CN104460220A - Device utilizing single camera for achieving binocular vision three-dimensional imaging - Google Patents
Device utilizing single camera for achieving binocular vision three-dimensional imaging Download PDFInfo
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- CN104460220A CN104460220A CN201410845052.9A CN201410845052A CN104460220A CN 104460220 A CN104460220 A CN 104460220A CN 201410845052 A CN201410845052 A CN 201410845052A CN 104460220 A CN104460220 A CN 104460220A
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- 238000003384 imaging method Methods 0.000 title claims abstract description 27
- 230000003287 optical effect Effects 0.000 claims description 9
- 238000000034 method Methods 0.000 abstract description 6
- 230000007423 decrease Effects 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B35/00—Stereoscopic photography
- G03B35/18—Stereoscopic photography by simultaneous viewing
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Measurement Of Optical Distance (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a device utilizing a single camera for achieving binocular vision three-dimensional imaging. The device comprises the camera arranged behind an object to be measured, a left view image reflecting module for reflecting a left view image of the object to the camera, and a right view image reflecting module for reflecting a right view image of the object to the single camera. The single camera is utilized for replacing two cameras in a traditional method, a system is simplified, camera internal parameters to be calibrated are reduced, and the difficulty of system calibration is lowered; in addition, in binocular vision, the positive correlation between the depth resolution of three-dimensional imaging and the distance of the two cameras is formed, the inverse correlation is formed between the depth resolution of three-dimensional imaging and the distance from the object to the camera is formed, three galvanometers can rotate around the axis, and therefore the system can obtain the high depth resolution for objects of different depths.
Description
Technical field
A kind of three-dimensional image forming apparatus, particularly a kind of device of binocular vision three-dimensional imaging.
Background technology
Three-dimensional imaging has vital role in fields such as industrial detection, copying, machine vision, artificial intelligence.The photoelectric detecting method that the method for current three-dimensional imaging is mainly contactless, and wherein binocular vision method is simple because of its structure, is with low costly widely used.
Traditional binocular vision three-dimensional imaging device generally comprises two cameras in left and right, to two cameras after binocular calibration, left and right view after can being calibrated and calibrate, utilize matching algorithm to ask for its disparity map, the three-dimensional model of object after obtaining disparity map, can be rebuild according to the inside and outside parameter of video camera.But due to a variety of causes, the internal reference of two video cameras is impossible identical, adds outer ginseng, needs the parameter of demarcating to reach 14, and therefore calibrate difficulty comparatively greatly, demarcation accuracy is not high yet, and this is larger to final three-dimensional reconstruction influential effect.In addition, after two video cameras are fixing, imaging depth resolution becomes inverse correlation with the distance of object, and the object parallax that distance is far away is less, and resolution is lower, therefore cannot reach higher precision to whole object for the object that the degree of depth is larger.
Summary of the invention
For solving the deficiencies in the prior art, the object of the present invention is to provide a kind of device utilizing single camera and vibration mirror reflected, ensure that the internal reference of left view and right view is identical.In addition, three galvanometer mirrors can pivot, and make system can all obtain higher precision to the object of different distance.
In order to realize above-mentioned target, the present invention adopts following technical scheme:
A kind of device utilizing single camera to realize binocular vision three-dimensional imaging, comprise: be placed in the video camera after object under test, the left view image of object is reflexed to the left view image reflection subassembly of video camera, the right view image of object is reflexed to the right view image reflection subassembly of single camera.
Aforesaid a kind of device utilizing single camera to realize binocular vision three-dimensional imaging, left view image reflection subassembly comprises: middle galvanometer, and the left galvanometer of vibration mirror reflected light in the middle of accepting, in the middle of driving, galvanometer and left galvanometer turn to the motor of appropriate location.
Aforesaid a kind of device utilizing single camera to realize binocular vision three-dimensional imaging, right view image reflection subassembly comprises: middle galvanometer, and the right galvanometer of vibration mirror reflected light in the middle of accepting, in the middle of driving, galvanometer and right galvanometer turn to the motor of appropriate location.
Aforesaid a kind of device utilizing single camera to realize binocular vision three-dimensional imaging, the optical axis of video camera becomes 45 degree with the reflecting surface angle of middle galvanometer.
Aforesaid a kind of device utilizing single camera to realize binocular vision three-dimensional imaging, left galvanometer and right galvanometer are symmetrical about the optical axis of video camera.
Aforesaid a kind of device utilizing single camera to realize binocular vision three-dimensional imaging, the line of the rotary middle point of left galvanometer, middle galvanometer, right galvanometer is straight line.
Usefulness of the present invention is: the present invention utilizes single camera to instead of two video cameras in classic method, simplifies system, decreases camera internal reference to be calibrated simultaneously, reduce the difficulty of system calibrating; In addition, in binocular vision, the depth resolution of three-dimensional imaging becomes positive correlation with the distance of two cameras, becomes inverse correlation with object with the distance of camera, and three galvanometers can pivot, and makes system can obtain higher depth resolution to the object of different depth.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of embodiment of the present invention;
The implication of Reference numeral in figure:
1 object under test, 2 left galvanometers, 3 middle galvanometers, 4 right galvanometers, 5 video cameras, 6 left view images, 7 right view images.
Embodiment
Below in conjunction with the drawings and specific embodiments, concrete introduction is done to the present invention.
A kind of device utilizing single camera 5 to realize binocular vision three-dimensional imaging, comprise: be placed in the video camera 5 after object under test 1, the left view image 6 of object is reflexed to left view image 6 reflection subassembly of video camera 5, the right view image 7 of object is reflexed to right view image 7 reflection subassembly of single camera 5.
Left view image 6 reflection subassembly comprises: middle galvanometer 3, and the left galvanometer 2 of galvanometer 3 reflected light in the middle of accepting, in the middle of driving, galvanometer 3 and left galvanometer 2 turn to the motor of appropriate location.Right view image 7 reflection subassembly comprises: middle galvanometer 3, and the right galvanometer 4 of galvanometer 3 reflected light in the middle of accepting, in the middle of driving, galvanometer 3 and right galvanometer 4 turn to the motor of appropriate location.The optical axis of video camera 5 becomes 45 degree with the reflecting surface angle of middle galvanometer 3.Left galvanometer 2 and right galvanometer 4 are symmetrical about the optical axis of video camera 5.The line of the rotary middle point of left galvanometer 2, middle galvanometer 3, right galvanometer 4 is straight line.
As shown in Figure 1, before object under test 1 is positioned over video camera 5, the optical axis of video camera 5 becomes 45 degree with the reflecting surface angle of middle galvanometer 3.Left galvanometer 2 and right galvanometer 4 are symmetrical about the optical axis of video camera 5.When middle galvanometer 3 rotates to A position, video camera 5 images in left video camera 5 as place through middle galvanometer 3 and left galvanometer 2; When middle galvanometer 3 rotates to B position, video camera 5 images in right video camera 5 as place through middle galvanometer 3 and right galvanometer 4.Adjust the angle of left galvanometer 2 and right galvanometer 4, the value namely changed, then can change left video camera 5 picture and right video camera 5 image distance from, and can optical axis included angle be changed, thus higher depth resolution can be obtained to the object at different distance place.
The present invention utilizes single camera 5 to instead of two video cameras 5 in classic method, simplifies system, decreases camera internal reference to be calibrated simultaneously, reduce the difficulty of system calibrating; In addition, in binocular vision, the depth resolution of three-dimensional imaging becomes positive correlation with the distance of two cameras, becomes inverse correlation with object with the distance of camera, and three galvanometers can pivot, and makes system can obtain higher depth resolution to the object of different depth.
More than show and describe ultimate principle of the present invention, principal character and advantage.The technician of the industry should understand, and above-described embodiment does not limit the present invention in any form, the technical scheme that the mode that all employings are equal to replacement or equivalent transformation obtains, and all drops in protection scope of the present invention.
Claims (6)
1. the device utilizing single camera to realize binocular vision three-dimensional imaging, it is characterized in that, comprise: be placed in the video camera after object under test, the left view of object is reflexed to the left view light reflection subassembly of above-mentioned video camera imaging, the right view of object is reflexed to the right view light reflection subassembly of above-mentioned single camera imaging.
2. a kind of device utilizing single camera to realize binocular vision three-dimensional imaging according to claim 1, it is characterized in that, above-mentioned left view image reflection subassembly comprises: middle galvanometer, accept the left galvanometer of above-mentioned middle vibration mirror reflected light, drive above-mentioned middle galvanometer and left galvanometer to turn to the motor of appropriate location.
3. a kind of device utilizing single camera to realize binocular vision three-dimensional imaging according to claim 2, it is characterized in that, above-mentioned right view image reflection subassembly comprises: above-mentioned middle galvanometer, accept the right galvanometer of above-mentioned middle vibration mirror reflected light, drive above-mentioned middle galvanometer and right galvanometer to turn to the motor of appropriate location.
4. a kind of device utilizing single camera to realize binocular vision three-dimensional imaging according to claim 3, it is characterized in that, the optical axis of above-mentioned video camera becomes 45 degree with the reflecting surface angle of middle galvanometer.
5. a kind of device utilizing single camera to realize binocular vision three-dimensional imaging according to claim 4, is characterized in that, above-mentioned left galvanometer and right galvanometer are symmetrical about the optical axis of above-mentioned video camera.
6. a kind of device utilizing single camera to realize binocular vision three-dimensional imaging according to claim 5, is characterized in that, the line of the rotary middle point of above-mentioned left galvanometer, middle galvanometer, right galvanometer is straight line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410845052.9A CN104460220A (en) | 2014-12-31 | 2014-12-31 | Device utilizing single camera for achieving binocular vision three-dimensional imaging |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410845052.9A CN104460220A (en) | 2014-12-31 | 2014-12-31 | Device utilizing single camera for achieving binocular vision three-dimensional imaging |
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| CN104460220A true CN104460220A (en) | 2015-03-25 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106247979A (en) * | 2016-08-17 | 2016-12-21 | 四川川大智胜软件股份有限公司 | A kind of spatial digitizer based on galvanometer |
| CN109544641A (en) * | 2018-11-13 | 2019-03-29 | 深圳创维新世界科技有限公司 | Scaling method and device |
| CN109642820A (en) * | 2017-12-22 | 2019-04-16 | 深圳配天智能技术研究院有限公司 | Optical sensing means, detection system and detection method |
| WO2019119652A1 (en) * | 2017-12-22 | 2019-06-27 | 深圳配天智能技术研究院有限公司 | Optical sensing device, detection system and detection method |
| CN112066910A (en) * | 2020-08-24 | 2020-12-11 | 昆明理工大学 | Monocular three-dimensional measurement system based on plane mirror automatic rotating platform |
| CN114353689A (en) * | 2021-12-06 | 2022-04-15 | 中国科学院深圳先进技术研究院 | An underwater three-dimensional imaging system based on binocular single detector |
| CN115250346A (en) * | 2022-09-22 | 2022-10-28 | 深圳市海塞姆科技有限公司 | Monocular three-dimensional vision sensor |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106247979A (en) * | 2016-08-17 | 2016-12-21 | 四川川大智胜软件股份有限公司 | A kind of spatial digitizer based on galvanometer |
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| CN115250346A (en) * | 2022-09-22 | 2022-10-28 | 深圳市海塞姆科技有限公司 | Monocular three-dimensional vision sensor |
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Application publication date: 20150325 |