CN111504258B - Stereoscopic vision calculation method for single pan-tilt camera - Google Patents
Stereoscopic vision calculation method for single pan-tilt camera Download PDFInfo
- Publication number
- CN111504258B CN111504258B CN202010163356.2A CN202010163356A CN111504258B CN 111504258 B CN111504258 B CN 111504258B CN 202010163356 A CN202010163356 A CN 202010163356A CN 111504258 B CN111504258 B CN 111504258B
- Authority
- CN
- China
- Prior art keywords
- image
- camera
- stereoscopic vision
- theta
- pan
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000004364 calculation method Methods 0.000 title claims abstract description 25
- 238000003384 imaging method Methods 0.000 claims description 6
- 230000003287 optical effect Effects 0.000 abstract description 9
- 238000001514 detection method Methods 0.000 abstract 1
- 238000012544 monitoring process Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/02—Details
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Image Processing (AREA)
Abstract
The patent relates to a stereoscopic vision calculation method of a single pan-tilt camera, wherein the pan-tilt camera is provided with a horizontal 360-degree rotation mechanism and a vertical 120-degree rotation mechanism, an image processor and a camera for image acquisition are arranged inside the pan-tilt camera, the focal length of the camera is f, and the image processor is used for realizing the stereoscopic vision calculation method and comprises the following steps: (1) the image processor acquires an image f of the environment through the camera1(x, y); (2) the tripod head camera rotates by theta degrees in the horizontal direction, the rotation radius is L, and the image processor acquires an image f of the environment through the camera2(x, y); (3) and image f1(x, y) and f2(x, y) image matching and calculating the parallax dx(i,j) And calculating the depth h = f · θ · L/(d)x(i,j) -f.theta). This patent constructs the binocular stereoscopic vision system of alternately optical axis through the rotation of single cloud platform camera, realizes the detection of environment degree of depth information.
Description
Technical Field
The invention relates to a stereoscopic vision calculation method for a single pan-tilt camera, and belongs to the field of video monitoring.
Background
At present, a monitoring camera plays an increasingly important role in work and life, and the function of the monitoring camera is also increasingly powerful and more intelligent. The camera is monitored from a fixed visual angle and a fixed area, is developed into multi-visual angle and multi-area inspection and is based on a network camera of the Internet of things. With the development of computer technology and image processing technology, intelligent cameras begin to appear, and monitoring and semantic analysis of important targets are achieved. In order to obtain the best monitoring effect, the key target is required to be controlled to be always in the central area of the image, so that the distance of the key target needs to be measured, and the camera can track the target quickly and stably.
Disclosure of Invention
The invention aims to solve the technical problems and provides a stereo vision calculation method of a single pan-tilt camera, which adopts the following technical scheme:
the stereoscopic vision computing method of the single pan-tilt camera is characterized in that the pan-tilt camera is provided with a mechanism which rotates 360 degrees horizontally and 120 degrees vertically, an image processor and a camera which acquires images are arranged inside the pan-tilt camera, the focal length of the camera is f, the image processor is used for realizing the stereoscopic vision computing method, and the stereoscopic vision computing method comprises the following steps:
(1) the image processor acquires the image of the environment through the camera to obtain an image f1(x, y), wherein x and y are pixel coordinates;
(2) the tripod head camera rotates by theta degrees in the horizontal direction, the rotation radius is L, and the image processor acquires the image of the environment through the camera to obtain an image f2(x,y)；
(3) And image f1(x, y) and f2(x, y) image matching and calculating the parallax dx(i, j) Calculating the depth h (x, y) = f · θ · L/(d)x(i, j)-f·θ)。
Optionally, the image processor is configured to implement a stereo vision calculation method, where the stereo vision calculation method includes the following steps:
(1 '), the image processor acquires an environment image through the camera to obtain an image f'1(x, y), wherein x and y are pixel coordinates;
(2 '), the pan-tilt camera rotates by theta degrees in the vertical direction, the rotation radius is L, and the image processor acquires an image of the environment through the camera to obtain an image f'2(x,y)；
(3 '), and an image f'1(x, y) and f'2(x, y) image matching and calculating the parallax dy(i, j) Calculating the depth h (x, y) = f · θ · L/(d)y(i, j)-f·θ)。
The implementation of the invention has the positive effects that: through the two images shot before and after the rotation of the pan-tilt camera, a stereoscopic vision system with crossed optical axes is constructed, the depth information is measured, additional equipment is avoided, the system is simplified, and useful distance information is provided for intelligent function expansion.
Drawings
Fig. 1 is an external view of a pan-tilt camera;
fig. 2 is embodiment 1 of a stereoscopic vision calculation method;
fig. 3 is embodiment 2 of the stereoscopic vision calculation method.
Detailed Description
The invention will now be further described with reference to the accompanying drawings in which:
referring to fig. 1-3, in the stereo vision calculation method of a single pan-tilt camera, the pan-tilt camera is provided with a mechanism rotating 360 degrees horizontally and 120 degrees vertically, an image processor and a camera for image acquisition are arranged inside the pan-tilt camera, and the focal length of the camera is f.
The image processor is used for realizing a stereoscopic vision calculation method, and when the pan-tilt camera needs to track a certain target or needs to determine the distance of the certain target, the stereoscopic vision calculation method can be adopted. The stereo vision calculation method comprises the following steps:
(1) the image processor acquires the image of the environment through the camera to obtain an image f1(x, y), wherein x and y are pixel coordinates;
(2) the tripod head camera rotates by theta degrees in the horizontal direction, the rotation radius is L, and the image processor acquires the image of the environment through the camera to obtain an image f2(x,y)；
And (3) finishing image acquisition at two positions in the steps (1) and (2), neglecting the movement of the target, and regarding the target as a binocular stereo vision system with crossed optical axes, wherein the intersection point of the optical axes is C.
(3) And image f1(x, y) and f2(x, y) image matching and calculating the parallax dx(i, j) And calculating the depth h = f · θ · L/(d)x(i, j)-f·θ)。
First, for an image f1(x, y), establishing a ratio according to the imaging geometry:
x1/f=X1/h1
then, for the image f2(x, y), establishing a ratio according to the imaging geometry:
x2/f=X2/h2
because the target is to the optical center O1Or O2I.e. the depth is relatively large, h can be reduced1And h2And performing approximate equality processing, and combining and expressing as h, then:
x1/f=X1/h，x2/f=X2/h
the two equations are subtracted to yield:
(x1-x2)/f=(X1-X2)/h
mixing X1-X2Approximated by the length X in fig. 2, X = θ · (L + h), and d according to the approximated triangle principlex(i, j)=x1-x2Bringing into the above formula yields:
dx(i, j)/f=θ·L/h+θ
finishing to obtain:
h=f·θ·L/(dx(i, j)-f·θ)。
optionally, the image processor is configured to implement a stereo vision calculation method, where the stereo vision calculation method includes the following steps:
(1 '), the image processor acquires an environment image through the camera to obtain an image f'1(x, y), wherein x and y are pixel coordinates;
(2 '), the pan-tilt camera rotates by theta degrees in the vertical direction, the rotation radius is L, and the image processor acquires an image of the environment through the camera to obtain an image f'2(x,y)；
And (1 ') and (2') finishing image acquisition at two positions, neglecting movement of the target, and regarding the target as a binocular stereo vision system with crossed optical axes, wherein the target forms parallax in the y-axis direction, and the intersection point of the optical axes is C.
(3 '), and an image f'1(x, y) and f'2(x, y) is carried outImage matching and calculating the parallax dy(i, j) And calculating the depth h = f · θ · L/(d)y(i, j)-f·θ)。
First, for image f'1(x, y), establishing a ratio according to the imaging geometry:
y1/f=Y1/h1
then, for image f'2(x, y), establishing a ratio according to the imaging geometry:
y2/f=Y2/h2
because the target is to the optical center O1Or O2I.e. the depth is relatively large, h can be reduced1And h2And performing approximate equality processing, and combining and expressing as h, then:
y1/f=Y1/h，y2/f=Y2/h
the two equations are subtracted to yield:
(y1-y2)/f=(Y1-Y2)/h
will Y1-Y2Approximately length Y in fig. 3, Y = θ · (L + h) according to the approximately triangular principle, and dy(i, j)=y1-y2Bringing into the above formula yields:
dy(i, j)/f=θ·L/h+θ
finishing to obtain:
h=f·θ·L/(dy(i, j)-f·θ)。
to sum up, this patent constructs the criss-cross stereoscopic vision system of optical axis through rotatory cloud platform camera, two images of shooting around rotatory, realizes the depth information and measures, provides useful distance information for intelligent function extension.
Claims (2)
1. The stereoscopic vision calculation method of the single pan-tilt camera is characterized in that the pan-tilt camera is provided with a mechanism which rotates 360 degrees horizontally and 120 degrees vertically, an image processor and a camera for image acquisition are arranged inside the pan-tilt camera, and the focal length of the camera is f: the image processor is used for realizing a stereoscopic vision computing method, and the stereoscopic vision computing method comprises the following steps:
(1) the image processor acquires the image of the environment through the camera to obtain an image f1(x, y), wherein x and y are pixel coordinates;
(2) the tripod head camera rotates by theta degrees in the horizontal direction, the rotation radius is L, and the image processor acquires the image of the environment through the camera to obtain an image f2(x,y)；
(3) And image f1(x, y) and f2(x, y) image matching and calculating the parallax dx(i, j) For image f1(x, y) establishing a ratio x based on the imaged geometric relationship1/f=X1/h1For image f2(x, y) establishing a ratio x based on the imaged geometric relationship2/f=X2/h2Wherein x is1，x2As pixel coordinates of the imaging point, X1，X2Is the spatial coordinate of the projection point, h1，h2For the depth of the projection point, h1And h2Approximately equal processing is carried out, and the combination is expressed as h (x, y), then x1/f=X1/h(x,y)，x2/f=X2H (x, y), subtracting the two formulas to obtain (x)1-x2)/f=(X1-X2) H (X, y), converting X1-X2Is approximated by a length X, X = θ · (L + h (X, y)) and d according to the approximated triangle principlex(x,y)=x1-x2Is introduced into (x)1-x2)/f=(X1-X2) H (x, y) to dx(x, y)/f = theta.L/h (x, y) + theta, and h (x, y) = f.theta.L/(d)x(x,y)-f·θ)。
2. The stereoscopic vision calculation method of a single pan-tilt camera according to claim 1, characterized in that: the image processor is used for realizing a stereoscopic vision computing method, and the stereoscopic vision computing method further comprises the following steps:
(1'), said image processor being configured by saidThe camera acquires an image of the environment to obtain an image f'1(x, y), wherein x and y are pixel coordinates;
(2 '), the pan-tilt camera rotates by theta degrees in the vertical direction, the rotation radius is L, and the image processor acquires an image of the environment through the camera to obtain an image f'2(x,y)；
(3 '), and an image f'1(x, y) and f'2(x, y) image matching and calculating the parallax dy(i, j) For picture f'1(x, y) establishing a ratio y based on the imaged geometric relationship1/f=Y1/h1For picture f'2(x, y) establishing a ratio y based on the imaged geometric relationship2/f=Y2/h2Wherein y is1，y2As pixel coordinates of the imaging point, Y1，Y2For the spatial coordinates of the projection points, h1And h2Approximately equal processing is carried out, and the combination is expressed as h (x, y), then y1/f=Y1/h(x,y)，y2/f=Y2H (x, y), subtracting the two formulas to obtain (y)1-y2)/f=(Y1-Y2) H (x, Y), reacting Y1-Y2Is approximately length Y, according to the approximately triangular principle, Y = θ · (L + h (x, Y)), and dy(x,y)=y1-y2Carry in (y)1-y2)/f=(Y1-Y2) H (x, y) to dy(x, y)/f = theta.L/h (x, y) + theta, and h (x, y) = f.theta.L/(d)y(x,y)-f·θ)。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010163356.2A CN111504258B (en) | 2020-03-10 | 2020-03-10 | Stereoscopic vision calculation method for single pan-tilt camera |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010163356.2A CN111504258B (en) | 2020-03-10 | 2020-03-10 | Stereoscopic vision calculation method for single pan-tilt camera |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111504258A CN111504258A (en) | 2020-08-07 |
| CN111504258B true CN111504258B (en) | 2021-08-31 |
Family
ID=71867095
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010163356.2A Active CN111504258B (en) | 2020-03-10 | 2020-03-10 | Stereoscopic vision calculation method for single pan-tilt camera |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111504258B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102168954A (en) * | 2011-01-14 | 2011-08-31 | 浙江大学 | Monocular-camera-based method for measuring depth, depth field and sizes of objects |
| JP2011203057A (en) * | 2010-03-25 | 2011-10-13 | Tokyo Electric Power Co Inc:The | Distance measuring instrument for flying object and flying object position measuring instrument |
| CN102867304A (en) * | 2012-09-04 | 2013-01-09 | 南京航空航天大学 | Method for establishing relation between scene stereoscopic depth and vision difference in binocular stereoscopic vision system |
| CN109345587A (en) * | 2018-09-01 | 2019-02-15 | 哈尔滨工程大学 | A hybrid vision positioning method based on panoramic and monocular vision |
| CN109920008A (en) * | 2019-02-20 | 2019-06-21 | 北京中科慧眼科技有限公司 | Modification method, device and the automated driving system of self-calibration range error |
-
2020
- 2020-03-10 CN CN202010163356.2A patent/CN111504258B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011203057A (en) * | 2010-03-25 | 2011-10-13 | Tokyo Electric Power Co Inc:The | Distance measuring instrument for flying object and flying object position measuring instrument |
| CN102168954A (en) * | 2011-01-14 | 2011-08-31 | 浙江大学 | Monocular-camera-based method for measuring depth, depth field and sizes of objects |
| CN102867304A (en) * | 2012-09-04 | 2013-01-09 | 南京航空航天大学 | Method for establishing relation between scene stereoscopic depth and vision difference in binocular stereoscopic vision system |
| CN109345587A (en) * | 2018-09-01 | 2019-02-15 | 哈尔滨工程大学 | A hybrid vision positioning method based on panoramic and monocular vision |
| CN109920008A (en) * | 2019-02-20 | 2019-06-21 | 北京中科慧眼科技有限公司 | Modification method, device and the automated driving system of self-calibration range error |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111504258A (en) | 2020-08-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104835117B (en) | Generating method of spherical panorama based on overlapping method | |
| CN110728715B (en) | A method for self-adaptive adjustment of the camera angle of an intelligent inspection robot | |
| CN103826103B (en) | Cruise control method for tripod head video camera | |
| US10008028B2 (en) | 3D scanning apparatus including scanning sensor detachable from screen | |
| CN108093244B (en) | Remote follow-up stereoscopic vision system | |
| CN110246175A (en) | Intelligent Mobile Robot image detecting system and method for the panorama camera in conjunction with holder camera | |
| CN104506761B (en) | A kind of 360 degree of full-view stereo photography machines | |
| CN108288291A (en) | Polyphaser calibration based on single-point calibration object | |
| CN206724901U (en) | A kind of monocular three-dimensional real-time online tracking and positioning system | |
| US20070076090A1 (en) | Device for generating three dimensional surface models of moving objects | |
| CN107907066B (en) | Monocular six degree of freedom deformation monitoring system and method | |
| WO2014044161A1 (en) | Target tracking method and system for intelligent tracking high speed dome camera | |
| CN102253057B (en) | Endoscope system and measurement method using endoscope system | |
| CN114838668B (en) | Tunnel displacement monitoring method and system | |
| CN107038714B (en) | Multi-type visual sensing cooperative target tracking method | |
| CN106127115B (en) | A hybrid vision target localization method based on panoramic and conventional vision | |
| CN109887025B (en) | Monocular self-adjusting fire point three-dimensional positioning method and device | |
| CN104318604A (en) | 3D image stitching method and apparatus | |
| CN105374067A (en) | Three-dimensional reconstruction method based on PAL cameras and reconstruction system thereof | |
| CN102291568A (en) | Accelerated processing method of large-view-field intelligent video monitoring system | |
| CN111504258B (en) | Stereoscopic vision calculation method for single pan-tilt camera | |
| CN114663486A (en) | Building height measurement method and system based on binocular vision | |
| CN113989105B (en) | Single-camera spherical mirror reflection imaging projection device | |
| CN116664780A (en) | 3D dynamic modeling method for digital twin of coal-fired power plant auxiliary equipment | |
| Iguchi et al. | Omni-directional 3D measurement using double fish-eye stereo vision |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Wang Zhengang Inventor after: Liu Zongwei Inventor after: Liu Yu Inventor before: Liu Yu |
|
| CB03 | Change of inventor or designer information | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20210812 Address after: 276007 floor 3, Yimeng cloud Valley, 200m west of the intersection of Hefei Road and Volvo Road, Zhimadun street, economic development zone, Linyi City, Shandong Province Applicant after: Linyi Zhongke artificial intelligence Innovation Research Institute Co.,Ltd. Address before: 310013 no.256, 6th floor, building 2, Huahong building, 248 Tianmushan Road, Xihu District, Hangzhou City, Zhejiang Province Applicant before: HANGZHOU JINGYI INTELLIGENT SCIENCE & TECHNOLOGY Co.,Ltd. |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |