WO2014185578A1 - Procédé d'alignement d'axe optique d'appareil photo stéréo de type orthogonal et appareil photo stéréo de type orthogonal - Google Patents

Procédé d'alignement d'axe optique d'appareil photo stéréo de type orthogonal et appareil photo stéréo de type orthogonal Download PDF

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Publication number
WO2014185578A1
WO2014185578A1 PCT/KR2013/004508 KR2013004508W WO2014185578A1 WO 2014185578 A1 WO2014185578 A1 WO 2014185578A1 KR 2013004508 W KR2013004508 W KR 2013004508W WO 2014185578 A1 WO2014185578 A1 WO 2014185578A1
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WO
WIPO (PCT)
Prior art keywords
camera
eye image
alignment
image
right eye
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PCT/KR2013/004508
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English (en)
Korean (ko)
Inventor
김정회
박정일
정종의
박동배
강대현
백명형
김성강
김영훈
김준우
Original Assignee
주식회사 레드로버
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Application filed by 주식회사 레드로버 filed Critical 주식회사 레드로버
Publication of WO2014185578A1 publication Critical patent/WO2014185578A1/fr

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    • 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
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • G06T7/85—Stereo camera calibration
    • 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
    • H04N13/207—Image signal generators using stereoscopic image cameras using a single 2D image sensor
    • H04N13/236—Image signal generators using stereoscopic image cameras using a single 2D image sensor using varifocal lenses or mirrors
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/296—Synchronisation thereof; Control thereof

Definitions

  • the present invention relates to an optical axis alignment method and an orthogonal stereoscopic camera of an orthogonal stereoscopic camera, and more specifically, precise optical axis alignment is possible by simultaneously aligning the optical axes of the left and right eye cameras at a long distance and at a near distance before stereoscopic imaging.
  • the present invention relates to an optical axis alignment method and an orthogonal stereoscopic camera of an orthogonal stereoscopic camera capable of greatly shortening the time taken for optical axis alignment.
  • a three-dimensional camera is a camera that shoots a left eye image to be viewed by the left eye and a right eye image to be seen by the right eye by using a left eye video camera and a right eye video camera at the same time. And orthogonal stereo cameras.
  • the parallel stereoscopic camera is a three-dimensional camera in which the left-eye video camera and the right-eye video camera are directly spaced apart from each other on the camera rig so that the images of the subjects are directly photographed. While the brightness and the resolution have a good advantage, the bulky in the horizontal direction has a disadvantage in that it is inconvenient for people to move directly.
  • the orthogonal stereoscopic camera has a left eye video camera and a right eye video camera installed at 90 degrees to each other, and a half mirror is provided at an optical axis intersection in front of the lens of the left eye video camera and the right eye video camera, and one camera passes through the half mirror.
  • Erection and resolution may be lower than parallel stereoscopic cameras because the image of the subject is taken and the other camera captures the image of the subject reflected in the half mirror. .
  • FIG. 1 is a view illustrating a conventional orthogonal stereoscopic camera.
  • the conventional orthogonal stereoscopic camera is mounted such that an optical axis crosses each other by 90 degrees on a frame 10 and the frame 10, and photographs a left eye image of a subject 60.
  • the left eye image camera 20 and the right eye image camera 30 which captures the right eye image of the subject 60, any one of the cameras 20 and the frame 10 are connected to each other, and the frame ( 10)
  • Camera alignment module for rotating the connected camera up and down, left and right, rotate on the plane or about the optical axis, and adjust the stereoscopic effect of the stereoscopic image by adjusting the binocular disparity between the left and right eye images (50) 45 degrees on the optical axis intersection point of the left eye image camera 20 and the right eye image camera 30, and partially transmits the light of the subject to the right eye image camera 30.
  • a half mirror 40 which reflects and transmits a part to the left eye image camera.
  • the conventional orthogonal stereoscopic camera performs an optical axis alignment process that matches the horizontal distance, height, pitch, and vergence between the left eye image and the right eye image before shooting, and then adjusts the position or rotation of the camera to the left eye image.
  • the stereoscopic effect of the three-dimensional image made by the right and right eye images is controlled.
  • the alignment screen 60 on which the marker is displayed is located at a short distance and the alignment screen 60 is photographed, and then the markers in the left eye image and the right eye image (
  • the camera alignment module 50 is driven to match the positions of the cameras 21 and 22, and then the alignment screen 60 is remotely positioned and photographed, and then the markers 21 and 22 in the left eye image and the right eye image.
  • the camera alignment module 50 is driven to match the position of the.
  • the reason for performing near and far alignment is to improve stereoscopic resolution and resolution of stereoscopic images with accurate optical axis alignment because the markers 21 and 22 of the left eye image and the right eye image may not coincide at long distances. .
  • the present inventors have made efforts to perform optical axis alignment of an orthogonal stereoscopic camera rig easily and quickly. As a result, the near-axis is aligned using an alignment camera, and the near-axis is aligned with the alignment screen.
  • the present invention has been completed by developing an optical axis alignment method of an orthogonal stereoscopic camera and a technical configuration of an orthogonal stereoscopic camera that can be performed.
  • an object of the present invention is to provide an optical axis alignment method of an orthogonal stereoscopic camera that can perform near-field alignment and far-field alignment at the same time, so that optical axis alignment can be performed quickly and simply.
  • another object of the present invention is to provide an orthogonal stereoscopic camera capable of performing near and far alignment at the same time.
  • the present invention has a left eye video camera and a right eye video camera installed in a frame such that an optical axis is perpendicular to each other, and a half mirror is provided at an optical axis crossing point.
  • An optical camera is a method of aligning an optical axis of an orthogonal stereoscopic camera that acquires an image transmitted through a half mirror and the other image camera is reflected on the half mirror.
  • the step of installing the alignment screen in which the marker is displayed at a position spaced from the orthogonal stereoscopic camera at a certain distance Photographing the alignment screen through the half mirror by the left eye image camera and the right eye image camera, respectively; And adjusting the pitch and angle of view of the left eye image camera and the right eye image camera so that the position and shape of the marker image of the left eye image photographed by the left eye image camera and the right eye image photographed by the right eye image camera match each other. It further comprises ;.
  • the present invention is a frame; A left eye image camera installed in the frame to obtain a left eye image of an object; A right eye image camera installed in the frame, the optical axis being orthogonal to the left eye image camera, and obtaining a right eye image of an object; 45 degrees to the optical axis of the video cameras are respectively installed at the optical axis intersection point of the left eye video camera and the right eye video camera, and transmits a part of light of the object to the left eye video camera, and reflects a part of the light of the object.
  • a half mirror to transmit to the right eye image camera And an alignment camera installed in the frame to face the right eye image camera with the half mirror interposed therebetween, and simultaneously photographing the barrels of the image cameras, within the alignment image obtained by the alignment camera.
  • an orthogonal stereoscopic camera providing an image for optical axis alignment, wherein the height and the horizontal distance of the right eye image camera and the left eye image camera are adjusted so that the positions of the barrel images coincide with each other.
  • the frame is installed at a predetermined distance from the frame, a marker is displayed on the front surface, the alignment screen taken by the left eye image camera and the right eye image camera; further comprising, the left eye image camera and The pitch and vergence of the right eye image camera and the left eye image camera are adjusted such that the position and shape of the marker image in the left eye image and the right eye image acquired by the right eye image camera coincide with each other.
  • the left-eye image camera or the right eye image camera and the frame and the camera alignment module for moving, pitching (pitching) or yawing (moving) the connected camera in the frame up and down;
  • An image alignment motor provided in the camera alignment module and driving the camera mounted on the camera alignment module; And calculate an image difference between a barrel image in the alignment image and a marker image in the left eye image and the right eye image, connected to the alignment camera, the left eye image camera, and the right eye image camera, wherein the image difference is '0'.
  • It further comprises; an optical axis alignment processor for controlling the motor for image alignment.
  • the present invention has the following excellent effects.
  • near and far alignment can be simultaneously performed using the alignment camera and the alignment screen, so that the time taken for optical axis alignment can be extremely shortened and precise.
  • Optical axis alignment can be performed, eliminating the hassle of moving the alignment screen alternately near and far.
  • 1 is a view for explaining a conventional orthogonal stereoscopic camera
  • FIG. 2 is a view for explaining an optical axis alignment process of a conventional orthogonal stereoscopic camera
  • FIG. 3 is a view showing an orthogonal stereoscopic camera according to an embodiment of the present invention.
  • FIGS. 4 and 5 are views for explaining an optical axis alignment process of an orthogonal stereoscopic camera according to an embodiment of the present invention.
  • 700 camera alignment module 800: motor for image alignment
  • an orthogonal stereoscopic camera includes a frame 100, a left eye image camera 200, a right eye image camera 300, a half mirror 400, and an alignment camera 500. It includes and performs an optical axis alignment method according to an embodiment of the present invention.
  • the frame 100 is a frame for supporting the left eye video camera 200, the right eye video camera 300, the half mirror 400, and the alignment camera 500.
  • the frame 100 is a lightweight alloy structure for easy movement by a person. Is produced.
  • the left eye image camera 200 is installed in the frame 100 and photographs a left eye image of an object, but is installed in the frame 100 so that the optical axis is on the z axis.
  • the right eye image camera 300 is installed on the frame 100 such that an optical axis is perpendicular to the optical axis of the left eye image camera 200, and photographs an image of the right eye of an object.
  • the right eye image camera 300 is installed in the frame 100 so that the optical axis faces the x axis.
  • the left eye image camera 200 and the right eye image camera 300 form 90 degrees to each other and are mounted to the frame 100.
  • the half mirror 400 is mounted on the frame 100 to be located at an optical axis intersection point of the left eye image camera 200 and the right eye image camera 300.
  • the half mirror 400 is installed at the front and rear to form 45 degrees with the optical axis of the cameras (200, 300).
  • the half mirror 400 transmits a part of light of an object, which is a subject, to the right eye image camera 300, and reflects a part of light of the object to the left eye image camera 200, thereby transmitting the light to the left eye image camera 200.
  • the reference numeral 200 obtains a left eye image of the subject, and the right eye image camera 300 acquires a right eye image of the subject.
  • the alignment camera 500 is installed in the frame 100 to face the left eye image camera 200 with the half mirror 400 therebetween, and the left eye image camera (eg, through the half mirror 400). 200) is installed to look.
  • the alignment camera 400 is a barrel image of the left eye image camera 200 transmitted by the half mirror 400 and a barrel of the right eye image camera 300 reflected by the half mirror 400. Take images simultaneously.
  • the alignment camera 400 may be detachably provided so that it can be mounted only when the optical axis is aligned.
  • an orthogonal stereoscopic camera is installed at a predetermined distance from the frame 100, and a marker 610 is displayed on the front surface of the left eye image camera 200 and the right eye image camera. It may further include an alignment screen 600 taken by the (300).
  • an orthogonal stereoscopic camera connects the right eye image camera 300 and the frame 100 to each other, and moves the right eye image camera 300 in a left and right direction (y-axis direction). It may further include a camera alignment module 700 that can move, move in the vertical direction (z-axis direction), pitching (rotation about the y-axis) or yawing (rotation about the z-axis). have.
  • the camera alignment module 700 is orthogonal to the Korean Patent No. 1204267 (name: camera photographing position adjusting device) of the present applicant, Korean Patent No. 1212452 (name: can rotate the half mirror without deterioration of stereoscopic sense) Formula stereo camera rig), Korean Registered Patent No. 1162556 (Name: Stereo camera alignment module using a lab jack and a stereo camera league equipped with the alignment module), Korean Patent No. 1170906 (Name: Stereo camera alignment module and its alignment) Module equipped stereo camera rig), Korean Registered Patent No. 1243303 (Name: Orthogonal Stereoscopic Camera Rig), Korean Registered Patent No. 1246025 (Name: Camera Horizontal Positioning Device), Korean Registered Patent No. 1213962 (Name) It can be produced by referring to the alignment module of the camera position control device and Korean Patent No. 111658 (name: stereoscopic camera rig with a camera alignment device).
  • the camera alignment module 700 is shown as connecting the right eye image Kemara 300 and the frame 100, it is also possible to connect the left eye image camera 200 and the frame 100.
  • the left eye video camera 200 and the right eye video camera 300 may be connected to each other by two camera alignment modules.
  • the orthogonal stereoscopic camera of the present invention is provided in the camera alignment module 700 and for rotating the image alignment motor 800 and the image alignment motor 800 for driving the camera alignment module 700. It may further include an optical axis alignment processor 900 for outputting an electrical signal.
  • optical axis alignment processor 900 uses a circuit board for a personal computer, a smart phone, a tablet PC, or the frame 100 connected to the cameras 200, 300, 500 and the image aligning motor 800 by wire or wireless.
  • the microprocessor may be embedded.
  • the alignment camera 500 is first installed on the frame 100 to face the left eye image camera 200 with the half mirror 400 therebetween.
  • the alignment camera 500 inputs the light of the left eye image camera 200 transmitted through the half head 400 and the light of the right eye image camera 300 reflected by the half mirror 400.
  • the left eye image camera 200 and the right eye image camera 300 may acquire an alignment image 510 simultaneously photographed.
  • FIG. 4 illustrates the alignment image 510.
  • the barrel image 301 of the right eye camera and the barrel image 201 of the left eye camera are simultaneously displayed on the alignment image 510.
  • a marker of a color having a high contrast with respect to the color of the barrel may be displayed on the front surface of the barrel of the left eye image camera 200 and the right eye image camera 300.
  • a white marker may be displayed.
  • the height (z-axis distance) and horizontal distance (y-axis distance) of the right eye image camera 300 are adjusted so that the barrel images 201 and 301 in the alignment image 510 coincide with each other.
  • the position adjustment of the right eye image camera 300 may be arranged by a manipulating the camera alignment module 700 directly, the optical axis alignment processor 900 through the image processing the barrel images (201,301)
  • the alignment may be automatically performed by driving the motor 800 for image alignment so as to coincide with each other.
  • the camera alignment module 700 is provided with two camera alignment modules, when the positions of the left eye image camera 200 and the right eye image camera 300 can be adjusted, the left eye image camera 200 may be adjusted. And can also adjust the height and horizontal distance of the right eye image camera 300 at the same time.
  • the alignment screen 600 is installed, and the left eye image camera 200 and the right eye image camera 300 photograph the alignment screen 600 through the half mirror 400.
  • the marker image 612 in the left eye image 220 captured by the left eye image camera 200 and the marker image 611 in the right eye image 210 captured by the right eye image camera 300 are described below.
  • the pitch and the viewing angle (adjusted by the yawing of the camera) of the right eye image camera 300 are adjusted so that the position and shape coincide with each other in the synthesized image 230 synthesized as a stereoscopic image.
  • the composite image 230 may be output through a stereoscopic image display.
  • the installation of the alignment screen 600 may be made before or at the same time as the installation of the alignment camera 500, the height, the horizontal distance, the pitch and the viewing angle of the right eye image camera 300 may be made at the same time. .
  • the near-aligned image 510 is used for short-range alignment and the composite image 230 is used for long-range alignment, so that the long-range alignment and the short-range alignment can be simultaneously performed without moving the alignment screen 600.
  • the alignment screen is photographed once at a short distance, the near alignment is performed, the alignment screen is photographed once again at a long distance, and thus the long distance alignment has to be performed. It takes a lot of time and troublesome, in particular, because the composite image used for the remote alignment is very sensitive to the movement of the camera, there was a problem to repeat the near and far alignment several times, the optical axis alignment method of the present invention.
  • the advantage is that the near and long distance can be aligned at a time without moving the alignment screen 600.
  • optical axis alignment method and orthogonal stereoscopic camera rig of the orthogonal stereoscopic camera of the present invention can be utilized in the field of 3D imaging.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Stereoscopic And Panoramic Photography (AREA)
  • Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)

Abstract

La présente invention concerne un procédé d'alignement d'un axe optique d'un appareil photo stéréo de type orthogonal et un appareil photo stéréo de type orthogonal, et concerne plus particulièrement : un procédé d'alignement de l'axe optique d'un appareil photo stéréo de type orthogonal, qui aligne simultanément les axes optiques d'un appareil photo d'image œil gauche et d'un appareil photo d'image œil droit par rapport à des distances longues et courtes avant de photographier une image stéréoscopique, ce qui permet l'alignement précis des axes optiques et diminue notablement le temps nécessaire pour aligner les axes optiques ; et un appareil photo stéréo de type orthogonal.
PCT/KR2013/004508 2013-05-14 2013-05-23 Procédé d'alignement d'axe optique d'appareil photo stéréo de type orthogonal et appareil photo stéréo de type orthogonal WO2014185578A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2013-0054184 2013-05-14
KR1020130054184A KR101456650B1 (ko) 2013-05-14 2013-05-14 직교식 입체 카메라의 광축 정렬 방법 및 직교식 입체 카메라

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WO2014185578A1 true WO2014185578A1 (fr) 2014-11-20

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Cited By (1)

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Publication number Priority date Publication date Assignee Title
WO2017111558A1 (fr) * 2015-12-24 2017-06-29 주식회사 연시스템즈 Caméra stéréoscopique monoculaire

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Publication number Priority date Publication date Assignee Title
KR101805710B1 (ko) 2015-06-11 2017-12-06 주식회사 레드로버 축간격 조정부를 갖는 입체영상 촬영장치 및 이를 이용한 입체영상의 깊이감 조절 방법
KR102617182B1 (ko) * 2016-08-11 2023-12-26 한국전자통신연구원 영상 촬영 장치

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KR100986286B1 (ko) * 2010-04-12 2010-10-07 이용범 사람 눈처럼 주시각 제어가 가능한 직교식 양안 입체 카메라 시스템 및 그 제어방법
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KR101244866B1 (ko) * 2011-11-16 2013-03-19 한국방송공사 직교식 3ｄ 카메라 구동 장치

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US20020075384A1 (en) * 1997-11-21 2002-06-20 Dynamic Digital Depth Research Pty. Ltd. Eye tracking apparatus
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WO2017111558A1 (fr) * 2015-12-24 2017-06-29 주식회사 연시스템즈 Caméra stéréoscopique monoculaire
CN107431799A (zh) * 2015-12-24 2017-12-01 株式会社渊系统 单眼立体相机
CN107431799B (zh) * 2015-12-24 2019-06-14 株式会社渊系统 单眼立体相机
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