CN109900301B - Binocular stereo positioning angle compensation method in dynamic environment - Google Patents

Binocular stereo positioning angle compensation method in dynamic environment Download PDF

Info

Publication number
CN109900301B
CN109900301B CN201910260540.6A CN201910260540A CN109900301B CN 109900301 B CN109900301 B CN 109900301B CN 201910260540 A CN201910260540 A CN 201910260540A CN 109900301 B CN109900301 B CN 109900301B
Authority
CN
China
Prior art keywords
binocular
axis
equipment
coordinate system
theta
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
Application number
CN201910260540.6A
Other languages
Chinese (zh)
Other versions
CN109900301A (en
Inventor
蔡成涛
乔人杰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Harbin Engineering University
Original Assignee
Harbin Engineering University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Harbin Engineering University filed Critical Harbin Engineering University
Priority to CN201910260540.6A priority Critical patent/CN109900301B/en
Publication of CN109900301A publication Critical patent/CN109900301A/en
Application granted granted Critical
Publication of CN109900301B publication Critical patent/CN109900301B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Landscapes

  • Length Measuring Devices By Optical Means (AREA)

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 12 (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

Binocular stereo positioning angle compensation method in dynamic environment
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 12 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 12
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
Figure BDA0002015149060000021
Figure BDA0002015149060000022
Comprises the following steps:
Figure BDA0002015149060000023
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
Figure BDA0002015149060000024
Figure BDA0002015149060000025
Comprises the following steps:
Figure BDA0002015149060000026
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
Figure BDA0002015149060000027
Figure BDA0002015149060000028
Further obtaining:
Figure BDA0002015149060000029
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:
Figure BDA0002015149060000031
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
Figure BDA0002015149060000032
Simplifying the schematic diagram;
FIG. 4 is a solution
Figure BDA0002015149060000033
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 12
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,
Figure BDA0002015149060000041
A transformation matrix representing the coordinate system { M } relative to { N },
Figure BDA0002015149060000042
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
Figure BDA0002015149060000043
Therefore, it is required to obtain the rotation theta around the X and Y axes 12 Transformation matrix of axial rotation
Figure BDA0002015149060000044
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:
Figure BDA0002015149060000045
wherein E represents a unit array;
coordinate compensation transformation formula:
Figure BDA0002015149060000046
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,
Figure BDA0002015149060000047
A transformation matrix representing the coordinate system { M } relative to { N },
Figure BDA0002015149060000048
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
Figure BDA0002015149060000051
Then
Figure BDA0002015149060000052
Following solution
Figure BDA0002015149060000053
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.
Figure BDA0002015149060000054
Is rotated by O about the Y axis 1 So that a transformation matrix can be obtained
Figure BDA0002015149060000055
According to the mechanical structure parameters of the equipment, the parameters can be obtained
Figure BDA0002015149060000056
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)
Figure BDA0002015149060000057
Following solution
Figure BDA0002015149060000058
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.
Figure BDA0002015149060000061
Is rotated by O about the X-axis 2 So that a transformation matrix of
Figure BDA0002015149060000062
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)
Figure BDA0002015149060000063
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
Figure BDA0002015149060000064
Can be obtained by the following formula:
Figure BDA0002015149060000065
namely, it is
Figure BDA0002015149060000066
Thus:
Figure BDA0002015149060000067
the compensated coordinates of the device at any pose can be calculated by:
Figure BDA0002015149060000068
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 12 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
Figure FDA0003816230210000011
Comprises the following steps:
Figure FDA0003816230210000012
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
Figure FDA0003816230210000013
Comprises the following steps:
Figure FDA0003816230210000014
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
Figure FDA0003816230210000021
Figure FDA0003816230210000022
Further obtaining:
Figure FDA0003816230210000023
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:
Figure FDA0003816230210000024
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.
CN201910260540.6A 2019-04-02 2019-04-02 Binocular stereo positioning angle compensation method in dynamic environment Active CN109900301B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910260540.6A CN109900301B (en) 2019-04-02 2019-04-02 Binocular stereo positioning angle compensation method in dynamic environment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910260540.6A CN109900301B (en) 2019-04-02 2019-04-02 Binocular stereo positioning angle compensation method in dynamic environment

Publications (2)

Publication Number Publication Date
CN109900301A CN109900301A (en) 2019-06-18
CN109900301B true CN109900301B (en) 2022-10-25

Family

ID=66955314

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910260540.6A Active CN109900301B (en) 2019-04-02 2019-04-02 Binocular stereo positioning angle compensation method in dynamic environment

Country Status (1)

Country Link
CN (1) CN109900301B (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110703188B (en) * 2019-09-10 2022-03-25 天津大学 Six-degree-of-freedom attitude estimation system based on RFID

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2096405A1 (en) * 2003-12-16 2009-09-02 Trimble Jena GmbH Calibration of a surveying instrument
CN107883870A (en) * 2017-10-24 2018-04-06 四川雷得兴业信息科技有限公司 Overall calibration method based on binocular vision system and laser tracker measuring system

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3869876B2 (en) * 1995-12-19 2007-01-17 キヤノン株式会社 Image measuring method and image measuring apparatus
CN101581569B (en) * 2009-06-17 2011-01-12 北京信息科技大学 Calibrating method of structural parameters of binocular visual sensing system
CN103731658B (en) * 2013-12-25 2015-09-30 深圳市墨克瑞光电子研究院 Binocular camera repositioning method and binocular camera resetting means
CN103929635B (en) * 2014-04-25 2015-12-02 哈尔滨工程大学 Binocular vision image compensation method when a kind of UUV shakes in length and breadth
CN107367229B (en) * 2017-04-24 2020-05-05 天津大学 Free binocular stereo vision rotating shaft parameter calibration method
CN107256569A (en) * 2017-06-08 2017-10-17 爱佩仪中测(成都)精密仪器有限公司 Three-dimensional measurement double-camera calibrating method based on binocular visual angle
CN109118545B (en) * 2018-07-26 2021-04-16 深圳市易尚展示股份有限公司 Three-dimensional imaging system calibration method and system based on rotating shaft and binocular camera
CN109297436B (en) * 2018-11-30 2021-11-23 北京伟景智能科技有限公司 Binocular line laser stereo measurement reference calibration method

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2096405A1 (en) * 2003-12-16 2009-09-02 Trimble Jena GmbH Calibration of a surveying instrument
CN107883870A (en) * 2017-10-24 2018-04-06 四川雷得兴业信息科技有限公司 Overall calibration method based on binocular vision system and laser tracker measuring system

Also Published As

Publication number Publication date
CN109900301A (en) 2019-06-18

Similar Documents

Publication Publication Date Title
CN101581569B (en) Calibrating method of structural parameters of binocular visual sensing system
CN108594245A (en) A kind of object movement monitoring system and method
WO2018076154A1 (en) Spatial positioning calibration of fisheye camera-based panoramic video generating method
CN101320474B (en) Exterior parameter self-calibration method for camera with rotating stereovision
Zhang et al. High-precision measurement of binocular telecentric vision system with novel calibration and matching methods
CN108734744A (en) A kind of remote big field-of-view binocular scaling method based on total powerstation
CN111009030A (en) Multi-view high-resolution texture image and binocular three-dimensional point cloud mapping method
JP2011086111A (en) Imaging apparatus calibration method and image synthesis device
CN111854636B (en) Multi-camera array three-dimensional detection system and method
CN114705122A (en) Large-field stereoscopic vision calibration method
CN111879354A (en) Unmanned aerial vehicle measurement system that becomes more meticulous
CN109345587A (en) A kind of mixing vision positioning method based on panorama and monocular vision
CN105374067A (en) Three-dimensional reconstruction method based on PAL cameras and reconstruction system thereof
CN115841487A (en) Hidden danger positioning method and terminal along power transmission line
CN112258422A (en) Automatic refinement method of rational polynomial parameter (RPC) of stereoscopic image
CN113724337A (en) Camera dynamic external parameter calibration method and device without depending on holder angle
Yu et al. Calibration for camera–projector pairs using spheres
CN109900301B (en) Binocular stereo positioning angle compensation method in dynamic environment
WO2018000892A1 (en) Imaging method, apparatus and system for panoramic stereo image
CN113763480B (en) Combined calibration method for multi-lens panoramic camera
CN208350997U (en) A kind of object movement monitoring system
CN110728745A (en) Underwater binocular stereoscopic vision three-dimensional reconstruction method based on multilayer refraction image model
CN114926538A (en) External parameter calibration method and device for monocular laser speckle projection system
CN109712200B (en) Binocular positioning method and system based on least square principle and side length reckoning
CN114359365B (en) Convergence type binocular vision measuring method with high resolution

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
GR01 Patent grant
GR01 Patent grant