WO2010012722A1 - Stereokamerasystem - Google Patents
Stereokamerasystem Download PDFInfo
- Publication number
- WO2010012722A1 WO2010012722A1 PCT/EP2009/059729 EP2009059729W WO2010012722A1 WO 2010012722 A1 WO2010012722 A1 WO 2010012722A1 EP 2009059729 W EP2009059729 W EP 2009059729W WO 2010012722 A1 WO2010012722 A1 WO 2010012722A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- image
- stereo camera
- camera system
- sensors
- board
- Prior art date
Links
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/246—Calibration of cameras
Definitions
- the invention relates to a stereo camera system having at least two image acquisition sensors, which each record at least one image with an image of a detection range of the stereo camera system and generate image data corresponding to the image.
- Known stereo camera systems have two single-frame cameras, which must be arranged individually and aligned exactly relative to each other. Aligning the individual cameras with each other is also referred to as a calibration process.
- the image data generated by the single-frame cameras are transmitted to a common evaluation unit, which processes the transmitted image data.
- a stereo camera for the digital photogrammetry is known trie, which has an input optics and a plurality in the focal plane of the input optics arranged optical detectors. By appropriate selection of the detectors, the stereo angle of this stereo camera can be changed.
- a digital stereo camera which has two lenses offset by a base length arranged for generating a pair of images of an image of an object.
- the document DE 100 33 355 A1 discloses a stereo camera with two individual cameras and a common evaluation unit.
- the document WO 2006/069978 A discloses a method for determining a calibration parameter of a stereo camera. This calibration parameter is used in particular for calibrating two individual cameras of a stereo camera system.
- the object of the invention is to provide a stereo camera system in which the calibration effort is reduced. This object is achieved by a stereo camera system having the features of patent claim 1. Advantageous developments of the invention are specified in the dependent claims.
- a stereo camera system with the features of claim 1 ensures that the position of the image sensing sensors to each other, in particular the distance between the centers of the image sensing areas of the image sensing sensors to each other, is predetermined by the board and the position of the image detection sensors is fixed by the connection to the board.
- the position of the image acquisition areas of the image acquisition sensors to each other is thus determined by the board and unchangeable. This makes it possible, in particular, to arrange the image-capturing areas of the image-capturing sensors in a plane when using identical or identical image-capturing sensors.
- a stereo camera system constructed in this way no longer has to be calibrated or only calibration tolerances need to be compensated during calibration. Such a calibration of the stereo camera system can take place, for example, by determining relevant sections of the image-capturing area of the respective image-capturing sensor for selecting an image to be further processed.
- the image acquisition sensors are preferably connected to the board via at least one solder joint or are each plugged into a base firmly connected to the board.
- the printed circuit board is preferably a known printed circuit board which has printed conductors for connecting electrical connections and / or signal connections of the image sensing sensors and preferably for contacting further components. In particular color images or black-and-white images can be recorded with the aid of the image acquisition sensors.
- the image acquisition sensors can be easily arranged at a desired angle to a peripheral edge of the board and at a desired distance to this edge, in particular parallel to the peripheral edge.
- the optics associated with each of the image acquisition sensors is connected to the circuit board and / or the respective image acquisition sensor, so that the position of the optics relative to the image acquisition region of the respective image acquisition sensor is simply determined via the connection of the optics to the circuit board and / or to the image acquisition sensor is.
- the optical axis of an optical system can run through the center of the image capture area of an image acquisition sensor.
- the board is preferably flat and rigid.
- the positional deviation caused by the manufacturing tolerances can be limited to> 5 pixels in the x and y direction of the image sensing ranges of the image sensing sensors.
- an arrangement of the pixel imaging elements arranged in the form of a matrix in the image detection areas in a two-dimensional x-y coordinate system is assumed
- the specified stereo camera system is particularly suitable for measuring the distance between the stereo camera system and an object in the range of> 100 m, preferably in the range of> 30 m.
- this stereo camera system is particularly suitable for counting operations of objects or persons, the detection of objects and the classification tion of objects in the vicinity.
- the determination of the distance to objects by means of the stereo camera system takes place in a known manner.
- Suitable image acquisition sensors are in particular optical semiconductor sensors, CCD image acquisition sensors and / or CMOS image acquisition sensors. It is particularly advantageous to use so-called active pixel sensors (APS) as image capture sensors.
- the board may in particular be made of phenolic resin and paper, of epoxy resin and paper, of epoxy resin and glass fiber fabric, each having tracks.
- the conductor tracks can be single-layered (in one plane) or multi-layered (in several planes), in particular as so-called multilayer printed circuit boards.
- the distance between the centers of the image sensing areas of the image sensing sensors preferably has a value in the range between 80 mm and 300 mm, preferably in the range between 80 mm and 100 mm. It is particularly advantageous to arrange components of at least one evaluation unit in addition to the image acquisition sensors on the board, so that both the image acquisition sensors and the evaluation unit are arranged on the same board. As a result, a space-saving arrangement of the components and thus a small size of the stereo camera system is possible. Furthermore, the wiring effort is low because the transmission of the image data generated by the image acquisition sensors to the evaluation unit can take place via printed conductors of the printed circuit board.
- first edge line of an image capture region of the first image capture sensor and a first edge line of an image capture area of the second image capture sensor lie on a first straight line.
- second edge line of the image capture region of the first image capture sensor and a second edge line of the image capture region of the second image capture sensor lie on a second straight line.
- the evaluation unit processes at least one image processing program for processing the image data generated by the image acquisition sensors.
- the evaluation unit can be adapted to the requirements when using the stereo camera system by using a suitable image processing program.
- elements of an infrared illumination device are arranged on the board.
- infrared LEDs are arranged on the board and connected via solder joints with this. This makes it possible to illuminate the detection range of the stereo camera system with the aid of these infrared light-emitting diodes, so that even in the dark useful images can be recorded with the aid of the stereo camera system.
- the stereo camera system can produce and / or process color images and / or black-and-white images.
- Figure 1 is a plan view of a circuit board shown schematically with two connected to the board image acquisition sensors and other connected to the board elements;
- Figure 2 is a side view of the circuit board shown schematically of Figure 1;
- Figure 3 is a perspective plan view of the board according to Figures 1 and 2 and two couplable with the board optics;
- FIG. 4 shows a schematic structure of a stereo camera system with the circuit board according to FIGS. 1 to 3.
- FIG. 1 shows a top view of a schematically illustrated circuit board 3 with two optical image acquisition sensors 1, 2 connected to the circuit board 3 and further components 5, 28 connected to the circuit board.
- the circuit board 3 comprises a carrier of insulating material, which has electrically conductive connections, the electrical connections with the the circuit board 3 connected components 1, 2, 5, 28 electrically interconnect.
- the electrically conductive connections are preferably designed as printed conductors in the form of a printed circuit.
- the board 3 is made for example of phenolic resin and paper, epoxy resin and paper or epoxy resin and glass fiber fabric and conductor tracks made of copper. Such a board 3 is also referred to as a printed circuit board. Both the signal terminals and the connections for the power supply of the components 1, 2, 5, 28 are connected to electrical connections of the board 3.
- electrical connections can be provided via connecting lines for the electrical connection of components 1, 2, 5, 28 on the circuit board 3 and / or for connecting the circuit board 3 to further structural units.
- the board 3 On the board 3 are two image sensing sensors 1, 2, preferably two identical optical semiconductor sensors 1, 2, which are arranged in a predetermined by the printed circuit spacing 4 to each other and electrically connected via a suitable connection with the conductor tracks of the board 3.
- the distance 4 between the centers of the image sensing areas 10, 11 of the image sensing sensors 1, 2 preferably has a value in the range of 80 mm to 300 mm.
- the image acquisition sensors 1, 2 are connected to the board 3 via at least one solder joint.
- the image detection sensors 1,2 can be plugged into each one connected to the board 3 via at least one solder joint socket.
- the image sensing sensors 1, 2 are arranged on the board 3 and connected to this, that the image sensing areas 10, 11 of the image sensing sensors 1, 2 are arranged in a plane apart from low manufacturing tolerances.
- the laterally arranged in the illustration of Figure 1 through the matrix Pixel detection elements formed edge lines of the image detection areas 10, 11 are arranged parallel to each other.
- the upper border lines of the image-capturing areas 10, 11 formed by the pixel detection elements in the representation according to FIG. 1 lie on a first straight line.
- the lower border lines of the image acquisition areas 10, 11 formed by the pixel detection elements lie on a second straight line.
- the upper edge lines are further arranged parallel to the upper edge 30 of the board 3 and have the same distance to the upper edge 30 of the board 3.
- the edge lines of the image sensing areas 10, 11 need not be parallel be aligned with an edge of the board 3.
- the image acquisition areas 10, 11 of the image acquisition sensors 1, 2 are located on the side of the respective image acquisition sensor 1, 2 facing away from the board 3.
- the further components arranged on the circuit board 3 comprise components 5 of an evaluation unit to which the image data generated by the image acquisition sensors 1, 2 are transmitted via the electrical connections provided by the circuit board 3.
- the evaluation unit processes the image data with the aid of image processing algorithms provided by an image processing program.
- image processing program is stored in the evaluation unit.
- DSP digital signal processors
- ASICs ASICs
- FPGAs FPGAs
- vector processors can be used for image processing.
- so-called logic arrays, such as PLD's, can also be used for image processing.
- the image acquisition sensors 1, 2 together with a camera optics, not shown, and the evaluation a stereo camera system.
- the stereo camera system can process and / or provide color images and / or black-and-white images.
- the stereo camera systems according to the prior art have two separate individual cameras, which are each connected via a signal line to an evaluation unit.
- the two individual cameras of the stereo camera system or their image acquisition sensors 1, 2 must be calibrated exactly to one another in order to obtain correct results in the evaluation of the images taken by the stereo camera.
- the location of the individual cameras of known stereo camera systems can be changed by a variety of influences during operation, such as vibrations or temperature fluctuations. For this reason, the position of the individual cameras of such known stereo camera systems must be regularly checked and recalibrated in the presence of deviations.
- 3 components 28 of an infrared illumination device can be arranged on the board.
- at least one component 28 of the infrared illumination device is an infrared light emitting diode.
- the stereo camera system can also be used for image acquisition in the dark, since the detection range of the stereo camera system can be at least partially illuminated with the aid of the infrared illumination device.
- FIG. 2 shows a side view of the circuit board 3 shown schematically according to FIG. Elements with the same structure or the same function have the same reference numerals.
- FIG. 3 shows a perspective plan view of the circuit board 3 according to FIGS. 1 and 2 with two optics 8, 9 which can be coupled and disconnected to the circuit board 3.
- the two optics 8, 9 can be coupled to the circuit board 3 such that in each case the optical axis of an optic 8, 9 passes through the center of the image acquisition area 10, 11 of an image acquisition sensor 1, 2.
- the optics 8, 9 are for example glued to the board 3, screwed to the board 3, connected via suitable locking elements with the board 3 or connected via suitable clamping connections with the board 3.
- the optics 8, 9 may also be integrated into a housing not shown. The position of the optics 8, 9 to the image acquisition areas 10, 11 is then determined by the position of the housing to the board 3.
- the housing can be used for permanent protection of the stereo camera system, for example against splashing water, cold, rain and / or vandalism.
- the optics 8, 9 each have one or more lenses and / or further optical elements and are used in particular for focusing images on the image acquisition sensors 1, 2.
- About the choice of optics 8, 9 can be an adjustment of the stereo camera system to the desired focal length, light intensity and / or optical aperture.
- FIG. 4 shows the schematic structure of a stereo camera system according to FIGS. 1 to 3.
- the stereo camera system comprises the two image acquisition sensors 1, 2 arranged at the defined distance 4 and the optics 8, 9.
- At distance 7 in front of the stereo camera system is an object 6 to be detected
- images with images of the object 6 to be detected are recorded.
- the image data generated by the image acquisition sensors 1, 2 and corresponding to the recorded images are subsequently processed with the aid of the image processing algorithms provided by the evaluation unit with the aid of the processed image processing program.
- objects 6 can be detected, tracked and / or measured with the aid of the image processing algorithms provided by the evaluation unit with the aid of the image processing program. It is also possible to determine the distance of the object 6 to the stereo camera system.
- CCD image acquisition sensors or CMOS image acquisition sensors are suitable, for example, as image acquisition sensors.
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Studio Devices (AREA)
- Measurement Of Optical Distance (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Stereoscopic And Panoramic Photography (AREA)
- Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)
Abstract
Description
Claims
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
BRPI0916439A BRPI0916439A2 (pt) | 2008-07-28 | 2009-07-28 | sistema de câmera estéreo |
EP09781178A EP2308237A1 (de) | 2008-07-28 | 2009-07-28 | Stereokamerasystem |
JP2011520470A JP2011529313A (ja) | 2008-07-28 | 2009-07-28 | ステレオカメラシステム |
US13/056,379 US20110175987A1 (en) | 2008-07-28 | 2009-07-28 | Stereo camera system |
CN2009801296151A CN102113333A (zh) | 2008-07-28 | 2009-07-28 | 立体摄像系统 |
CA2731904A CA2731904A1 (en) | 2008-07-28 | 2009-07-28 | Stereo camera system |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102008035150A DE102008035150A1 (de) | 2008-07-28 | 2008-07-28 | Stereokamerasystem |
DE102008035150.4 | 2008-07-28 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2010012722A1 true WO2010012722A1 (de) | 2010-02-04 |
Family
ID=41138784
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2009/059729 WO2010012722A1 (de) | 2008-07-28 | 2009-07-28 | Stereokamerasystem |
Country Status (9)
Country | Link |
---|---|
US (1) | US20110175987A1 (de) |
EP (1) | EP2308237A1 (de) |
JP (1) | JP2011529313A (de) |
KR (1) | KR20120068747A (de) |
CN (1) | CN102113333A (de) |
BR (1) | BRPI0916439A2 (de) |
CA (1) | CA2731904A1 (de) |
DE (1) | DE102008035150A1 (de) |
WO (1) | WO2010012722A1 (de) |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102012000630B4 (de) | 2012-01-14 | 2020-08-13 | Volkswagen Aktiengesellschaft | System zur Erfassung eines Hindernisses für ein Fahrzeug sowie Fahrzeug mit einem System zur Erfassung eines Hindernisses |
DE102012014994B4 (de) | 2012-07-28 | 2024-02-22 | Volkswagen Aktiengesellschaft | Bildverarbeitungsverfahren für eine digitale Stereokameraanordnung |
CN103197424B (zh) * | 2013-03-08 | 2016-09-28 | 深圳奥比中光科技有限公司 | 基于正交视觉的数字图像相关装置 |
DE102013102820A1 (de) * | 2013-03-19 | 2014-09-25 | Conti Temic Microelectronic Gmbh | Stereokameramodul sowie Verfahren zur Herstellung |
JP2015023053A (ja) | 2013-07-16 | 2015-02-02 | 株式会社リコー | 電気機械変換素子、液滴吐出ヘッド、液滴吐出装置、画像形成装置、及び、電気機械変換素子の製造方法 |
FR3042610B1 (fr) * | 2015-10-14 | 2018-09-07 | Quantificare | Dispositif et procede pour reconstruire en trois dimensions la tete et le corps |
CN107295225B (zh) * | 2016-04-12 | 2020-07-10 | 三星电机株式会社 | 相机模块 |
US10237475B2 (en) * | 2017-01-15 | 2019-03-19 | Asia Vital Components Co., Ltd. | Camera module |
KR102306911B1 (ko) * | 2017-03-30 | 2021-09-30 | 엘지이노텍 주식회사 | 듀얼 렌즈 구동 장치 및 카메라 모듈 |
CN114740677A (zh) | 2017-03-30 | 2022-07-12 | Lg伊诺特有限公司 | 双透镜驱动装置和摄像头模块 |
CN107302696A (zh) * | 2017-08-10 | 2017-10-27 | 郑州金润高科电子有限公司 | 双目相机及基于其的图像测量方法 |
CN107529001B (zh) * | 2017-08-28 | 2020-07-24 | 信利光电股份有限公司 | 一种双摄像模组搭载对位方法 |
CN107872664A (zh) * | 2017-11-21 | 2018-04-03 | 上海兴芯微电子科技有限公司 | 一种三维成像系统及三维图像构建方法 |
KR102597823B1 (ko) * | 2019-06-11 | 2023-11-03 | 엘지전자 주식회사 | 먼지 측정 장치 |
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EP0174091A1 (de) | 1984-08-29 | 1986-03-12 | United Kingdom Atomic Energy Authority | Stereokamera |
DE19727999A1 (de) | 1997-07-01 | 1999-01-07 | Guenther Richter | Stereokamera, elektrische Kopplung von 2 vollelektronischen Kameras |
EP0918979A1 (de) | 1996-08-16 | 1999-06-02 | DLR Deutsches Zentrum für Luft- und Raumfahrt e.V. | Stereokamera für die photogrammetrie |
DE19905452C2 (de) | 1999-02-09 | 2001-02-22 | Deutsch Zentr Luft & Raumfahrt | Digitale Stereokamera |
DE10033355A1 (de) | 2000-07-08 | 2002-01-17 | Zeiss Carl | Kamera, insbesondere Stereokamera |
US6392688B1 (en) * | 1999-10-04 | 2002-05-21 | Point Grey Research Inc. | High accuracy stereo vision camera system |
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WO2006069978A2 (de) | 2004-12-23 | 2006-07-06 | Hella Kgaa Hueck & Co. | Verfahren und vorrichtung zum ermitteln eines kalibrierparameters einer stereokamera |
US20080106620A1 (en) * | 2006-11-02 | 2008-05-08 | Fujifilm Corporation | Method of generating range images and apparatus therefor |
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JPH08194189A (ja) * | 1995-01-19 | 1996-07-30 | Olympus Optical Co Ltd | 立体映像再生装置 |
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JP4714176B2 (ja) * | 2007-03-29 | 2011-06-29 | 富士フイルム株式会社 | 立体撮影装置及び光軸調節方法 |
EP2153641B2 (de) * | 2007-04-13 | 2021-10-27 | Ari M. Presler | Digitales kinokamerasystem zum aufzeichnen, editieren und visualisieren von bildern |
US20080298674A1 (en) * | 2007-05-29 | 2008-12-04 | Image Masters Inc. | Stereoscopic Panoramic imaging system |
-
2008
- 2008-07-28 DE DE102008035150A patent/DE102008035150A1/de not_active Withdrawn
-
2009
- 2009-07-28 JP JP2011520470A patent/JP2011529313A/ja active Pending
- 2009-07-28 CA CA2731904A patent/CA2731904A1/en not_active Abandoned
- 2009-07-28 KR KR1020117003922A patent/KR20120068747A/ko not_active Application Discontinuation
- 2009-07-28 US US13/056,379 patent/US20110175987A1/en not_active Abandoned
- 2009-07-28 WO PCT/EP2009/059729 patent/WO2010012722A1/de active Application Filing
- 2009-07-28 BR BRPI0916439A patent/BRPI0916439A2/pt not_active IP Right Cessation
- 2009-07-28 EP EP09781178A patent/EP2308237A1/de not_active Withdrawn
- 2009-07-28 CN CN2009801296151A patent/CN102113333A/zh active Pending
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
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EP0174091A1 (de) | 1984-08-29 | 1986-03-12 | United Kingdom Atomic Energy Authority | Stereokamera |
EP0918979A1 (de) | 1996-08-16 | 1999-06-02 | DLR Deutsches Zentrum für Luft- und Raumfahrt e.V. | Stereokamera für die photogrammetrie |
DE19727999A1 (de) | 1997-07-01 | 1999-01-07 | Guenther Richter | Stereokamera, elektrische Kopplung von 2 vollelektronischen Kameras |
DE19905452C2 (de) | 1999-02-09 | 2001-02-22 | Deutsch Zentr Luft & Raumfahrt | Digitale Stereokamera |
US6392688B1 (en) * | 1999-10-04 | 2002-05-21 | Point Grey Research Inc. | High accuracy stereo vision camera system |
DE10033355A1 (de) | 2000-07-08 | 2002-01-17 | Zeiss Carl | Kamera, insbesondere Stereokamera |
US20060012673A1 (en) * | 2004-07-16 | 2006-01-19 | Vision Robotics Corporation | Angled axis machine vision system and method |
WO2006069978A2 (de) | 2004-12-23 | 2006-07-06 | Hella Kgaa Hueck & Co. | Verfahren und vorrichtung zum ermitteln eines kalibrierparameters einer stereokamera |
US20080106620A1 (en) * | 2006-11-02 | 2008-05-08 | Fujifilm Corporation | Method of generating range images and apparatus therefor |
Also Published As
Publication number | Publication date |
---|---|
JP2011529313A (ja) | 2011-12-01 |
CN102113333A (zh) | 2011-06-29 |
EP2308237A1 (de) | 2011-04-13 |
KR20120068747A (ko) | 2012-06-27 |
CA2731904A1 (en) | 2010-02-04 |
BRPI0916439A2 (pt) | 2016-02-16 |
US20110175987A1 (en) | 2011-07-21 |
DE102008035150A1 (de) | 2010-02-04 |
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