 to the lens by calculating a distance D to the image sensor and a focal length f1; (7) The controller calculates the viewing angle value v1 by calculating the camera interval s0, the changed focal length f1 and the distance d1 to the changed lens, and by the calculated viewing angle value v1. Controlling the entire system to move the camera sensor; (8) The control unit substitutes the changed viewing angle value v1 into the initial viewing angle value v0, and substitutes the changed focal length f1 into the initial focal length f0 to check whether the automatic mode is in automatic mode. The process of controlling the entire system so that it can be redone from the beginning Zoom-vision time-linked control method of a parallel-axis stereo camera characterized in that consisting of. According to claim 1, wherein the (7) process, Comprising a camera distance (s0), the changed focal length (f1) and the distance to the changed lens (d1) to calculate the viewing angle (v1), the lens separated from the camera body by the calculated viewing angle (v1) Zoom-main time-linked control method of a parallel axis axis stereo camera, characterized in that the module can be replaced by the process of controlling the entire system to move. The method of claim 1, wherein the lookup table, A zoom-main-time coordinated control method of a parallel moving axis type stereo camera, characterized in that it is generated by an angular field of view and a focal length table according to a zoom value and a focus value provided by a lens manufacturer. Left and right camera image sensor, lens module for forming an image on the sensor, 3D effect control motor for controlling the stereoscopic effect of the acquired image by controlling the mutual separation distance between the left and right camera image sensor and the lens, zoom and Parallel moving shaft stereo consisting of a motor for controlling the angle of symmetry to control the left camera image sensor / lens and the right camera image sensor / lens symmetrically to control the angle of view, and a controller for controlling the entire system. In the camera system, When the automatic mode is selected by the photographer, the controller extracts and interpolates a focal length f0 from a lookup table using a current zoom value and a focus value, and includes the focal length f0, the viewing angle value v0, and Calculating a distance d0 to the lens by calculating a distance s0 between cameras, calculating a distance D to an image sensor by calculating a distance d0 and a focal length f0 to the lens, Determines whether the zoom value or the focus value has been changed by the photographer, and extracts and interpolates the changed focal length f1 from the lookup table using the changed zoom value and the focus value, and the distance D to the image sensor and the focal length ( f1) is calculated to calculate the distance d1 to the lens, and the gaze value v1 is calculated by calculating the camera interval s0, the changed focal length f1 and the distance d1 to the changed lens. The camera image sensor by the calculated vergence value v1. Parallel coaxial manner stereo camera system, characterized in that for controlling the entire system has to be moved. The method of claim 4, wherein the control unit, And a system for controlling the entire system such that the lens module separated from the camera body is moved by the calculated viewing angle value v1. The method of claim 4, wherein the lookup table, A parallel moving axis stereo camera system, characterized in that it is generated by an angular field of view and a focal length table according to a zoom value and a focus value provided by a lens manufacturer.

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