TW200528945A - 3D visual measurement system using fish-eye cameras as visual detectors and method for constructing same - Google Patents

Abstract

The invention provides a 3D visual measurement system using fish-eye cameras as visual detectors and method for constructing same. The system is able to obtain internal optical parameters of projective geometry of descriptive camera, such as focal constants, projection functions, and distortion center, and also is able to obtain external parameters, such as the unique projection center and direction of optic axis in the physical space to serve as references for constructing mechanical visual coordinate system. Thus, a 2D fish-eye image can be converted into a spatial light path using the projection center as the reference. These are the determinative cores for the feasibility of a computer visual model. Two fish-eye cameras are located at different positions in the physical space serving as a left eye and a right eye, respectively. This invention may adopt the measurement deduction techniques for constructing perspective images from the conventional pinhole images to realize 3D visual measurement. As such, the operative viewing angle can be expanded and high measurement precision is still provided when the viewing angle exceeds 100 DEG, which is impossible to accomplish in the conventional skill. Furthermore, the cost is relatively low because this invention adopts the conventional low-cost lenses.

Description

200528945 IX. Description of the invention: [Technical field to which the invention belongs] The present invention relates to a method for setting a three-dimensional vision system using a fisheye camera as a visual sensor; '^ Optical subtraction is used as the basis for constructing computer vision models; Department _ 有 知 知 系 «Under the system of vision, there are still 70 pieces of facilities with accurate measurement and low cost. [Prior art] • The μ j measurement system is a non-contact measurement system that captures the coordinates of H, I, and two-dimensional positions of images of experimental objects in physical space. The number of images that can be counted by the conventional technology must be close to that of the needle development. The measurement system can adopt the projection that is very far from the pinhole—. Think of fisheye cameras as two major themes of visual perception. —The computer vision model conversion technology of the fisheye camera, —to determine the model ’s image projection logic of the fisheye camera in the physical space and the location; the latter term is: . Existing machine vision technologies use needles to develop camera models. None of the conventional techniques can be applied to fish-eye images. The following introduces the current technical background, achievements and deficiencies of these two fields. , ^ "Lens installed in conventional technology cameras" * .ΐίϊίΐί, the law of rational optics. With reference to this imaging mechanism, it is common in the field of optical physics. This projection mechanism is called wireframe perspective projection (ectillnear projection), which is referred to as pinhole projection in this article. Because the two-shot projection deduction algebra is very complete, this is the latest and most thorough camera model in the computer vision department. In contrast, Other types are available; 〈Current status of fisheye lens and large-view mechanical vision〉 The camera equipped with fisheye lens can capture clear images with infinite depth of field, and the visual angle can be even more than 18G degrees. But the optical projection of fish head Geometric (optical geometry) is very different from the pinhole model. One is the barrel distortion of the patrons—if the fisheye camera image is processed with the conventional pinning technique (_fisheye image) The phase number thermal method is accurate. Therefore, the mature computer vision measurement technology has almost no countermeasures for eye preparation camera images (referred to as fish-eye images). In order to break through the limitation of the machine vision operation perspective, the omnidirectional image has been booming recently ( omnidirectional imaging: a single digital processing technique that can capture (or exceed) the stereoscopic field angle of a hemisphere using a single exposure ) The technology also lacks an effective computer vision model, and the lens is used for the development of digital image processing. Therefore, the use of fisheye lenses is almost abandoned. (In omnidirectional imaging, the fisheye lens is also called "refraction image" = lion "). Instead, the development of a more complex reflection and refraction complex c (catadioptric sensor) ° omnidirectional imaging design and the use of reflection and refraction sensors is ~ 'which uses additional one or more geometric appearance is very accurate ^ ^ Or use a compound 稜鏡) can reflect the shadow of more than the hemisphere angle of view | to = set refraction image sensing | § "-like cameras to obtain images indirectly, such as, Chinese patents 378454, 382067 and US patent 6,118, 474, That's the technology revealed in. However, this kind of square mirror has a problem of optical alignment when recording and reflecting the curved mirror surface. . In addition: the transmitting element will make the image signal more earthy; the implementation of reducing or placing the reflector in front of the lens will cause ^ avoidable blind spots' which causes inconvenience in many occasions. Until now] = measuring device to set up a three-dimensional stereoscopic video measurement device. In this sense, I see the large-view image pixels _ using the rotating camera to obtain a circumferential field image, or setting up multiple shots to overlap the field of view and stitching as -artificial images, example _9 and US patent 6, 25M58 B1. However, the rotating camera 6 200528945 = all the images around the object of the ticket, and this system cannot perform close-up shooting, let alone the weight of the camera and the rotating mechanism will take a lot of time to remove the body. Returning to Tibet, or making a machine fail in addition to the cost from 22 to 15, also has many problems in how to sample the images taken by each camera. &quot; <Existing Techniques for Processing Fisheye Camera Images> Shiyueye images do not have many of the aforementioned disadvantages; however, they are not digitally resolved by the image analysis entity, so that their use is affected. Easy way. One of them is set at half ball = opening angle r real? All the light paths in the space will conform to a "special-projection function" and form a fish-eye image. Therefore, the information of the spatial viewing angle can be directly derived from the geometric position of the plane image as image processing or refolding ( The calculation basis of remapping ^. Please refer to "Figure 28" and "Figure b" "The towel" 1 A @ "indicates that the electrical system can make a circle with a border to form shadow area 1; and" Figure 1B is a schematic diagram of the spatial light path from which the characteristic points and lines of item 1A are projected. The two figures indicate the corresponding physical space off-axis angle α and the azimuthal distance β (azimuthal distance); these two terms In order to present the projection geometric logic where the incoming rays are collected at the projection center, "Plan B" arranges a virtual ball to help explain the endpoints at the center of the sphere (the center of the sphere is the solid angle of the incident light at the projection center) Location. This hemisphere can be imagined to be equivalent to the northern hemisphere of a globe. The azimuth around the axis angle p is 0 at the position of the prime meridian 13 '(that is, the date line). The off-axis angle α is 0 benchmark Northern light path σ. According to this principle, the light path is eight, and the projection angle can be expressed by πα0 and (Η30 or expressed as R [A1 = (a〇, that is)). Similarly, each light path in the figure can be defined as: κ [ΒΊ &lt; π / 2, π / 2); R [C'K〇, b), b is any value; κ [ΐ), Ηπ / 8π, 3/2); R [E, Hti / 4 π3 / 2); R [F '&gt; U3 / 8, π3 / 2); According to the hypothesis that the fisheye imaging model conforms to a "specific projection function," the field of view 7 200528945 line-to-shadow plane has the following boundary conditions: The shadow-forming area of the shirt image is a resolvable circle or ellipse, so A 1⑹ is the image formation position of R [c ']. Further, R—e, i is the distortion center of the image plane η will be discussed in detail in the following paragraphs. The edge of the two-shot image is incident from the equator. The horizontal projection line (that is, the anal π / ”between QPrinciPal distance, the following is 0 矣 -a, E, _e4 ^, and the three-dimensional light path D, and the pair of image planes ^,, are reached Γ = Γΐΐ; == 59 The versatility of the monitoring mechanism has led to its video recording becoming a slave ", and the fisheye lens of the eyeglass master has been combined with a specific camera :: core: limit $; this patent method (US Patent 5 185,667 = 5.67 in the fisheye image processing and its deficiencies> How Hee Hee's patent 5,185, 667 from Dan ^ more * from ^,-part of the fish series is not possible, ^ f push the silk road solid angle pair Properties and possible variations: The projection function for the following basic optical fisheye lens is multi-machined , 丄 / ㈣. Η, hereinafter referred to as EDP), _ "Logic (Ed. 8 200528945) The only unique and interesting style of eyeglasses. Please refer to" Figure 2 ", which shows three typical The "fish line", which is the lens's target frame projection mechanism, may be another = 2fxtaii (a ^ open can shoot (Stere〇gr_iC ping〇 fine in ^ project: 〆: pJ 二 Ｍ) shape projection (orthoqing hic ball, two Make the grid is clear, the three-dimensional field of view angle A of the lens is not strange whether it is half straight or small. It can not be judged from the image only that the field of view of the lens is white I: because no matter how large the field of view of the lens is, the lens formation area 1 η = Circular (or oval). It can be seen from the "Figure 2". Especially the low-priced, simple clock 1 is difficult to be accurately determined because of the sudden fall (Note: the ^ image of Kao Kwangkwang The boundary of the image is a very fixed edge feature.) The lack of, and the phenomenon of shooting, 'even does not exist-the method of effective image conversion has been effectively implemented. ,,,,,,,,,,,,,,,,,' ;; the optical components used are closely related; in some evidence, it is obvious that the conventional technology has not explored Discussed an internal parameter of Cheng Yan. Not to mention the determination of the number used. Under this limitation, it is impossible to further pull the eyeball p into the external field of the male body room. 4 ',,, eyeglasses In a more precise application, the research on these related topics is based on the invention. The method developed to obtain the camera parameters is not subject to the f-image presentation requirements of the previous light grid; * and the domain is sufficient to obtain a target fisheye camera. In this way, the fisheye image can be re-folded and rendered as an image with measurement accuracy based on the deduced optical parameters; and it is further used to develop three-dimensional video metric. Setting up a two-dimensional video measurement system using a very nonlinear camera such as a fish-eye camera is the most innovative part of the present invention. 〈Current Machine Vision Imaging Technology〉

The camera is used as the visual sensor of the robot device.) ′ Just like the human eye, this is machine vision (Robot vision) or visual servoing (Vi_serving). The concept of robots providing information on the position of processed objects by visual servoing has been formed in the late 19970s and can be roughly divided into two categories: Position-based visual servoing (PBVS) and Image-based visual servoing (Image -based visual servoing, IBVShPBVS requires the precise three-dimensional coordinates of the target and the precise position of the camera. The calculation is large and complicated. It is not applicable to the real-time control of human vision systems and image tracking lines. The two-dimensional image is processed with the knowledge of the target as the 'information' as a feedback signal, to guide 11 people to move or control the camera and 'to robot positioning or image tracking. Therefore, the secret is better than B. ^ Now, but the ugly is that the image signal produced must be accurate and strong, and the system of ㈣㈣ 城 _only pinhole projection_ is more or less the same if two (or more) pinhole cameras are arranged in the physical space. This is a well-known technique for a three-dimensional video measurement system. If there are two pinhole cameras, due to the difference in camera position, the -workpiece ^ ^ points are displayed on the two cameras. Displacement of parallax (such as descending ity). Arithmetic i ^, ^ allaX π QPtiCal Η⑽. If the relative positions of the two entities in the robot device can be determined, the trigonometry equation can be used to #, the spatial position of the human beings. That is to say, given-the corresponding rendering position of the object point on the two-phase 10 200528945 machine, refer to the projection center parameters of the two cameras). Triangular geometry can be used to calculate the three-dimensional space position. $ Brain Vision textbooks have discussions.乂 Technology In many electronics <Computer model of pinhole camera> "Pinhole projection" is an ideal model for mechanical vision sensors. Difficulties The more accurate the lens, the higher the accuracy of the system. ^^ The two characteristics ‘Large aperture and small viewing angle lenses are more capable of approaching-Li Erren =. Therefore, in the reduction of Gao Qilu system 1 as a visual field ^, ... ,,,, Haraguchi ... It is very helpful in the field of special fields. It is very heavy. It has no electrical or mechanical signal connection with the two devices and is processed by a computer system like a poor signal. This is simple to set up, but the productivity and the reliability of mouthshells are relatively improved. The reduction of the camera 3 is used to correct the image to match the pinhole image and it can reach the ancient dream machine. The two important themes are vision. So the high-priced camera is still the camera; the month, the wide resolution. Cai's methodology is more The parameter ητ which can be used to deal with the cheap phase-乂 ΓΡ rVi Arr ^, — ------- f — —— -----, &quot;,, ^ v I | ^ T &gt;, H ' I S3S \ ^ ΦΎ 4+ H AA &gt; -f—

K effect focal length; * &quot; &quot; &quot; &quot; — ---—

UO, VO Star Bidirectional Distortion Coefficient: AnV. &Quot; ~ ^^-----,,,, Coordinate position of lens distortion center (refer to digital system on computer screen); sx fi size off (due to "camera" And the "ratio" of "Lai"-"the square entity" is displayed as a "rectangular image") ------- 200528945 Τχ, Ιζι—on "outside space *--__ bit-bee relationship of the origin of space Neiqiu Interpreting ___ Outside Ξ S ί The projection geometry of the camera, and the external parameters refer to the phase parameters, the reference of the mechanical vision coordinate system; according to these projection light paths in space. The parameters used by Chua's methodology are not constant, and some models follow Cai's description 2: 4: It is more or more appropriate to use the = Genduo literature. It is sufficient to discuss = Shibu ’s step. The parameters of the Chua's model are not = ; 7 parameters: two =: to test, the purpose of the lens of the fish _ month is to analyze the camera parameter angle method of the non-linear perspective projection mechanism of the device. In order to expand the work of the three-dimensional vision system without losing the accuracy of the system specifications, the purpose of the present invention is to provide a three-dimensional view of a fish-eye camera, and measure the gram and its method. The technical content is based on the patents of the Republic of China JL? 1 ^ 1! 790, 92109160, and 92109159, and is based on research and development. · Part of the content of the three-dimensional video measurement system, Miao Xu was revealed to Mr. Zhang Chuangran on the 7th The University of Taiwan ’s mechanical engineering and the optical hypothesis of the present invention are based on the generally accepted optical hypothesis to transfer the fish machine model to the frame. Quantitative testing has been conducted to guide the medium = symmetrical compensation based on -ate) `` multiple precision =; go Guide (nrnlhcommator;-, the era of World War II, a kind of multi-machine structure to generate more The group determined the three-dimensional light path, and identified the precise mechanical combination of the projection geometry mechanism of the super-large aerial projection and mirror), and then figured out the visual model of the two-dimensional _ size &amp; It is summarized as follows: Mu /, sound ... Sleep phase 12 〇528528945]. According to the fish-eye image has the characteristic of gradually fading from the center of distortion, from a group of 丄 ^ pairs, and the cold gain unidirectional variable and two separate ; ,,, and cubic variables (that is, the three cameras and the silk are actively controlled by the entire unit is the pixel aspect ratio (Aspect rati.); And the direction of the ratio can be determined by the camera light can be two ::, the outside The parameters of Qiu Ba—Jiangjia plus J to determine the direction and position indirectly determine the two-thirds of each. One of the two 'is the camera's 2. H. Need to find the focal length constant and the projection center.

The position of Syria on the prior axis, the identification projection model, the Are A number, and the effective field of view angle range. And focus on her focal length from this (ϋ: a "method hypothesis is that the camera has a single projection center, and '=". Therefore, you can refer to any-rendering, the physical position touch ^

The Si it imaging mechanism can be universally used for various types of lenses, including 'human vision === throwing turtles, such as analog special, ιΓΐίΙ learns that the operation sensitivity is directly proportional to the barrel deformation' distortion Α Lens-13 1. Parameters on one side, enough to describe the vision of the fisheye camera 2 and it successfully refold the fisheye image into a variety of different styles, although ^ includes remapping into pinholes image. 200528945 Dimensional View I㈤ Extending and Mounting—Three-camera model "Knows a single fisheye eye" after measuring "Left Eye" and "'Right platform's direction, _degree orientation: f camera orientation to rectify two cameras:' = 。. This is reaching ⑽. Work-related applications have greatly improved f non * low 'and can work from a wide perspective, so understand, and other purposes, characteristics, and advantages can be more obvious ^. Special exemplified below-secret execution For example, and in accordance with the relevant formula, the detailed description is as follows: [Embodiment] The technology disclosed in the present invention is based on the Chinese host mi i8 in China and Japan. It was disclosed in Mr. Zhang Chuangran ’s Taiwan University ^^ &quot; 程 =: Large :: & quot Part of the algorithm of the optical parameters of the outline I machine ^ Bu Department), the miscellaneous say one: "In the" two 1 crime ", the projection model of the fisheye camera conforms to a typical" circle: number of shots, two kinds of calculations Method (named: 1. "ε-Algorithm" to interpret the optical parameters of the camera; projection hypothesis two: "one view ϊ ΐ ϊ 应 should be a" shadow point "-mapping" characteristics, according to this issue Ϊ it more Versatile algorithms can be applied to non-specific `` round functions '' 3L. The first part is to reveal the method of setting up a three-dimensional video measurement system and 14 200528945 ί device components' This part must be based on the linear optical projection of the camera's optical parameters have been correctly obtained (sight-ray) (Pinhole model) == —; ; The pinhole mode of general heat knows its projection behavior compared to other mirrors designed with reference to linear projection. It has the advantage of a larger degree, but the image has a severe sight of Naono f degree iio ^ tiQni; r fisheye tender elephant reference pinhole The deformation amount of the pattern is symmetric on the center of the king plane (this center point is called unstraighteline ❿ ~ like ten and the deformation amount increases along the radial direction. ~ 中 Wpnncipal P〇int) The imaging projection mechanism of the camera can be described as : At -T «^ F0V) dynamic light and reflected light) will logically (note: no, the center point of the physical projection) converge in the space: Wei Er (also called the projection center, or viewp〇in1 :, Jian Zhi 饴 = It two-way is circularly symmetrical to the optical axis of the camera. This basic theory is well known to those skilled in the art of geometric optics and vision; however, the computer is only a projection method (ie pinhole projection) Model) based Fundamental development phase, = visual money. This kind of relationship comes from the relatively large amount of negative radial loss (that is, barrel distortion) of fisheye images. There is no analytical method available yet. Refer to the geometrical symmetry of the optical axis. The “㈣ graphic can map a centrally symmetric image in the camera. For example, Ann ~ Figure 3” has a centrally symmetric pattern 220 (physical central-sy plane etlT pattern, hereinafter referred to as pcp). Plan view target ^ f camera field of vision 'and then adjust the relative orientation between the map target 22 and the camera to obtain a centrally symmetric image 23 on the shirt image plane 23 (imaged 200528945 central-symmetry pattern, hereinafter referred to as icp), such as "第ΐϊ (= for the conventional fisheye projection model). Or if or when the image is obtained, it also means that the optical axis 21 passes through the image center 235 and the target center 225 at the same time at the same time, and the front cardinal point (referred to as f θ 242 and the back cardinal point (back cardinal point, abbreviated as surgery) Both machine points are also on the optical axis 21. Since the target on the target 22 is placed at a known absolute orientation, it can be used as a reference coordinate position to center the optical axis 21. Orientation. So how to control the PCP 22 ° to get-ICP 230 is the invention-a core process = Qian 60. Orientation according to the "Picture 4" on the optical axis 21 is the base 242 The reference point; the rear base point 243 is the construction of the camera's internal light point. The logical equivalent of the fisheye lens. The PCP in these two points “required pictures” can be regarded as a simulated optical arrangement with multiple semi-secret arrangements. For a long time, the number; its _ more than ㈣ _, _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ __ _ _ _ ___ ___ ___ ___ ______________________________? ^ This 阙 space absolutely makes it possible to achieve clear shadows. The point light source installed here simulates infinite. Far / already can be accurately measured, so it can be measured by straight tmt image points. Set the angle of the projected profile (promf) of the axial angle to the height of the lens, and the operation principle of the data from a lens to a lens. Multi-collimated ^ spatially symmetric projection optical path of the image element, any optical axis projection mode. Therefore , Capable of cast by a circular function of iron. (Supplementary note: "2. The mouth, meaning: a closed 16 200528945 projection mechanism. Zuo County, Xi laboratory to achieve 7 ^ 二 ί ΐ11 precision arc machinery The structure is difficult to report in a general geometric arrangement ^ Rong ^ put forward the indirect simulation of multi-collimation with the level of the "implementation of the system ^ basis ^ calculated-with reference to" the theoretical basis of the ^ ft invention method. Please 22 again, and Luo亍 t ,,, and Chengyi ② The two-dimensional space plan of the system; the projection light path used in the machine to reduce the space = machine. If the camera's ^ $ 4 into ^^ plane 3 effect means fisheye Phase (supplementary explanation. · The λ circular projection function

It, (collimating mechanism) &gt; Before entering the camera, all incident rays will first converge on the front base point ⑽ jfr ^ t canhnal point 'referred to as Fcp), and then from a back canhnal point (referred to as BCp) It is divergently refracted according to a projection function and is imaged on the image plane 23. FCP 242 and BCP 243 are two-points of accuracy that describe the projection behavior of the fisheye lens 24, and at the same time define the two projection spaces inside and outside the fisheye camera (Supplementary note: as far as the inventor's cognition is concerned, except for the present invention, there is no document until now Explore how to introduce two basic points in computer imaging systems). When analyzing the projection mechanism of a fisheye camera, Fcp 242 is used as a reference for the line of sight, and BCP 243 is used as a reference for the image plane 23. The distance between these two nodes is not a parameter of the camera and can be set to any value. Therefore, the present invention uses FCP 242 and BCP 243 is merged into a single VP 241. As shown in "Figure 5A", the circular function logic of the imaging is uniformly represented. "Figure 5A" can be regarded as a projection view of the optical path of the meridian plane (optical plane) of the optical axis 21 in the "Figure 4" stereo model. The figure shows that α 'is derived from the image height p and the focal length constant / backward derivation. The logical relationship between α and α ’is determined by the native projection mode of the lens under test 17 200528945 (supplementary note: this is much like a refraction phenomenon). The coordinate of the <Coordinate System> further describes the implementation method of the system of the present invention. 'First, define the referenced to the base axis button platform of the three steel bodies orthogonal to each other 52 and Z' base axis 53-this is a test Season VT 7 ollable) and observation (. ⑹ bribe delete, first, w (x, Y, Z) three-component unit is meter. [2) Tutu Geba coordinate system τ (χ, γ, ζ) No 22 arranges the center point, and the warp is the reference direction of the Z axis. Fig. 22. It is possible to displace ^ Γ. Three absolute coordinates (X, Υ, Z) can be borrowed from geodesic Ϊ. This coordinate system is used to explain and label the geo-latitude, f latitude coordinates, f, which is the body surface leaving the equatorial plane. Please refer to the factory ^ 5 疋 table = a high plane 3! As the basis for calculation, except for the equator. Therefore, VP 241 (or the equatorial plane 31) is ^ β, and the same as λ, h. ^ The projection space inside and outside the eyepiece is divided into north and south spheres; 7 ',,' = Shuo 24 will be positive ’southern hemisphere is negative. A single iit degree (4) of the optical path coordinate system δ (α β) fixes the g vector, and one of its endpoints is strange (a, p, h relative to E (cx, P, h) at f-endpoints are Arbitrary value ^ View parameter (M) (5) Image plane coordinate system c, (x, y) ... 235 as origin, set image plane 23 at right angles: standard: pole C = 18 200528945 No. x, y and The unit of P is length; β is not directly observable in space. Basically, this system of brain ^ 6ii ^ = tI (u, v) Qian can call and watch the copper appears in the electric month. The coordinate system of the image, u, v are centered on the photorealistic center, and the position of the image on the display screen of the computer system is determined by I (uc ,, vc). Basically, the camera is mapped to the image plane 23's size ^ j Ρ '(Ρ' , Β ') analogy is represented in the I (u, v) coordinate system. And any feature point in the pixel coordinate system is also expressed as i (n, standard C (u, V), paper ^ is centered on ㈣, vc) The right-angle seat for the origin is shown in the "Figure 5B" at the same time. The correction system has completed the construction of two coordinate systems, the system E (α, β, h) and the direction and position of T (X, Y, Z). The operating goal of the developed experimental system is to allow the z-axis of the f-standard system to Machine-shaped meaning Ε (α, ㈣'s optical axis (21 order 0 <two-stage projection fisheye image visual model>) celebrities found in the earthwork (eart coffee) part _ Mapping logic of maps and common fisheye lens imaging The mapping logic is the same. Using mature terminology that has been developed to assist in describing the image-transition method of the fisheye vision of this description. There is a mapping logic that has been embedded in the actual size of the professional ball Gu is incomparable. ”Ϊί took the surface of the earth 5 as a reference to the center of the earth as a reference to a half ^ 2 ί 30smal 1 sphere) as the term of study; two St" two: this, can The small ball 30 sphere maps to the surface map instrument of limited area. Brother 5 B picture "point 302 of the small ball is a photo taken for the surface mapping? 302„ f to point 231 on map 23. This way, you can use The radius is π, the radius is ^-Weiping __area to show the surface geography of the sphere /… the imaging mechanism of the eye image can be interpreted as "pinhole with 19-dimensional image 19 200528945 shadow" in series with a "map exaggeration" Make a Sp (α, β) incident light (m / photo. EDP fisheye lens is used to illustrate Point body 1 is no longer defined by the 21,241 line segment. On the surface of the optical path after passing through the viewing parameter (the line number 241, 231 defines the f-number to produce a non-linear refraction phenomenon) -point 302 = a pinhole lens projected in a straight line to the small Sphere 231. The mapping logic of the drawing is also based on the point of view. Like the three-dimensional image of the tree and the computer, and the orthogonal graphics fisheye lens. The mechanism of the brother one-picture target generating collimated incident light 〉 Shadowing geometry: Dimension rn 2 1 indicates that the fisheye camera 适当 properly placed PCP 220 simulates a point source structure with multiple collimation °°; and (3) Reference ball 30 and PCP 22 ○ circle ^ = = The big ball. Now take the concentric circle trajectory of the outermost circle of pcp 22〇 = the radius of the large ball defined by the p 7 circle ^ trace * "the line of characteristic points 221 to 0P 40; this large ball 40 is dried by the plan view 22 and the outermost circle 22ΰ &quot; ^ 's Any—Circular trajectory can be described by this mechanism alone. [The target produces a cone light path] The line of sight (sight) projected from any object point 221 on the PCP 220 is pure 3 sessions, the texture is at the "shot point" "3Q1" is cut orthogonally, the ball is 3◦ surface and concentrated toward the center of the ball (that is, VP241). In this way, PCP22〇i each—same as 20 200528945 ΐ ΓίηΛ is located outside the camera, just a cone light ίί Ί = 7220 intersection, and there are-common vertices on the track of the circle ^ The three-dimensional light path of the animal in H is derived from the concentric circles of the outermost circle ~ several fields 竿, and the line of sight is refracted to the image through the νρ 24 function Plane 23. For example, "the fourth shot VP, 231 can be described-a light path. * Mouth" special points ⑵, 30b <Method of obtaining ICP> quasi-planar symmetry 'only appears on the optical axis 21 orthogonal symmetry Concentric and center 235. The geometric symmetrical center of Icp 230 is the distortion, so adjust the figure appropriately 22 and test camera: the symmetry of Cheng's image meets the set accuracy, and the characteristic coordinates of this image point (featnr ^ H Caikoucha 225 235 (Princi ^ Z: ^^^ ^ C &gt; (0,0) st Ρ (0 &gt; β). 2 The line passing through the distortion center 235 and the image plane through the pattern center 225 is optical g /; 2f, so f is considered to have the function of tracking the position of the optical axis 21, which is more than s ^ 2 The shoe sequence appears partly. One of the external parameters of the machine tool

The circle r :: the same r angle group t: i number of the same 220 consecutive examples. Of course, 'Symmetry and surround: The PCP of the Hall of Destiny also has the same reality, but it goes to the easy place ^^ Correction object 21 200528945 The following specific examples can be achieved with PCP 220 as a reference The position positioning represents the size and position of the small ball 30 of the camera, the direction of the optical axis 21, and the distortion center 235. In the actual experiment of the present invention, the PCP 220 is designed as shown in "Figure 6", which can be printed on A3 size paper by a laser printer as a specific embodiment of the target 22 of the figure. Considering that the degree of distortion of the fisheye lens will increase radially outward, the radius difference between the concentric circles of the PCP 220 is designed to gradually expand from the inside to the outside to reflect this optical phenomenon of the fisheye lens; the concentric circles in the PCP 220 For the determination of the radius, PCP 220 can be adjusted by using the target image as shown in Figure 3 to obtain the corresponding relationship between the object and the image at an appropriate measurement reference position.

The solid circle track width enables the system to clearly display the image of the middle area and the edge image range at the same time. The PCP designed based on this principle refers to "Figure 6". In addition, the concentric edges can be clearly distinguished between black and white, which is conducive to subsequent image processing operations. "Brother" Picture ", put the manufactured Tugueba 22π, a tone on the stage 5 ^, and make the target 22 and the camera 60 as close as possible, so that the CPC 22 can control the entire FOV of the fisheye lens 24 The combined image thus spans the large f. This arrangement can sample the image information of a larger angle of view: because the mode: two f = the most specific projection followed by the fisheye lens 24 can be distinguished === Yue = "", in small and large, different projection modes <camera and Lens> White body, and the lens is a camera from South Korea; from ^ 造 瑞 = 2 fisheye lens. This is a very simple coordinate at pixel 22 200528945 'In order to simplify the description of the field, the coordinate system of the three basic axes of a platform is used to give the coordinate system the default γ, z), and the absolute direction of the test phase 6 body position is set. Is the positive z direction of the absolute coordinate system. Via &amp; the orientation of the target coordinate system T (X / Y, Z) from Tugaba 22. ， 可可 M M to move the entire picture 〈The camera coordinate system and the graph coordinate system are at the beginning of the group description system ‖ To make the camera's optical axis orthogonal, the three displacement variables and three rotation variables must be centered in the cp center. Move the camera bracket 70 at an appropriate position, and firstly, the direction of the M 60 with the naked eye is as orthogonally aligned as possible with the eyes. 24 kinds of ^^ make phase, the image shown and its symmetry index, through a computer program Adjust the test, base axis 52 on the screen and fine-tune the absolute seatpost position 2 51 of the target 22 and the universal pan / tilt 71 micro_4 of the part. The basicity is better. According to such hardware settings, ideally, if the symmetry The direction of the axis should be Z, the characteristic coordinates of axis 53 5 ', then the optical axis 21 is more ideally controlled by a software program ^. If the universal pan / tilt head 71 can extend the standard of <method of judging image symmetry> = 疋The spirits of the two coordinate lines of Ε (α, β, _τ (χ, γ, z) are:; Any lineage judgment method for image symmetry is outside the scope. Alpha forest &amp; extension should not be excluded from the protection scope of the present invention The First Symmetric Index of Defining ICP> 像 示 ίί 考 3 ίϋ Obtained from "Figure 6" icp 230 film the previous day ^ The image is the test plane, the distortion center 235 (Note: the actual point of the image) is the origin of j calculation, choose to shoot upward (south, north, east, west) , Northeast, southwest, westward, and concentric circles of the image track, as shown in the image, extending from the normal direction in the image, with a mark to indicate the 23 2328928945 line with black and white edges, and "+" Represents the sampling points from white to black; (the distance between the edge and the center of the circle) is added as if = the edge value taken by "distance sum,", respectively: ss, _, EE, ww 1 giant ^ And therefore, there are eight that ICP 230 has reached the ideal pair, then ,,, == dragon, SE. If it is the origin, the characteristic coordinate difference value of the distance from the direction of the two radiation directions-do "-SS 、 vertical 2 marriage : Minus 4 zero 2 or 4 diff—4 = NW-SE—should approach zero; or relative to H ~ 3-NE-SW, the addition should reach a maximum value, that is, 4 and ^ ° Distance and phase sum_2 = EE + WW ^ sum_3 ^ NE + SW &gt; sum_4 = NW + SE ^^] = T! ^ These 4 differences or 4 sums or both can be referenced at the same time. Therefore, the reference position Is it appropriate and fine-tuned accordingly_2 The most recorded chick of the m-eye machine. The company is based on "Some processing techniques for fisheye images" in Qiongxian County. Invented the method of extracting the edges of the same trajectory according to the special characteristics of fisheye image signals. Edge cutting is the field of image processing. The necessary = the right to make the touch, the energy distribution 4 =, different processing countermeasures. According to the experimental analysis, the fisheye image 3 shadows ^ greatly changed. Therefore, the invention-identify the edge of the image "Ϊ different methods to Capturing the edge of the image capture. '] Eighth image 8B image "shows the video signal and processing result of the two oblique lines in the" 8th image A "sampling line area. With the center f, there are four groups of visual f 彡 signal display groups shown in the recording direction from top to bottom. ^ Shows the radial extension from the center point to the edge of the image. Each signal group can identify two irregular and gradually decaying (near) square wave signal curves. The solid line portion of the initial frequency energy response (radiometricrespGnse) shows a serious progressive progressive attenuation, it is difficult to identify the position of the characteristic signal point in the peripheral area of the image. The present invention develops a non-sharp mask processing program. First, the intensity of the peripheral image is increased by 24 ^ 28928945 by histogram equalizing pr0cess. The result is shown by the signal indicated by the dotted line in the figure. The profile curve equalized by the change curve f is applied-a non-causal low-pass filter and an nQn-casu two-pass filter to generate a dynamic threshold value (as shown in the figure, the intersection point close to the curve is the edge of the image track The results shown by the characteristic bits ^ are indicated at the bottom of each group of signals with a square wave shape <the second symmetry index for identifying ICP> The second symmetry index proposed by the present invention is used to determine the fish eye shadow system ^ 2 ^ Although the method is to represent the image P, (p, p) in the right-angle coordinate system as C (P, P) of ο A acre lan 〇〇Ιlnate SyStem), that is, P ^ straight axis, with β as On the horizontal axis, the image of the "Figure 8A" is transformed into "figure 9 of the white line as the f-th symmetry evaluation index", and then it is displayed. The degree of damage of this method is quite high, as long as the figure% = 6 = ^ Ϊΐ slight change, the straight line in the figure immediately becomes obvious curvature 明显 Straight Computer visually observed or paste in a symmetrical or mathematical indicators are well suited for applications to determine the properties Ran icp 23〇 Le 'of FIG target while the other circular symmetric manner also applies this interpretation. ,-

/ ^ Determine the camera's orientation (eamera PQsing)> The test is performed by one or the second symmetry index. When the ICP center is that the optical axis 21 is orthogonally aligned with the pCP 220 in the pattern, let's say 丄t axis 2 (supplementary: because a concentric circle pattern has 纟 d our Yusin green, that is, the coordinates ㈡ is the invention-great contribution: the absolute axis of the optical axis 2! ^ absolute position of PCP 220 and It can be further extended to determine the absolute coordinate position of VP 241 in order to determine the camera pQsing problem. _ 25 200528945 &lt; The best investment with a specific investment style ¥ Set the invention to PCP 220 And Jrp㈧n ^ hanging number is pi) as the numerical limit, using the method f 5 center circle half length (ri, axis 21 a-test hypothesis f fixed == rial-and-err⑻ along the optical length. Please refer to the " After the number A in Fig. 5A / 21, the vp of the fisheye lens 24 is the optical axis point of 24, and the subtle steps are as follows: ^ Concentricity obtained from the coordinates of the true center on the image plane ® Time material title This is the pre-distortion 220 (this is a measurement value) The corresponding relationship is the common roller coordinate pair (1 ^ 4 3, the center of the circle Order. Suppose that the distance between vp 241 'center = center 225 coordinate point on the optical axis is D. Based on this, you can determine the off-axis angle constructed by the heart 22〇 == circle of the heart as ai = tan_1 (ri / D); From the image plane, ^ ΡοPiPi (Principal distance),… The radiance number formula (P = fa) is the test function: divide ai by 0i and the corresponding fi value. If the test camera fully complies with the EDP mode, according to the parent- The Λ calculated by concentric calculations should all be equal to a constant. Therefore, you can change the value of d or change the parameter "formula; 2 ίϊα)) until you get a satisfactory result. Then the EDP kernel formula is-Aberdeen; the same method can be implemented in different projections and the position origin E (M, 0) of the two T3 (ηα'Λ? Coordinate system, and the first axis 21 ( E (0, p, h); β, h are coincident z-axis T (M, z) of any defined physical coordinates, where 43 is the distance of PCP 220, known as DQ. Set Pcp 2 to order each The concentric circle of 2 corresponds to π each—the image height is pi '. Since pi and ai are dependent on the size of DO, EDp is the following mathematical formula: ^ ⑽ 二 26 200528945 / ^ ai (DO), where i = l ~ N, and N is the total number of police image tracks that can be obtained on ICP 230. Take the outermost circle and connect the other one, and calculate the following equation: ^ pi (DO) / pNvDO) &quot; &quot; oii (DO) / otN (DO) —0 _______ (]) In fact, DO is an unknown value 'but it is determined that VP 241 falls on the optical I source; if a dynamic point on the Z axis is taken (〇, 〇, z) 'You can get an error mathematical formula as follows:… eUz) = pi (D0) / pN (D0)-aUz) / aNU) ----------- ~~~, ~~ C2)

Where ai depends on the test z, that is (ai (z &tan; tan-i (ri / z) &gt;) and the value of pi has been determined when the experiment is performed (that is, its constant phase depends on the addition, 'does not (It varies with the assumption of z value). Therefore, as long as at least two sets of 'commonly consumed coordinate pairs (ri, pi) (conjugated coordinates, information representing the corresponding object points 221 and image points 231) are obtained, we can obtain ei, phase 'ΓΓ' method searches every point on the optical axis 21, according to formula (1), where = (z) is the minimum value, at this time the position of vp 241 can be measured by the camera's projection function. It is not clear. , Is the judgment contribution of the ^ E coordinate of Ruokou 3 S3 to the formula calculated by (ri, pl) ^ angle = circle: y Concerns the contribution of the mother-one image track to the camera's projection of each track, which is: Now, P1 ⑽) 1 bu 1 (DG)) / pN (DG) ——__________ /, P〇 (DG) = ◦, can be regarded as misalignment ~ (3) On the optical axis 21 戽 妁 ^ f7r heart 5 + control. Therefore, in the process of adapting the erroneous # function to find the center 241, the implementation example should be ε (ζ) = δ_ (β / (2) χ ,.)) — lying — the point to make ε⑴ minimum, or ^ G— 时 '(4) This ^ fisheye camera's VP 24i. Mathematical form of formula 立 立 ^ 27

In fact, the statistical standard deviation calculated from the obtained fi (D) data can be used to estimate the accuracy of the projection mode of alienation. That is, the following formula can be used to match the set projection mode. An appropriate level of index is called "σ-encoding method": N 200528945, rice. The result of the above derivation, if it is assumed that the premise is changed to other possible projection modes, such as: SGP (p = 2fxtari (a / 2)) or OGP (p = fxsin (a)), ^ (1) the main ( 4) It must be deduced again based on the projection function of SGP or 〇 (; p. How to make the inference based on the above concept is called "ε-algorithm j." As for the focal length constant f, according to the measured pi ( D) and its relative ai (D) as the basis, ^ 彳 is calculated using the following formula: _W (w.) ------------------------ ---------, where fi (D〇) = pi (DO) / ai (DO). Similarly, if the premise is changed, SGP, then fi (D〇) equals 1/2 * pi (D〇) / tan (ai (D〇) / 2), or set the cast function to 0 Gp, then fi (D〇) is equal to pi (D〇) / sin (ai (D〇)). If The lens fully conforms to the set projection mode, and the measurement is error-free, so the value of 将 will be very accurate, 'then f (D〇) should be equal to any / i⑽), which is the focal length constant of the lens vu-υ ____________________ ⑹ For further verification experiments The reliability of the results (including: the orientation of the optical axis 21 and the proper camera projection mode), please refer to "Fig. 7" again. Straight optical axis 21 _ 22 after the position of the absolute contact mark as a reference, move Tugeba 22 in the positive z direction twice, each adding 5 calendar displacements; in these two displacements, the orientation of the camera 60 and the target At 22, the coordinate positions of the base axis 51 and γ and the base axis 52 remain unchanged. Including the first experiment shed, these three experiments are

Testl, Test2, and Test3 represent this. , G experimental test results and results

Di ⑽P Di (〇GP ^ 7sGP) —

28 200528945 (Testl) 9.3 5 (Test2) 24. 4 10 (Test3): 29. 4 F 1.82 ε value / σ. Value 0.03 26.4 30 40 · i 2. 44 0.03 15, 23. 19J_ 20 β · 9 26.2 32.8 39. 16.5 ~ —20.J 219 2. 99 0.054 1.85 2. 42 U 0 0.003 0.004 0. 004 · -------- [一 —— 一 | U. U, Note · Division f ε There is no unit with σ, the units of other numerical values are all. Table 1 lists the three experimental data sets of EDP, 0GP, and SGP projection modes. ,,: Straight with ε value / σ value. The comparison table} refers to the amount of 量 displacement at the far left. The actual result can be approximated by the degree of Di presented as an indicator, because regardless of the £ __domain ^ algorithm, Hua 'can very faithfully reflect the increment of each experiment. —The amount of displacement; but the D values calculated by the two algorithms differ by about G. 5 deleted. Applying the inferred focal length constant (182mm / 185mm) is also closer to the specification i. The difference in Γΐΐh 78m ′ may be due to the mistake of manually assembling the lens ... 2. =, And the experimental results are quite different from the known absolute displacement and focus. Finally-the relatively small ε values and readings show that the present invention discloses that these two algorithms have considerable accuracy and feasibility. _? Yan Zhao II, Figure 10 ", taking Testl as an example, the horizontal axis shows the ε curve and σ curve obtained with the hypothetical target 22 distance as the main variable. It is found that in six kinds of f ϊίί7 (three projection modes x two algorithms), both the ε curve and the σ curve are-obvious minimum values. The existence of this single minimum value represents the location of νρ24]. This also proves that Feasibility of the method of the invention. However, the same lens can obtain different νρ 241 positions and different focal lengths at different reference projection functions. This table uses the mono-tilt to infer the exact original function of 剌 剌. In addition-mentioning, it is difficult to use only-a specific circular projection function to fully describe the projection behavior of a lens. The "ε-algorithm" and "σ-algorithm" disclosed in the above-mentioned four embodiments are based on the imaging logic of a known projection function as the target lens to interpret the corresponding camera. 29 200528945 The methodology is feasible. This is the power generation = 芩: the internal and external optical parameters of the camera are regarded as fisheye images &lt; visual model II. A general camera parameter deduction method> Yan Naffing further developed a general camera parameter deduction methodology, which is unnecessary The hypothetical projection function hypothesis directly deduces the camera's optical projection from the mapping relationship between the absolute image position of the correction point and the sub-camera parameter, which is a more general camera parameter algorithm. The mind and law system is developed according to the conventional lens projection phenomenon. The set two right and right points in the camera's field of view are the same as the specific point of view. The point “Hengyou on the image plane” is the same as the specific image. All the lines of view of aH will converge on a unique projection center (or center 'Vlewpint, abbreviated as vp)' in the space, and then the body = image = image plane according to the projection function. This projection mechanism is equivalently shown in "Figure 11". 32 / ί ^ ΪCharacteristic points on the same field of view W333 [r] 333, W323 [q ”l ^^ 23 I, -31! '^ 242' &quot; I313-333 [P ^^] 91 〇 像 十 面 23 The previous video message (as shown in the figure T2 ^ Vl &quot; m 80 r you ί /, q, Γ two positions, the three correction points 313, 323, 333 ΐ in: 3/313 [ρ], W323 [q ], W333W); Conversely, if ΐΐ ^ 3 least two dissimilar object points are mapped to the same-image location, then the absolute coordinates of the physical space of the dissimilar object points can determine its projection, which is called the ^ wild line 8G and The intersection point of the optical axis 21 is FCP242, or all the fields of vision in the physical space can be found out. And how to use this picture "ί ^, ΐαί to represent the fisheye camera projection logic method has been implemented in the" fisheye vision and shadow stereo measurement system "J free, ▲ image technique function. 30

When J Ming disclosed the camera parameter calculation in the previous part, the absolute ΐΐί axis of the pcp and the position of the projection center in the physical space were referenced, that is, the position of the camera was extended with — 、, 土:. Because PCP is the direction and location, it is determined by the system. Therefore, if two vision models are obtained from two known positions, the relative position difference between the two cameras can be obtained indirectly, which is an important reference for three-dimensional measurement. 200528945 c. Miscellaneous pinhole images of eye-shirts &gt; Pots = ίί = ΐΐ 国 Invention Patent 2_ For fisheye image conversion fishing *, and the examples are; and Patent 2_2 can be more in Yi Er ^ Body, input (off-axis angle, ring axis angle) is the pinhole image of the optical axis; $ Dr. 々 has more examples in the text. For details, please refer to "Techniques for determining the orientation of the fisheye camera". The precise direction and position of the precise PCPS must be precise. Can be arranged and controlled here. "Three-dimensional computer vision measurement system with camera rectification arrangement", phase «set to be the image plane on the handle-plane and the axis of the pixel coordinate system-(such as the horizontal axis) on the same line is called camera rectification (re ^ tificat1Qn); is a three-dimensional visual measurement layout-system. This adjustment can simplify the algebraic calculation of two-dimensional orientation; the disadvantage is that a general pinhole camera (because the angle of view is small) will reduce the angle of view that can be operated. "Figure 2" shows the pinhole three-dimensional visual measurement system after rectification; the object MN falls on the camera's 31 200528945 hole measurement; the other is the object M, N, because it is not in the needle type, it is a separate camera / view moon Needle computer vision model "Γ—, Qianli U's example of implementation, please refer to the" 1 2 3 correction chart target extension solid line segment rectifier pixel axis "vertical Ϊ ί, ϊ camera's horizontal axis can be passed through the PCP The method of 220 extension one is in the straight J image pass =! ":. ：: = line direction The shadows are combined at the ^ axis of the pixel plane = backfield to turn the camera, so that straight lines can be combined and implemented in the camera parameter measurement stage. The relative orientation between the irons, and this is needed when image rectification is required. The k types of layout ships are not implemented with other layout square handles. In this case, "Erecting a fisheye camera three-dimensional video measurement system" is an embodiment of the three-dimensional video measurement system of the project pf, which includes two cameras (cameras used in the parameter stage of the factory) and a stack of cameras. == _ The camera and the left-eye camera maintain a 3 jft shift on the camera mount, and the direction can be adjusted freely. First aim at the right-eye camera as a Japanese ft, the optical sleeve 21 and the light weight 22 of the "Figure 14" remain orthogonal; if you fall to the day guard, the camera and depth map target 22 can be adjusted as needed. "Shadow map", a three-dimensional view of a fish-eye camera set up by the present invention ^ Depth map Geba 22 is a rendering of the right-eye camera's circularly symmetric image hp ^ i step 931) ' Great data, interpreting the visual view of the right-eye camera (step 932); Rotating parallel axis depth map = 32 200528945 academic axis (step 934); Recording a total car map = computer vision model of the right-eye camera, and right-eye camera Set it so that its platform seat if direction and platform z sleeve position, and use it as a reference plane ====== Approximate position (step 937) · Factory-set wood 5 and left-eye camera =: (= ': ^ Extension line (step 939); again record the co-roller entity extensibility f-type (step 2 = private, ^ yinyi's values respectively define the distance between the viewing parameters (walking ^ 1000 <3D of fisheye vision measurement Algorithm> ^ Please refer to the second table for the actual results of the left and right axis machines that have been erected. Please refer to the equidistant projection, the stereogram = the model based on the projection; to perform the Sigma and Qiu milk test ^ $ Description of each block Meaning. The second to fourth columns indicate different types of camera ;: ^; parameters of the test camera. Z (ep) indicates that Epsil is used as the second coordinate. The distance from _, the unit is the surface, Err (ep) is the worst: this value has no unit '❿fan㈣ is the calculated Jiao spoon == delete. The next three blocks are the results of the pulse suppression test, which early The unit is 疋 mm, and the other two units tested with Epsilon = Magic 0.92 means that the origin of the icon on the computer screen is a long time. The focal point of the lens is based on the specifications provided by the camera manufacturer. .Reference test 33 200528945 test results, the camera is apparently more like equidistant projection. Therefore, this set of parameters is used as the basis for calculating 3D video. The calculation results of stereo projection and orthogonal projection are not used. These already obtained computer vision models of Γ fisheye images of left and right eyes, the position of the camera at the external visual reference point (projection center) and the direction of the camera ', and the ability to convert the image into a wireframe that is logically consistent with pinhole imaging Perspective image. Therefore, existing computer vision technology can directly reference these converted wireframe perspective (also known as pinhole) images to perform three-dimensional visual measurement. Z (ep) Err (ep) FL (ep ) Z (sig) Err (sig) FL (sig) Equidistant projection 40 0.005 1.784 40 0.08 1.784 Stereographic projection 60.5 0.008 2.577 55.2 0.12 2.425 Orthographic projection 31.4 0.008 [430 32.6 0.13 1.464 0.92

Distortion

Visual model 丨 Number of tables 〈Physical measurement〉 According to the data, etc. The first group of the root 34 200528945 of each target, its actual size and measurement size

1162 ^ 02 1011 ^ 98 ^ 95? 23 Actual size glass door height 2730 glass window width (top left) 1000 glass window width (bottom right) 1000 glass window south 530 bookcase high bookcase length 980 light length 1 &quot; —_ 1 35 200528945 Various combinations can be examples without departing from the spirit of this book. The value of the optical parameters of the camera disclosed in the present invention has the following implementation (1, and the function of the optical axis 21 green can be specifically the absolute coordinate position in the parameter, The number of t can accurately derive the calculation logic required to transform the fish-eye image. The non-constant constant, because of the image protection of the converted fish-eye image; the shadow you present based on this conversion can be found by the method of the present invention. The optical center of the projection center (VP), so the fisheye image system becomes feasible. The degree of contrast is too small = the present invention has been disclosed in a preferred embodiment as above, but it is not intended to be limited. When * 可 作 艺 者 'is not in the scope and scope of the application, the scope of protection of the present invention should be considered [Schematic explanation], the image analysis of the spatial projection method and its corresponding ^ =, '^! 1 Known ^ Kind of Drum Drum _ projection function curve; ^ Figure ^ A concentric circle diagram not designed in accordance with the spirit of the present invention ^ Example shows a schematic diagram of the projection 11 light path formed by the fish ϊ ϊ; brother 5 Α graph 'margin does not use a central symmetrical pattern ⑽) Simulate multiple collimation Incident light 36 200528945 and a diagram showing the projection behavior of a fisheye lens through a small ball (take distance projection as an example);… inch ο B, | will show the small ball and Schematic diagram of the Tachibana Road in the plane of the image; Figure 9 shows the schematic design of the central symmetrical pattern applied in the actual experiment of the present invention, and ^ y Figure 7 shows the adjustment of the fisheye camera and Figure 8A is a schematic diagram of the device with relative orientation between targets; Figure 8A shows the imaging diagram of "6th figure" mapped on the early surface during actual experiments of the present invention; Figure 8B shows the northeast of the "Figure 8A" image Curves of signal intensity change in four directions, southwest, northwest, and four directions; Figure 9 shows a schematic diagram of the image after the center of distortion of the present invention is converted to "Figure 8A" with polar coordinates; Figures 10, When the actual test of the present invention is shown, according to different projection functions, the projection curve of the projection center is approximated; / Take the second 1 ^ figure, which shows that the general algorithm of the camera parameters of the present invention is not intended to implement the Rina mode. Do not plan to move in The optical path diagram of the same point at the same absolute point at the same absolute position; Figure 13 of the "Three-dimensional video measurement system of the human eye through the camera rectification" hole image. Figure, showing the "Picture 6" into the extension machine: ^ Schematic diagram of the symmetrical pattern (PCP); and Figure 15 of the center of Pei Wanwan, showing the erection of fisheye images ] Flow chart of the steps in money. Photographing area 1 Long axis short axis 200528945 13 Prime meridian 13, 13, 13, Prime meridian E 21 Optical axis 22 Tugba 220 Center symmetrical pattern 221 Object point 225 Pattern center 23 Image plane 230 Center symmetrical image 231 Image point 235 Distortion center 24 Lens 241 Projection center (VP) 242 Front base point (FCP) 243 Back base point (BCP) 30 Bead 301 Incident point 302 Normalized image point 31 Equatorial plane 38 Center correction point 313, 323, 333 Calibration point 40 Large ball 50 Adjustment platform 51 X 'base axis 52 Y' base axis 53 Z 'base axis 60 Camera 70 Camera stand 71 Gimbal 38 200528 945 line of sight image point

39

Claims (1)

200528945 10. Scope of patent application: 1. A three-dimensional video measurement system for a fisheye camera, including: a right-eye camera 'device has a non-linear projection lens, and the internal and external optical parameters of the camera are known; ^ a left eye The camera, the device has a non-linear projection lens, and the inside and outside optical parameters of the camera are known; and a camera holder is used to fix the right-eye camera and the left-eye camera opposite to the right-eye camera. The camera and the left-eye camera use a center # 之 ® which corrects its internal and external silk parameters. First, _correction == inside: external optical parameters, then move the tugba, and use the right-eye camera ^ The position of the cup is the reference point of the system. When correcting the internal and external light of the left-eye camera: the relative orientation of the camera and related parameters, it will be _ 2, 1 system, where the linear projection lens is-fish series. ′, The three-dimensional visual measurement system is a concentric circle target that assists horizontal and vertical line segments. u year and-5. Change the direction of the camera. It seems that there is a-Baiyuntai can be changed-the method of setting the fish-machine three-dimensional video measurement system, to '^^ _ turn 1_ to perform a right-eye camera of the brain vision ^ car body and shirt like half ㈣ 料 'interpretation of the right-eye camera's electric camera = ㈣ move the _ its center is orthogonal to the right eye 40 200528945 n, 1, and 1 have a total of body and image data, interpret the computer vision of the right-eye camera 旲 1, and use the platform coordinates of the right-eye camera as the system reference point; ^ stay in the direction of the tugba And the position of the 2 axes of the platform so that the movement of its platform coordinates keeps the image plane parallel to the target plane of the figure and serves as a reference plane; set the approximate position of a left-eye camera at a suitable position; Shiping and vertical movement, system Its circular symmetrical image records the car body and image data of the car, and interprets the computer vision model of the left-eye camera; the heart and sub-records of the car body and image tilt, and interprets the computer vision model of the left-eye camera; The coordinates of the target of the map on the platform of the conjugate object and the image data ^ Calculate the displacement of the camera in the plane of the target of the map, and the deduced values define the distances of the reference points respectively. 6. The method for setting up a fisheye camera three-dimensional video measurement system according to item 5 of the patent scope, wherein after the step of deducing the computer vision model of the right-eye camera, the method further includes the following steps: rotating and moving the target to assist The images of the horizontal and vertical line segments coincide with the horizontal and vertical lines of the ICR. 7. The method for obtaining the optical parameters of the camera as described in item 5 of the patent scope of the application, wherein after the step of deducing the computer vision model of the right-eye camera, the following steps: Adjust the direction of the left-eye camera to make the target The images of the auxiliary horizontal and vertical line segments exactly match the horizontal and vertical extension lines of the ICL. 8. A method of two-dimensional viewing angle summer, which uses a specific pattern to arrange two or more non-linear cameras with different orientations to take the image of the object under test with parallax for the interpretation of three-dimensional spatial position. &quot; 9. The method of three-dimensional visual shadow measurement as described in item 8 of the scope of the patent application, wherein the specific pattern arrangement is that the optical axes of two or more cameras with different orientations of the rectifying system are parallel to each other. 10. The method of three-dimensional visual shadow measurement according to item 8 of the patent claim, wherein the 41 200528945 non-linear camera is a fish-eye camera equipped with an equidistant projection mechanism lens. The method of three-dimensional video shadow measurement according to item 8 of the scope of patent application, wherein the non-linear camera is a fish-eye camera with a three-dimensional projection mechanism lens. 12. The method of three-dimensional visual shadow measurement according to item 8 of the scope of patent application, wherein the non-linear camera is a fish-eye camera with an orthogonal projection projection lens. 42