CN109900301B - Binocular stereo positioning angle compensation method in dynamic environment - Google Patents
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Abstract
The invention discloses a binocular under a dynamic environmentThe stereo positioning angle compensation method comprises the following steps: installing an inclination angle sensor in the binocular equipment, wherein the inclination angle sensor is parallel to a base line, and respectively acquiring the rotation angles theta of the binocular equipment around the Y axis and the X axis 1 ,θ 2 (ii) a Establishing a space camera coordinate system by taking the optical center of a left eye camera in binocular equipment as a coordinate origin; respectively solving the rotation theta of the binocular equipment around the Y axis according to the structural parameters of the binocular equipment 1 And a rotation of theta around the X axis 2 The coordinate transformation matrix of (2); and respectively solving the independent deviation in the corresponding direction according to the two coordinate transformation matrixes in the S3, further solving a synthetic transformation matrix, and then carrying out angle compensation on the coordinates obtained by the binocular device to obtain compensated coordinates. The invention solves the problem that the binocular acquisition object space information has deviation under the dynamic condition, and improves the three-dimensional reconstruction precision.
Description
Technical Field
The invention belongs to the technical field of binocular camera-based stereo space positioning, and particularly relates to a binocular stereo positioning angle compensation calculation method in a dynamic environment.
Background
A binocular camera is a device capable of providing stereoscopic visual information. Based on images obtained by the binocular camera, the three-dimensional space position of an object shot by the binocular camera relative to the camera can be calculated through a binocular parallax principle.
The binocular camera is calibrated in a binocular stereo mode, distortion elimination and line alignment are respectively carried out on left and right views according to internal reference data (focal length, imaging far points and distortion coefficients) and binocular relative position relations (a rotation matrix and a translation vector) obtained after the cameras are calibrated, so that the imaging origin coordinates of the left and right views are consistent, the optical axes of the two cameras are parallel, the left and right image planes are coplanar, and the antipodal lines are aligned. Thus, the parallax is obtained through the line pixel difference, the depth information is obtained through triangulation, and the spatial three-dimensional coordinate value is determined. The method for measuring the spatial position of the target to be measured can determine the relation between a world coordinate system and a camera coordinate system on the basis of keeping equipment and a horizontal plane strictly parallel to obtain the required object spatial position information. However, in a dynamic environment, such as when binocular devices are equipped on a carrier such as a ship, an airplane, etc., a simple and efficient angle compensation algorithm is important.
In some dynamic for binocular camera rangingAccurate object space information is difficult to obtain under the environment, and a binocular stereo positioning angle compensation method under the dynamic environment is provided. The calculation method is characterized in that an inclination angle sensor (parallel to a base line) is arranged in binocular equipment, and the rotation angles theta of the equipment around the Y axis and the X axis can be respectively obtained 1 ,θ 2 Simultaneously respectively calculating the rotation theta around the Y axis according to the specific structural parameters of the binocular equipment 1 And rotation of theta about the X-axis 2 The transformation matrix of (2). And finally, according to the two unidirectional transformation matrixes, the independent deviation in the corresponding direction is respectively obtained, the synthetic transformation under the simultaneous action is further obtained, and then the angle compensation calculation is carried out on the coordinates obtained by the two eyes, so that the problem that the space information of the objects obtained by the two eyes under the dynamic condition has deviation is solved, and the precision of three-dimensional reconstruction is improved.
Disclosure of Invention
Aiming at the prior art, the technical problem to be solved by the invention is to provide a binocular stereo positioning angle compensation method under a dynamic environment, which can solve the problem that the binocular acquired object space information has deviation under a dynamic condition and improve the three-dimensional reconstruction precision.
In order to solve the technical problem, the invention provides a binocular stereo positioning angle compensation method in a dynamic environment, which is characterized by comprising the following steps of:
s1, installing an inclination angle sensor in binocular equipment, wherein the inclination angle sensor is parallel to a base line, and respectively acquiring rotation angles theta of the binocular equipment around a Y axis and a X axis 1 ,θ 2 ；
S2, establishing a space camera coordinate system by taking the optical center of a left eye camera in binocular equipment as a coordinate origin;
s3, respectively solving the rotation theta of the binocular equipment around the Y axis according to the structural parameters of the binocular equipment 1 And rotation of theta about the X-axis 2 The coordinate transformation matrix of (2);
and S4, respectively solving the independent deviation in the corresponding direction according to the two coordinate transformation matrixes in the S3, further solving a synthetic transformation matrix, and then carrying out angle compensation on the coordinates obtained by the binocular equipment to obtain compensated coordinates.
The invention also includes:
1. in step S1, the tilt sensor obtains an angle in the X direction and an angle in the Y direction between the current binocular device and the horizontal reference plane.
2. In the spatial camera coordinate system in the step S2, the left-eye camera optical axis is taken as the Z-axis, and the X-axis is taken from left to right along the baseline, so that the Y-axis is determined according to the left-hand rule.
3. Rotation theta about Y-axis in step S3 1 And a rotation of theta around the X axis 2 The coordinate transformation matrix of (a) is a combination of rotation and translation matrices; rotation of theta about the X-axis 2 Coordinate transformation matrix of
Comprises the following steps:
wherein, the distance from the origin of the coordinate system to the mechanical rotation center O of the equipment in the Y direction is 0, and the distance from the origin of the coordinate system to the mechanical rotation center O of the equipment in the Z direction is h;
rotation of theta about Y axis 1 Coordinate transformation matrix of
Comprises the following steps:
wherein l is the distance from the origin of the coordinate system to the mechanical rotation center O of the equipment in the X direction, the distance from the origin of the coordinate system to the mechanical rotation center O of the equipment in the Y direction is 0, and h is the distance from the origin of the coordinate system to the mechanical rotation center O of the equipment in the Z direction.
4. The synthesis transformation matrix in step S4 is
Further obtaining:
wherein E represents a unit array;
the coordinates compensated in step S4 are C P， C P is the coordinates of the object P under the ideal coordinate system C, C p satisfies:
wherein, AB p is the coordinate of the object P in the coordinate system AB, AB is theta 1 ，θ 2 Coordinate system under combined action.
The invention has the beneficial effects that: the method is based on a binocular stereo space positioning principle and three-dimensional coordinate transformation, and carries out certain deviation correction compensation aiming at a positioning deviation phenomenon caused by a certain included angle between binocular measuring equipment and a horizontal plane under a dynamic environment, so that spatial position information which is closer to a true value is calculated. According to the method, on the basis of binocular stereo positioning, the problem that the traditional binocular positioning is inaccurate in a dynamic environment is solved by acquiring deflection angles in X and Y directions and three-dimensional coordinate system transformation through the tilt angle sensor in consideration of the fact that a reference plane is possibly inconsistent with a horizontal plane and large deviation occurs during space calculation.
Drawings
FIG. 1 is a flow chart of a binocular stereo positioning angle compensation calculation method in a dynamic environment;
FIG. 2 is a schematic diagram of the X-direction, Y-direction individual transformation process and the X, Y simultaneous action transformation process;
FIG. 3 is a solution
Simplifying the schematic diagram;
FIG. 4 is a solution
A simplified schematic diagram;
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
The invention discloses a binocular stereo positioning angle compensation method in a dynamic environment, which comprises the following steps:
s1, installing an inclination angle sensor (parallel to a base line) in binocular equipment, and respectively acquiring rotation angles theta of the equipment around a Y axis and a X axis 1 ,θ 2 ；
S2, establishing a space camera coordinate system by taking the optical center of a left eye camera in a binocular camera as a coordinate origin;
s3, respectively calculating rotation theta around the Y axis according to specific structural parameters of binocular equipment 1 And rotation of theta about the X-axis 2 The transformation matrix of (2);
and S4, respectively solving the independent deviation of the corresponding direction according to the two unidirectional transformation matrixes, further solving the synthesis transformation under the simultaneous action, and then carrying out angle compensation calculation on the coordinates obtained by the binocular camera.
In step S1, two readings of the tilt sensor represent an angle between the current binocular device and the horizontal reference plane in the X direction and the Y direction.
In step S2, the optical axis of the left lens is taken as the Z-axis, and the X-axis is taken from left to right along the baseline, and the Y-axis is determined according to the left-hand rule.
In step S3, considering specific device configuration parameters, the angle compensation is not simply rotational transformation but also certain translational transformation, so the transformation matrices in two directions are a combination of rotational and translational matrices.
In step S4, the spatial localization deviation approximation generated by the joint action of any two angles is regarded as the superposition of the independent actions in two directions, and the spatial coordinate value after the angle compensation is further obtained.
The coordinate deviations of the device due to the tilting in the X, Y direction are in fact translations and rotations of the coordinate system.
Let the coordinates of the object P in the coordinate systems M and N be M P, N P,
A transformation matrix representing the coordinate system { M } relative to { N },
represents a rotation matrix of the coordinate system { M } relative to { N }, N P MORG the position of origin representing { M } relative to { N } satisfies
Therefore, it is required to obtain the rotation theta around the X and Y axes 1 ,θ 2 Transformation matrix of axial rotation
In step S4, the independent deviations in the corresponding directions are respectively obtained according to the two unidirectional transformation matrices, the synthetic transformation matrices under the simultaneous action are approximately calculated in a superposition manner, and then the angle compensation calculation is performed on the coordinates obtained by the binocular camera. The algorithm flow is shown in figure 1
The transformation matrix solves the formula:
wherein E represents a unit array;
coordinate compensation transformation formula:
the following description will be specifically made with reference to fig. 2 to 4.
As shown in FIG. 2, the coordinate system { C } is an ideal coordinate system, { AB } is the result of the interaction of two angles, { A }, { B } are the rotation θ around the Y-axis and X-axis, respectively 1 ，θ 2 As a result, the optical center of the left camera is the origin of the coordinate system, the X axis is along the base line, and the optical axis is the Z axis, so as to establish a left-hand coordinate system. The distance from the origin of the coordinate system to the mechanical rotation center O of the device in the X direction is l, the distance from the origin of the coordinate system to the mechanical rotation center O of the device in the Y direction is 0, and the distance from the origin of the coordinate system to the mechanical rotation center O of the device in the Z direction is h. Let the coordinates of the object P in the coordinate systems { A }, { B }, { C }, and { AB } be respectively A P, B P, C P, AB P,
A transformation matrix representing the coordinate system { M } relative to { N },
represents a rotation matrix of the coordinate system { M } relative to { N }, M P NORG represents the position of the origin of { M } relative to { N }, satisfies
Then
Following solution
The solving process can be simplified as shown in FIG. 3, in which the thick line portion where KG is located is an uncompensated original position, and is rotated by θ 1 After compensation, the thick line part of LJ is formed.
According to the mechanical structure parameters of the equipment, the parameters can be obtained
By geometric relationships can be obtained
AB＝GH＝h(1-cosθ 1 ) (8)
AI＝AG-IG＝lcosθ 1 -hsinθ 1
Therefore, it is not only easy to use
BK＝AK-AB＝lsinθ 1 -h(1-cosθ 1 ) (9)
LB＝LJ-BJ＝l(1-cosθ 1 )+hsinθ 1
Thus, the device
A P CORG ＝[l(1-cosθ 1 )+hsinθ 1 0 lsinθ 1 -h(1-cosθ 1 )] T (10)
Following solution
The solving process can be simplified as shown in FIG. 4, in which the thick line portion where OL is located is the uncompensated original position, and is rotated by theta 2 After compensation, the thick line part where OK is located is obtained.
Can be obtained according to the mechanical structure parameters of the equipment
OK＝OL＝h (13)
By geometric relationships can be obtained
LG＝hsinθ 2 (14)
GK＝OK-KG＝h(1-cosθ 2 )
Thus, it is possible to provide
B P CORG ＝[0 hsinθ 2 -h(1-cosθ 2 )] T (15)
The space positioning deviation approximation generated by the combined action of any two angles is regarded as the superposition of the independent action of two directions, and the space coordinate value after angle compensation is further solved, so that the transformation matrix
Can be obtained by the following formula:
namely, it is
Thus:
the compensated coordinates of the device at any pose can be calculated by:
in fact this calculation is an approximate estimate of the actual situation and is not a strict calculation as it ignores the coupling relationship in both directions, but the error is within an acceptable range. Of course, when theta 1 ,θ 2 When one of them is zero, this calculation is a strict calculation.
The above description is intended to be illustrative of the preferred embodiment of the present invention and should not be taken as limiting the invention, but rather, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.
Claims (3)
1. A binocular stereo positioning angle compensation method in a dynamic environment is characterized by comprising the following steps:
s1: installing an inclination angle sensor in the binocular equipment, wherein the inclination angle sensor is parallel to a base line, and respectively acquiring rotation angles theta of the binocular equipment around a Y axis and a X axis 1 ，θ 2 ；
S2: establishing a space camera coordinate system by taking the optical center of a left eye camera in binocular equipment as a coordinate origin;
s3: respectively solving the rotation theta of the binocular equipment around the Y axis according to the structural parameters of the binocular equipment 1 And rotation of theta about the X-axis 2 The coordinate transformation matrix of (2);
rotation theta around Y axis in step S3 1 And rotation of theta about the X-axis 2 The coordinate transformation matrix of (a) is a combination of rotation and translation matrices; rotation of theta about the X-axis 2 Is a coordinate transformation matrix of
Comprises the following steps:
wherein, the distance from the origin of the coordinate system to the mechanical rotation center O of the equipment in the Y direction is 0, and the distance from the origin of the coordinate system to the mechanical rotation center O of the equipment in the Z direction is h;
rotation of theta about Y axis 1 Coordinate transformation matrix of
Comprises the following steps:
wherein 1 is the distance from the origin of the coordinate system to the mechanical rotation center O of the equipment in the X direction, the distance from the origin of the coordinate system to the mechanical rotation center O of the equipment in the Y direction is 0, and h is the distance from the origin of the coordinate system to the mechanical rotation center O of the equipment in the Z direction;
s4: respectively solving independent deviations in corresponding directions according to the two coordinate transformation matrixes in the S3, further solving a synthetic transformation matrix, and then carrying out angle compensation on the coordinates obtained by the binocular equipment to obtain compensated coordinates;
step S4 the synthesis transformation matrix is
Further obtaining:
wherein E represents a unit array;
the compensated coordinates in step S4 are C P， C P is the ideal of the object PThe coordinates under the coordinate system { C }, C p satisfies:
wherein, AB p is the coordinate of the object P in the coordinate system AB, AB is θ 1 ，θ 2 Coordinate system under combined action.
2. The binocular stereotactic angle compensation method of claim 1 in a dynamic environment, wherein: in step S1, the tilt sensor obtains an angle between the current binocular device and the horizontal reference plane in the X direction and an angle between the current binocular device and the horizontal reference plane in the Y direction.
3. The binocular stereo positioning angle compensation method in the dynamic environment according to claim 1, wherein: and S2, in the space camera coordinate system, taking the left-eye camera optical axis as a Z axis, taking the left-eye camera optical axis from left to right along a base line as an X axis, and determining a Y axis according with a left-hand rule.
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