CN106931879B - Binocular error measurement method, device and system - Google Patents
Binocular error measurement method, device and system Download PDFInfo
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- CN106931879B CN106931879B CN201710057089.9A CN201710057089A CN106931879B CN 106931879 B CN106931879 B CN 106931879B CN 201710057089 A CN201710057089 A CN 201710057089A CN 106931879 B CN106931879 B CN 106931879B
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Abstract
The invention discloses a binocular error measuring method, a device and a system, wherein the method comprises the following steps: determining a reference coordinate system, and calculating first spatial position information of the laser range finder in the reference coordinate system; calculating target object space position information according to the to-be-tested binocular module, and calculating second space position information of the target object space position information in a reference coordinate system; calculating a first distance value between a target object and a laser range finder, wherein the first distance value is obtained by testing of a binocular module to be tested; calculating to obtain a binocular error by using a second distance value between the target object and the laser range finder measured by the laser range finder and the first distance value; the distance obtained by testing with the laser range finder is used as the true value of the binocular module, so that the hardware cost is greatly reduced, and the installation steps are simplified; the binocular module, the laser range finder and the target object are converted into a reference coordinate system, errors generated in the installation process are eliminated, and the accuracy of binocular error measurement is improved.
Description
Technical Field
The invention relates to the technical field of error measurement, in particular to a binocular error measurement method, device and system.
Background
With the rapid development of computer theory, technology and application, video image processing and computing power are greatly improved, so that computer vision becomes one of the hottest research subjects in the computer field and the artificial intelligence field. The binocular stereo vision is one of important branches in the field of computer vision research, senses an objective world in a mode of directly simulating a human vision system, and can be widely applied to the fields of pose detection and control of a micro-operation system, robot navigation and aerial survey, three-dimensional non-contact measurement, virtual reality and the like. The wide application of binocular stereo vision, the control of its precision is also more strict, so a complete set of binocular error measurement system is needed to measure the binocular error.
Currently, a mechanical arm or a vicon system can be used for measuring binocular errors; the binocular error is measured by the mechanical arm, and although the measurement accuracy is high, the cost of the mechanical arm is high. The vicon system is adopted to measure binocular errors, although the cost is controlled to a certain degree, the vicon system also has errors, and meanwhile, the vicon system is complex to set up and is not beneficial to binocular error measurement. Therefore, the existing binocular error measuring method is difficult to meet the requirements of a large number of users.
Disclosure of Invention
The invention aims to provide a binocular error measuring method, device and system, which greatly reduce the hardware cost, simplify the installation steps, eliminate errors generated in the installation process and improve the binocular error measuring precision.
In order to solve the technical problem, the invention provides a binocular error measuring method, which comprises the following steps:
determining a reference coordinate system, and calculating first spatial position information of the laser range finder in the reference coordinate system;
calculating target object space position information according to a binocular module to be tested, and calculating second space position information of the target object space position information under the reference coordinate system;
calculating a first distance value between a target object obtained by the test of the binocular module to be tested and the laser range finder according to the first spatial position information and the second spatial position information;
and calculating to obtain a binocular error by using a second distance value between the target object and the laser range finder measured by the laser range finder and the first distance value.
Optionally, calculating first spatial position information of the laser range finder in the reference coordinate system includes:
according to the binocular module that awaits measuringCalculating to obtain the spatial position information of the three target positions, and calculating the spatial position information (x) of the spatial position information of the three target positions in the reference coordinate system1,y1,z1)，(x2,y2,z2)，(x3,y3,z3)；
The distance value l between the three target positions and the laser range finder measured by the laser range finder1，l2，l3；
According to the formula
Calculating first spatial position information (x) of the laser range finder in the reference coordinate system0,y0,z0)。
Optionally, calculating a first distance value between the target object obtained by the test of the to-be-tested binocular module and the laser range finder according to the first spatial position information and the second spatial position information, includes:
according to the first spatial position information (x)0,y0,z0) And said second spatial position information (x, y, z), using
Calculating a first distance value d between the target object obtained by testing the to-be-tested binocular module and the laser range finder1。
Optionally, when calculating n times of spatial position information of the target object according to the to-be-tested binocular module, and calculating n second spatial position information of the target object in the reference coordinate system, calculating a binocular error by using a second distance value between the target object and the laser range finder measured by the laser range finder and the first distance value, including:
using formulasCalculating the average absolute error delta of the two eyes;
using formulas
Calculating the binocular average relative error delta;
wherein d is2Is a second distance value, d1jIs the jth first distance value.
The present invention also provides a binocular error measuring apparatus, comprising:
the system comprises a coordinate system module, a coordinate system module and a control module, wherein the coordinate system module is used for determining a reference coordinate system and calculating first spatial position information of the laser range finder in the reference coordinate system; calculating target object space position information according to a binocular module to be tested, and calculating second space position information of the target object space position information under the reference coordinate system;
the error analysis module is used for calculating a first distance value between a target object obtained by the test of the binocular module to be tested and the laser range finder according to the first spatial position information and the second spatial position information; and calculating to obtain a binocular error by using a second distance value between the target object and the laser range finder measured by the laser range finder and the first distance value.
Optionally, the coordinate system module includes:
a first calculating unit for calculating spatial position information of the three target positions according to the binocular module to be tested, and calculating spatial position information (x) of the spatial position information of the three target positions in the reference coordinate system1,y1,z1)，(x2,y2,z2)，(x3,y3,z3)；
A second calculation unit for calculating the distance values l between the three target positions and the laser range finder measured by the laser range finder1，l2，l3(ii) a According to the formulaCalculating first spatial position information (x) of the laser range finder in the reference coordinate system0,y0,z0)。
Optionally, the error analysis module includes:
a first distance value calculation unit for calculating a first distance value based on the first spatial position information (x)0,y0,z0) And said second spatial position information (x, y, z), usingCalculating a first distance value d between the target object obtained by testing the to-be-tested binocular module and the laser range finder1。
Optionally, when the target object spatial position information is calculated for n times according to the to-be-tested binocular module, and n second spatial position information of the target object spatial position information under the reference coordinate system is calculated, the error analysis module includes:
a third calculation unit for using the formula
Calculating the average absolute error delta of the two eyes;
a fourth calculation unit for using the formula
Calculating the binocular average relative error delta;
wherein d is2Is a second distance value, d1jIs the jth first distance value.
The present invention also provides a binocular error measuring system, comprising:
the to-be-tested binocular module is used for calculating the spatial position information of the target object by using a depth algorithm;
the laser range finder is used for measuring the distance value between a target object and the laser range finder;
the coordinate system module is used for determining a reference coordinate system and calculating first spatial position information of the laser range finder in the reference coordinate system; calculating target object space position information according to a binocular module to be tested, and calculating second space position information of the target object space position information under the reference coordinate system;
the error analysis module is used for calculating a first distance value between a target object obtained by the test of the binocular module to be tested and the laser range finder according to the first spatial position information and the second spatial position information; and calculating to obtain a binocular error by using a second distance value between the target object and the laser range finder measured by the laser range finder and the first distance value.
Optionally, the scheme further includes:
and the fixing support is used for fixing the binocular module to be tested and the laser range finder.
The invention provides a binocular error measuring method, which comprises the following steps: determining a reference coordinate system, and calculating first spatial position information of the laser range finder in the reference coordinate system; calculating target object space position information according to the to-be-tested binocular module, and calculating second space position information of the target object space position information in a reference coordinate system; calculating a first distance value between a target object and a laser range finder, wherein the first distance value is obtained by testing of a binocular module to be tested; calculating to obtain a binocular error by using a second distance value between the target object and the laser range finder measured by the laser range finder and the first distance value;
therefore, the method adopts the distance obtained by the test of the laser range finder as the true value of the binocular module, greatly reduces the hardware cost and simplifies the installation steps; the binocular module, the laser range finder and the target object are converted into a reference coordinate system, errors generated in the installation process are eliminated, and the accuracy of binocular error measurement is improved. The binocular error measuring device and system provided by the invention have the beneficial effects, and are not described again.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flowchart of a binocular error measurement method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a reference coordinate system model according to an embodiment of the present invention;
fig. 3 is a schematic flow chart of a specific binocular error measurement method according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a binocular error measurement system according to an embodiment of the present invention;
fig. 5 is a block diagram of a binocular error measuring apparatus according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a binocular error measurement system provided in an embodiment of the present invention.
Detailed Description
The core of the invention is to provide a binocular error measurement method, a device and a system, which greatly reduce the hardware cost, simplify the installation steps, eliminate the errors generated in the installation process and improve the binocular error measurement precision.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a flowchart of a binocular error measurement method according to an embodiment of the present invention; the method can comprise the following steps:
s100, determining a reference coordinate system, and calculating first spatial position information of the laser range finder in the reference coordinate system;
specifically, a reference coordinate system is selected, and the binocular module to be tested (namely the binocular module to be tested), the laser range finder and the target object are converted into the reference coordinate system, so that errors generated in the installation process are eliminated, and the accuracy of binocular error measurement is improved. The selection of the reference coordinate system is not limited in this embodiment. For example, the reference coordinate system may be established with the binocular module left camera as the reference coordinate system, or the binocular module right camera as the reference coordinate system, or with other points in space as the center.
After a reference coordinate system is selected, first spatial position information of the laser range finder under the reference coordinate system is calculated, namely coordinates of the laser range finder under the reference coordinate system; therefore, when the binocular module to be tested calculates the spatial position information of the target object, the spatial position information can be converted into the same reference coordinate system, and then the distance between the target object and the laser range finder can be calculated. And the laser range finder can also measure the distance between itself and the target object. And comparing the two distances to obtain the accuracy of the binocular module to be measured.
The reason why the distance measured by the laser range finder is used as a true value is as follows, firstly, the distance measured by the laser range finder is high in accuracy (due to good laser directivity), secondly, the laser range finder is universal in use, the hardware cost is low, the laser range finder is convenient to install, and the installation steps are simplified.
In this embodiment, after the positions of the laser range finder and the to-be-tested binocular module are fixed, the relative positions of the to-be-tested binocular module and the laser range finder can be calculated through the reference coordinate system.
The embodiment does not limit the conversion manner between specific coordinates, and here, a manner for accurately converting the spatial position information into the reference coordinate system can be provided:
first, a position in the system is selected as a reference coordinate system. A schematic diagram of the coordinate system is made for ease of description, as shown in fig. 2. In the figure, a left camera of the binocular module is selected as a reference coordinate system.
Converting the laser range finder M into a reference coordinate system, and calculating the position of M relative to the binocular module to be tested, assuming (x)0,y0,z0). Due to the distance between the binocular module to be tested and the target objectWhen the distance is less than 0.7m, the error is negligible. Therefore, to calculate (x)0,y0,z0) The distance between the binocular module and the target object needs to be controlled within 0.70 m.
And opening the laser range finder, so that the laser range finder and the to-be-tested binocular module are tested to the same target point. At the same time, data l of the target point, namely the target object in the laser range finder is recorded1Data in binocular modules (x)1,y1,z1). Because the coordinate of M has three unknowns, the target point needs to be changed, and a plurality of groups of data are recorded, so that (x) is solved0,y0,z0). The specific solving formula is as follows.
Wherein k (. gtoreq.3) represents the number of tests, since there are 3 unknowns. The optimal solution (x) can be obtained by solving the above formula0,y0,z0) I.e. M is o-xmymzmCoordinates of (2).
That is, preferably, calculating the first spatial position information of the laser rangefinder in the reference coordinate system may include:
calculating the spatial position information of the three target positions according to the binocular module to be tested, and calculating the spatial position information (x) of the spatial position information of the three target positions in a reference coordinate system1,y1,z1)，(x2,y2,z2)，(x3,y3,z3)；
Distance value l between three target positions and laser range finder measured by laser range finder1，l2，l3；
According to the formula
Calculating first spatial position information (x) of the laser range finder in a reference coordinate system0,y0,z0)。
S110, calculating spatial position information of a target object according to a binocular module to be tested, and calculating second spatial position information of the target object in a reference coordinate system;
specifically, the binocular module to be tested calculates the spatial position (x ', y ', z ') of the target object, and converts the spatial position into the reference coordinate system to obtain (x, y, z).
S120, calculating a first distance value between a target object and the laser range finder, which is obtained by testing of the to-be-tested binocular module, according to the first spatial position information and the second spatial position information;
in particular, according to the first spatial position information (x)0,y0,z0) And second spatial position information (x, y, z), using
Calculating a first distance value d between a target object and the laser range finder obtained by testing the to-be-tested binocular module1。
And S130, calculating to obtain a binocular error by using a second distance value between the target object and the laser range finder measured by the laser range finder and the first distance value.
Specifically, the laser range finder measures the distance d of the target object2. From d2，d1The binocular error of the single measurement of the binocular module to be tested can be obtained. The present embodiment does not limit the specific dual-mode error. The binocular error here may include an absolute error and a relative error, for example. With particular reference to figure 3 of the drawings,
and further measuring the binocular module to be tested at the same position for n times, and then calculating the average absolute error and the average relative error of the binocular module to be tested. That is, preferably, when the spatial position information of the target object is calculated for n times according to the to-be-tested binocular module and n second spatial position information of the target object under the reference coordinate system are calculated, the binocular error is calculated by using the second distance value between the target object and the laser range finder measured by the laser range finder and the first distance value, and the method includes:
using formulas
Calculating the average absolute error delta of the two eyes;
using formulas
Calculating the binocular average relative error delta;
wherein d is2Is a second distance value, d1jIs the jth first distance value. I.e. n denotes the number of times the target object is tested at the same location, d1jRepresents the distance corresponding to the jth target point obtained by binocular test, d2Indicating the distance taken by the laser rangefinder.
In order to further improve the error monitoring precision of the to-be-tested binocular module, the position of the target object can be changed for re-detection. Specifically referring to fig. 3, firstly, the coordinates of the laser range finder M in the reference coordinate system are calculated, then, the distance from the target object to the laser range finder is obtained according to the target object spatial position information obtained by the to-be-tested binocular module, and the distance obtained by the laser range finder are subjected to error calculation, whether the error calculation of the position is performed n times is judged, if yes, the process is ended, and if not, the distance between the target object and the laser range finder is changed by changing the position of the fixed support 3. The fixing bracket 3 may be any bracket as long as the distance between the target object and the laser range finder can be changed by changing the position thereof.
Based on the technical scheme, the binocular error measuring method provided by the embodiment of the invention adopts the distance obtained by the test of the laser range finder as the true value of the binocular module, thereby greatly reducing the hardware cost and simplifying the installation steps; the binocular module, the laser range finder and the target object are converted into a reference coordinate system, errors generated in the installation process are eliminated, and the accuracy of binocular error measurement is improved.
The binocular error measuring device and the binocular error measuring system provided by the embodiments of the present invention are introduced below, and the binocular error measuring device and the binocular error measuring system described below and the binocular error measuring method described above may be referred to correspondingly.
Referring to fig. 5, fig. 5 is a block diagram of a binocular error measuring apparatus according to an embodiment of the present invention; the apparatus may include:
the coordinate system module 100 is configured to determine a reference coordinate system and calculate first spatial position information of the laser range finder in the reference coordinate system; calculating target object space position information according to the to-be-tested binocular module, and calculating second space position information of the target object space position information in a reference coordinate system;
the error analysis module 200 is configured to calculate a first distance value between the target object and the laser range finder, which is obtained by the test of the to-be-tested binocular module, according to the first spatial position information and the second spatial position information; and calculating to obtain a binocular error by using the second distance value between the target object measured by the laser range finder and the first distance value.
Based on the above embodiments, the coordinate system module 100 may include:
a first calculating unit for calculating spatial position information of the three target positions according to the binocular module to be tested, and calculating spatial position information (x) of the spatial position information of the three target positions in a reference coordinate system1,y1,z1)，(x2,y2,z2)，(x3,y3,z3)；
A second calculating unit for measuring the distance values l between the three target positions and the laser range finder by using the laser range finder1，l2，l3(ii) a According to the formula
Calculating first spatial position information (x) of the laser range finder in a reference coordinate system0,y0,z0)。
Based on the above embodiment, the error analysis module 200 includes:
a first distance value calculating unit for calculating a first distance value based on the first spatial position information (x)0,y0,z0) And second spatial position information (x, y, z), using
Calculating a first distance value d between a target object and the laser range finder obtained by testing the to-be-tested binocular module1。
Based on the above embodiment, when the target object spatial position information is calculated for n times according to the to-be-tested binocular module, and n second spatial position information of the target object spatial position information under the reference coordinate system is calculated, the error analysis module 200 includes:
a third calculation unit for using the formulaCalculating the average absolute error delta of the two eyes;
a fourth calculation unit for using the formula
Calculating the binocular average relative error delta;
wherein d is2Is a second distance value, d1jIs the jth first distance value.
The embodiment of the invention also provides a binocular error measuring system, which comprises:
the to-be-tested binocular module is used for calculating the spatial position information of the target object by using a depth algorithm;
the laser range finder is used for measuring the distance value between the target object and the laser range finder;
the coordinate system module is used for determining a reference coordinate system and calculating first spatial position information of the laser range finder in the reference coordinate system; calculating target object space position information according to the to-be-tested binocular module, and calculating second space position information of the target object space position information in a reference coordinate system;
the error analysis module is used for calculating a first distance value between a target object and the laser range finder, which is obtained by the test of the to-be-tested binocular module, according to the first spatial position information and the second spatial position information; and calculating to obtain a binocular error by using the second distance value between the target object measured by the laser range finder and the first distance value.
Specifically, the system can reduce the hardware cost of the binocular error measurement system and improve the flexibility of the test system. The binocular module to be tested comprises a depth testing algorithm, namely information such as the position of a target object and a three-dimensional space can be tested. The laser range finder is mainly used for testing the distance of an object, and measuring the error of binocular depth testing by taking the distance as a true value. The coordinate system module is mainly used for determining the relative relation between the binocular module to be tested, the target object and the laser range finder in the system. The error analysis module is mainly used for analyzing the errors of the binocular module, comparing the distance obtained by the laser range finder as a true value with the distance obtained by testing the binocular module, and analyzing the errors of the binocular module.
Based on the above embodiment, in order to ensure the testing accuracy, the laser range finder, the to-be-tested binocular module and the like are also required to be fixed. The system therefore further comprises:
and the fixing support is used for fixing the binocular module to be tested and the laser range finder. To reduce systematic errors. The target object in the system may be a target test plate.
Referring specifically to fig. 6, the installation process may be as follows:
1. horizontally placing the fixed bracket 2 on the floor;
2. vertically installing a fixed support 1 and a fixed support 3 on a fixed support 2, wherein the fixed point P of the fixed support 2 and the fixed support 3 can be changed;
3. placing a target test plate on the fixed support 1;
4. vertically mounting a fixed platform (the fixed platform is in a regular square shape) on a fixed support 3;
5. installing a laser range finder on one side of a fixed platform, and installing a binocular module on the other side;
6. the error analysis module and the like can be installed on the PC side, which is not shown in the figure.
The light emitting surface of the laser range finder is parallel to the front edge of the fixed platform in the installation process, and the binocular module is perpendicular to the fixed platform and parallel to the front edge. In order to reduce systematic errors.
In particular toReferring to fig. 4, the center of the left camera of the binocular module to be tested is taken as the origin of the reference coordinate system, the xy plane of the coordinate system is parallel to the fixed platform, M represents the laser range finder, N represents the target object to be tested, and the distance d from the laser range finder to the target object N is obtained through testing2And calculating the distance d from the N to the laser range finder1。
The specific calculation process is as follows:
1) calculating the position of the laser range finder M in a reference coordinate system o-xmymzmCoordinates of (C) are assumed to be (x)0,y0,z0)。
Point P in fig. 6 was moved so that the horizontal distance from the fixed bracket 3 to the fixed bracket 1 was 0.50 m. Turning on the laser range finder to allow the laser to strike the test board, recording the target object N, and recording the distance l of the point N1Calculating N point at o-x through binocularmymzmCoordinate of (x)1,y1,z1). Changing the positions of the N points twice to obtain the positions l from the two groups of N points to the laser range finder and the binocular module2、(x2,y2,z2) And l3、(x3,y3,z3). Using the formula in step S100 to obtain (x)0,y0,z0)。
2) And (5) error measurement.
When measuring the error, the fixed support 3 is moved. Recording the point N of the laser range finder on the test board, and obtaining the distance d of N2. And obtaining the coordinates (x, y, z) of the N point through a binocular module test. The distance d between the N point and the laser measuring instrument obtained by binocular calculation can be solved according to the coordinate of the M point calculated in the step 1) and the distance formula between the two points1。
3) The average absolute error and the average relative error are calculated.
From d1，d2The absolute error and the relative error of the single measurement of the binocular module can be obtained. After the measurement is carried out for n times at the same position, the average absolute error and the average relative error of the binocular module can be calculated according to a formula.
4) The fixed support 3 is moved to test the next set of data.
5) And completing the error measurement of the binocular module.
Based on the technical scheme, the binocular error measuring system provided by the embodiment of the invention adopts the distance obtained by the test of the laser range finder as the true value of the binocular module, thereby greatly reducing the hardware cost and simplifying the installation steps; the binocular module, the laser range finder and the target object are converted into a reference coordinate system, errors generated in the installation process are eliminated, and the accuracy of binocular error measurement is improved.
The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The binocular error measuring method, device and system provided by the invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (8)
1. A binocular error measuring method, comprising:
determining a reference coordinate system, and calculating first spatial position information of the laser range finder in the reference coordinate system;
calculating target object space position information according to a binocular module to be tested, and calculating second space position information of the target object space position information under the reference coordinate system;
calculating a first distance value between a target object obtained by the test of the binocular module to be tested and the laser range finder according to the first spatial position information and the second spatial position information;
calculating to obtain a binocular error by using a second distance value between the target object and the laser range finder measured by the laser range finder and the first distance value;
wherein, the distance between the binocular module to be measured and the target object is less than 0.70m, and the first spatial position information of the laser range finder under the reference coordinate system is calculated, including:
calculating spatial position information of three target positions according to the binocular module to be tested, and calculating the spatial position information (x) of the spatial position information of the three target positions in the reference coordinate system1,y1,z1)，(x2,y2,z2)，(x3,y3,z3)；
The distance value l between the three target positions and the laser range finder measured by the laser range finder1，l2，l3；
According to the formula
Calculating first spatial position information (x) of the laser range finder in the reference coordinate system0,y0,z0)。
2. The binocular error measuring method of claim 1, wherein calculating a first distance value between a target object tested by the binocular module to be tested and the laser range finder according to the first spatial position information and the second spatial position information comprises:
according to the first spatial position information (x)0,y0,z0) And said second spatial position information (x, y, z), usingCalculating a first distance value d between the target object obtained by testing the to-be-tested binocular module and the laser range finder1。
3. The binocular error measuring method of any one of claims 1 to 2, wherein when n times of spatial position information of the target object is calculated according to the binocular module to be tested, and n second spatial position information of the target object in the reference coordinate system is calculated, a binocular error is calculated at the second distance value between the target object and the laser range finder measured by the laser range finder and the first distance value, comprising:
using formulas
Calculating the average absolute error delta of the two eyes;
using formulas
Calculating the binocular average relative error delta;
wherein d is2Is a second distance value, d1jIs the jth first distance value.
4. A binocular error measuring apparatus, comprising:
the system comprises a coordinate system module, a coordinate system module and a control module, wherein the coordinate system module is used for determining a reference coordinate system and calculating first spatial position information of the laser range finder in the reference coordinate system; calculating target object space position information according to a binocular module to be tested, and calculating second space position information of the target object space position information under the reference coordinate system;
the error analysis module is used for calculating a first distance value between a target object obtained by the test of the binocular module to be tested and the laser range finder according to the first spatial position information and the second spatial position information; calculating to obtain a binocular error by using a second distance value between the target object and the laser range finder measured by the laser range finder and the first distance value; wherein, the distance of await measuring binocular module and target object is less than 0.70m, the coordinate system module includes:
a first calculating unit for calculating spatial position information of the three target positions according to the binocular module to be tested, and calculating spatial position information (x) of the spatial position information of the three target positions in the reference coordinate system1,y1,z1)，(x2,y2,z2)，(x3,y3,z3)；
A second calculation unit for calculating the distance values l between the three target positions and the laser range finder measured by the laser range finder1，l2，l3(ii) a According to the formula
Calculating first spatial position information (x) of the laser range finder in the reference coordinate system0,y0,z0)。
5. The binocular error measuring apparatus of claim 4, wherein the error analysis module comprises:
a first distance value calculation unit for calculating a first distance value based on the first spatial position information (x)0,y0,z0) And said second spatial position information (x, y, z), usingCalculating a first distance value d between the target object obtained by testing the to-be-tested binocular module and the laser range finder1。
6. The binocular error measuring apparatus of any one of claims 4 to 5, wherein when n times of the spatial position information of the target object are calculated according to the binocular module to be tested, and n second spatial position information of the target object in the reference coordinate system are calculated, the error analyzing module includes:
a third calculation unit for using the formulaCalculating the average absolute error delta of the two eyes;
a fourth calculation unit for using the formula
Calculating the binocular average relative error delta;
wherein d is2Is a second distance value, d1jIs the jth first distance value.
7. A binocular error measurement system, comprising:
the to-be-tested binocular module is used for calculating the spatial position information of the target object by using a depth algorithm;
the laser range finder is used for measuring the distance value between a target object and the laser range finder;
the coordinate system module is used for determining a reference coordinate system and calculating first spatial position information of the laser range finder in the reference coordinate system; calculating target object space position information according to a binocular module to be tested, and calculating second space position information of the target object space position information under the reference coordinate system;
the error analysis module is used for calculating a first distance value between a target object obtained by the test of the binocular module to be tested and the laser range finder according to the first spatial position information and the second spatial position information; calculating to obtain a binocular error by using a second distance value between the target object and the laser range finder measured by the laser range finder and the first distance value;
wherein, the distance of await measuring binocular module and target object is less than 0.70m, the coordinate system module includes:
a first calculating unit for calculating spatial position information of the three target positions according to the binocular module to be tested, and calculating spatial position information (x) of the spatial position information of the three target positions in the reference coordinate system1,y1,z1)，(x2,y2,z2)，(x3,y3,z3)；
A second calculation unit for calculating the distance values l between the three target positions and the laser range finder measured by the laser range finder1，l2，l3(ii) a According to the formula
Calculating first spatial position information (x) of the laser range finder in the reference coordinate system0,y0,z0)。
8. The binocular error measuring system of claim 7, further comprising:
and the fixing support is used for fixing the binocular module to be tested and the laser range finder.
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