WO2019144269A1 - Multi-camera photographing system, terminal device, and robot - Google Patents
Multi-camera photographing system, terminal device, and robot Download PDFInfo
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- WO2019144269A1 WO2019144269A1 PCT/CN2018/073796 CN2018073796W WO2019144269A1 WO 2019144269 A1 WO2019144269 A1 WO 2019144269A1 CN 2018073796 W CN2018073796 W CN 2018073796W WO 2019144269 A1 WO2019144269 A1 WO 2019144269A1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
Definitions
- the present application relates to the field of visual navigation technology, and in particular, to a multi-view camera system, a terminal device, and a robot.
- Multi-camera camera system is one of the main ways to complete SLAM.
- multi-camera camera system mainly includes monocular camera (including a three-primary (RGB) camera and a set of structured optical transceivers), binocular RGB camera, and measurable depth (TOF). ) Three kinds of cameras.
- the inventors have found that at least the following problems exist in the prior art: although the monocular camera is the most mature, there are problems of serious interference between multiple devices and sensitivity to sunlight interference, and a set of structured optical transceivers can be completed.
- SLAM this not only increases the size of the product, but also increases the production cost; although the binocular RGB camera is simple in hardware and low in cost, the measurement range is fixed because the baseline distance (the distance between the two cameras' optical centers) is fixed. It is very suitable for indoor and outdoor environments.
- TOF cameras are not widely used due to their immature technology and high cost.
- One technical problem to be solved by some embodiments of the present application is to provide a multi-view camera system, a terminal device, and a robot to solve the above-mentioned technical problems existing in the existing multi-camera camera system.
- One embodiment of the present application provides a multi-view camera system including a processing mechanism and at least three visual sensing mechanisms; at least three visual sensing mechanisms having the same focal length, at least three visual sensing mechanisms The optical centers are located on the first horizontal line and do not overlap each other; the processing mechanism is respectively connected with at least three visual sensing mechanisms for determining the baseline distance required for the multi-camera camera to take the measured object, according to the required baseline. The distance selects two visual sensing mechanisms from at least three visual sensing mechanisms, and uses the selected two visual sensing mechanisms to position the measured object.
- An embodiment of the present application provides a terminal device, including the multi-camera camera system provided by any embodiment of the present application.
- One embodiment of the present application provides a robot including a multi-view camera system provided by any of the embodiments of the present application.
- the embodiment of the present application installs at least three visual sensing mechanisms on the same horizontal line, and ensures that the focal lengths of the installed visual sensing mechanisms are the same, do not overlap each other, and the processing mechanism is different according to different embodiments.
- the application environment scene selects two visual sensing mechanisms whose baseline distance meets the requirements to form a binocular camera, so that the multi-camera camera system can have the functions of a plurality of binocular cameras with different baseline distances, so that the measurement range can be adjusted to Adapt to different environments such as indoors and outdoors, and effectively improve the integration of products, greatly reduce hardware costs, and expand the scope of use of products.
- FIG. 1 is a schematic structural diagram of a multi-camera imaging system according to a first embodiment of the present application
- FIG. 2 is a flow chart of the processing mechanism of the second embodiment of the present application reselecting two visual sensing mechanisms.
- a first embodiment of the present application is directed to a multi-view camera system including a processing mechanism and at least three visual sensing mechanisms.
- at least three of the visual sensing mechanisms have the same focal length, and the optical centers of the at least three visual sensing mechanisms are located on the same horizontal line (for convenience, the horizontal line of the optical sensing mechanism is referred to as a first horizontal line), and Do not overlap each other.
- the processing mechanism is respectively connected to at least three visual sensing mechanisms for determining a baseline distance required for the multi-camera camera to take the measured object, and selecting two visions from the at least three visual sensing mechanisms according to the required baseline distance.
- the sensing mechanism uses the selected two visual sensing mechanisms to position the object to be measured.
- the processing unit may determine that the multi-camera camera system is photographed according to the preset motion range of the measured object. Measuring the required baseline distance of the object; or using any two of the at least three visual sensing mechanisms to position the measured object, determining the vertical distance of the measured object to the first horizontal line, and then according to the vertical distance Determine the baseline distance required for the multi-camera camera to take the subject.
- the visual sensing mechanisms used in the embodiment are all composed of an imaging unit and an image acquisition unit, and the image acquisition units are all disposed on the same horizontal line (since the optical center is located on the image acquisition unit, The image acquisition units are all disposed on the first horizontal line), and the imaging units are all disposed on the same horizontal line (such as the second horizontal line).
- first horizontal line and the second horizontal line are two horizontal lines parallel to each other, and the distance from the first horizontal line to the second horizontal line is equal to the focal length of the visual sensing mechanism, and the geometric center of the imaging unit is The optical centers of the image acquisition unit are on the same axis.
- the multi-view camera system can be made different The measured objects in the range of motion are tracked and photographed, and the baseline distances between any two of the at least three visual sensing mechanisms included in the multi-camera camera system provided in this embodiment are different. Thereby, any two visual sensing mechanisms can be matched to each other to form a multi-head camera with different baseline distances.
- the processing mechanism determines the baseline distance required for the multi-camera camera system to capture the measured object
- the following is an example of a multi-vision camera system including three visual sensing mechanisms.
- the structure of the camera system will be specifically described.
- the structure of the multi-camera camera system is as shown in FIG.
- the multi-camera camera system 100 specifically includes a first visual sensing mechanism 101, a second visual sensing mechanism 102, a third visual sensing mechanism 103, and a processing mechanism 104.
- the first visual sensing mechanism 101 includes an imaging unit F1 and an image acquisition unit C1
- the second visual sensing mechanism 102 includes an imaging unit F2 and an image acquisition unit C2
- the third visual sensing mechanism 103 includes an imaging unit F3 and an image acquisition unit C3. .
- C1, C2 and C3 are arranged on the first horizontal line H1, F1, F2 and F3 are arranged on the second horizontal line H2, B1 is the baseline distance between the optical center of C1 and the optical center of C2, and B2 is the light of C2.
- the baseline distance between the heart and the optical center of C3, B3 is the baseline distance between the optical center of C1 and the optical center of C3, f is the focal length of three visual sensing mechanisms, and point P is the object to be measured (or is A point on the object to be measured, P1 is the imaging point of the object P on the imaging unit F1, P2 is the imaging point of the object P on the imaging unit F2, and P3 is the imaging of the object P on the imaging unit F3.
- O1 is the plane origin of imaging unit F1
- O2 is the plane original of imaging unit F2
- O3 is the plane origin of imaging unit F3
- X1 is the offset distance from plane origin O1 to imaging point P1
- X2 is plane origin O2 to imaging
- X3 is the offset distance from the plane origin O3 to the imaging point P3
- Z is the vertical distance of the object P to the first horizontal line H1.
- Z is the vertical distance (the vertical distance of the object P to the first horizontal line H1)
- f is the focal length of the three visual sensing mechanisms
- B is the baseline distance required for the multi-camera imaging system to capture the object P
- X L is the left offset distance
- X R is the right offset distance.
- the left offset distance X L in the embodiment is an offset pixel point between the imaging point of the object P on the left imaging unit and the plane origin of the left imaging unit, and the right offset distance.
- X R is an offset pixel point between the imaging point of the object P on the right imaging unit and the plane origin of the right imaging unit.
- the left imaging unit in this embodiment is an imaging unit (such as F1 or F2) in the visual sensing mechanism on the left side of any two visual sensing mechanisms
- the right imaging unit is arbitrary.
- the focal length f is fixed, the set positions of the first visual sensing mechanism 101, the second visual sensing mechanism 102, and the third visual sensing mechanism 103 are fixedly set as needed, and thus the baseline distance B1, the baseline distance B2, and the baseline.
- the distance B3 is also fixed.
- the pixels of the selected visual sensing mechanism are fixed values, the measurement range corresponding to each baseline distance is also fixed.
- the baseline distance (such as B1, B2, B3) between the two visual sensing mechanisms selected by the processing mechanism 104 from the multi-camera imaging system is equal to the baseline distance B required to capture the measured object P. Therefore, when the object P to be measured is photographed by using the multi-camera imaging system in the embodiment, the multi-camera camera system can be determined according to the preset motion range of the object P and the above formula.
- the baseline distance B is such that two visual sensing mechanisms that meet the requirements are selected from the multi-shot system to locate the object P to be measured.
- the preset activity range of the object P to be measured in this embodiment may be set according to an environment where the multi-camera camera system is applied.
- the preset activity range of the object P to be measured is a value, such as Within 10m 2
- the preset range of motion of the object P to be measured is another value, such as 10m 2 to 50m 2 .
- any two visual sensors in the multi-camera camera system may be utilized.
- the mechanism locates the object P to be measured, determines the vertical distance Z of the object P to the first horizontal line H1, and then determines the baseline distance B required for the multi-camera camera to take the object P according to the vertical distance Z, thereby taking a multi-eye shot.
- Two visual sensing mechanisms that meet the requirements are selected in the system to locate the object P to be measured.
- the visual sensing mechanism included in the multi-camera camera system may be greater than or equal to three, for example, four visual sensing mechanisms included in the multi-camera camera system, and any two visual sensing mechanisms.
- the multi-camera camera system can be combined to form six multi-head cameras having different baseline distances, and those skilled in the art can appropriately set according to the actual application scenario of the multi-camera camera system. There are no restrictions here.
- the visual sensing mechanism included in the multi-camera camera system selects a monocular camera which is relatively mature and relatively simple in structure.
- those skilled in the art can select a suitable monocular vision sensing device according to the needs, and no limitation is made herein.
- the multi-camera camera system installs at least three visual sensing mechanisms on the same horizontal line, and ensures that the focal lengths of the mounted visual sensing mechanisms are the same, and do not mutually
- the processing mechanism selects two visual sensing mechanisms whose baseline distance meets the requirements according to different application environment scenes to form a binocular camera, thereby enabling the multi-camera camera system to have the functions of a plurality of binocular cameras having different baseline distances, so that
- the measuring range is adjustable to adapt to different environments such as indoors and outdoors, and it can effectively improve the integration of products, greatly reduce hardware costs, and expand the scope of use of products.
- a second embodiment of the present application relates to a multi-camera camera system.
- the present embodiment is further improved on the basis of the first or second embodiment, and the specific improvement is that the processing mechanism in the embodiment can be used in the process of capturing the object to be measured by the multi-camera camera system, according to the measured The vertical distance of the object to the first horizontal line, and re-select the visual sensing mechanism whose baseline distance meets the requirements.
- the specific operation flow of the processing mechanism to select two visual sensing mechanisms from at least three visual sensing mechanisms is shown in FIG. 2 .
- Step 201 Determine a vertical distance of the measured object to the first horizontal line.
- the vertical distance referred to in this embodiment is determined by the processing mechanism using the selected two visual sensing mechanisms to determine the vertical distance of the measured object to the first horizontal line (H1 in FIG. 1).
- the distance calculation parameter acquired by the processing mechanism is specifically a focal length, a baseline distance, a left offset distance, and a right offset distance of the selected two visual sensing mechanisms.
- left offset distance and the right offset distance in this embodiment are substantially the same as the left offset distance and the right offset distance in the first embodiment, and the main difference is: this embodiment
- the left imaging unit is an imaging unit located in the visual sensing mechanism on the left side of the two visual sensing mechanisms that have been selected in the multi-camera imaging system
- the right imaging unit is the two selected in the multi-camera imaging system.
- the plane origins on the imaging units in the respective visual sensing mechanisms in this embodiment are the same, and generally the upper left corner of the imaging unit is selected (0, 0). Coordinate points. However, in practical applications, those skilled in the art can select other coordinate points as the plane origin as needed, and no limitation is made here.
- the distance calculation parameters acquired by the processing mechanism may further include parameter information such as an imaging point, a distortion coefficient, a rotation matrix, and a translation vector, which are not enumerated here.
- Step 202 Acquire a preset baseline distance corresponding to the vertical distance.
- mapping relationship between the vertical distance and the baseline distance specific details may be referred to the technical details described in the first embodiment, and details are not described herein again.
- Step 203 Re-determine the baseline distance required to take the measured object according to the preset baseline distance.
- Step 204 Reselect two visual sensing mechanisms from at least three visual sensing mechanisms based on the determined baseline distance required by the measured object.
- the processing mechanism specifically needs to determine the re-determined measured object. Whether the required baseline distance is equal to the baseline distance between the currently selected two visual sensing mechanisms, and if the determined baseline distance required for the measured object is not equal to the baseline distance between the currently selected two visual sensing mechanisms, Based on the determined baseline distance required for the measured object, two visual sensing mechanisms are reselected from at least three of the visual sensing mechanisms.
- the distance from the re-determined measured object is re-determined from at least three Two visual sensing mechanisms are selected in the visual sensing mechanism, and the baseline distance between the two re-selected visual sensing mechanisms is equal to the baseline distance required for the re-determined measured object.
- the distance from the re-determined measured object is re-established from at least three Two visual sensing mechanisms are selected in the visual sensing mechanism, and the baseline distance between the two re-selected visual sensing mechanisms is equal to the baseline distance required for the re-determined measured object.
- a third embodiment of the present application relates to a terminal device.
- the terminal device may specifically be a robot, such as a smart sweeping robot, a navigation robot, a drone, an unmanned vehicle, and the like.
- the terminal device provided in this embodiment can accurately complete path planning, autonomous navigation, and obstacle avoidance by installing the multi-camera camera system provided in any embodiment of the present application.
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Abstract
Description
本申请涉及视觉导航技术领域，特别涉及一种多目摄像系统、终端设备及机器人。The present application relates to the field of visual navigation technology, and in particular, to a multi-view camera system, a terminal device, and a robot.
目前移动机器人、无人机、自动驾驶等领域发展迅速，正逐渐改变各个传统行业，即时定位与地图构建(SLAM)作为移动机器人、无人机、自动驾驶等领域研究的关键技术，决定了移动机器人、无人机、无人汽车能否准确的完成路径规划、自主导航与避障。多目摄像系统是完成SLAM的主要方式之一，目前多目摄像系统主要有单目相机(含一个三原色(RGB)相机和一组结构光收发器)、双目RGB相机、可测深度(TOF)相机三种。At present, mobile robots, drones, and autonomous driving are developing rapidly. They are gradually changing various traditional industries. Instant Location and Map Construction (SLAM) is the key technology for mobile robots, drones, and autopilots. Whether robots, drones, and unmanned vehicles can accurately complete path planning, autonomous navigation, and obstacle avoidance. Multi-camera camera system is one of the main ways to complete SLAM. At present, multi-camera camera system mainly includes monocular camera (including a three-primary (RGB) camera and a set of structured optical transceivers), binocular RGB camera, and measurable depth (TOF). ) Three kinds of cameras.
但是，发明人发现现有技术中至少存在如下问题：单目相机虽然发展最为成熟，但存在多设备之间干扰严重、对阳光干扰敏感的问题，另外需要一组结构光收发器配合才可以完成SLAM，这样不仅增加了产品的尺寸，还提高了生产成本；双目RGB相机虽然硬件简单、成本低廉，但是由于基线距离(两个摄像头光心的距离)固定，使得测量范围固定不变，不能很好的适用于室内、室外等不同环境；而TOF相机由于技术不成熟、成本高，目前还不能广泛应用。However, the inventors have found that at least the following problems exist in the prior art: although the monocular camera is the most mature, there are problems of serious interference between multiple devices and sensitivity to sunlight interference, and a set of structured optical transceivers can be completed. SLAM, this not only increases the size of the product, but also increases the production cost; although the binocular RGB camera is simple in hardware and low in cost, the measurement range is fixed because the baseline distance (the distance between the two cameras' optical centers) is fixed. It is very suitable for indoor and outdoor environments. However, TOF cameras are not widely used due to their immature technology and high cost.
发明内容Summary of the invention
本申请部分实施例所要解决的一个技术问题在于提供一种多目摄像系统、终端设备及机器人，以解决现有多目摄像系统中存在的上述技术问题。One technical problem to be solved by some embodiments of the present application is to provide a multi-view camera system, a terminal device, and a robot to solve the above-mentioned technical problems existing in the existing multi-camera camera system.
本申请的一个实施例提供了一种多目摄像系统，该多目摄像系统包括处理机构和至少三个视觉传感机构；至少三个视觉传感机构的焦距相同，至少三个视觉传感机构的光心位于第一水平线上，且互不重叠；处理机构分别与至少三个视觉传感机构通信连接，用于确定多目摄像系统拍摄被测对象所需的基线距离，根据所需的基线距离从至少三个视觉传感机构中选取两个视觉传感机构，利用选取的两个视觉传感机构定位被测对象。One embodiment of the present application provides a multi-view camera system including a processing mechanism and at least three visual sensing mechanisms; at least three visual sensing mechanisms having the same focal length, at least three visual sensing mechanisms The optical centers are located on the first horizontal line and do not overlap each other; the processing mechanism is respectively connected with at least three visual sensing mechanisms for determining the baseline distance required for the multi-camera camera to take the measured object, according to the required baseline. The distance selects two visual sensing mechanisms from at least three visual sensing mechanisms, and uses the selected two visual sensing mechanisms to position the measured object.
本申请的一个实施例提供了一种终端设备，该终端设备包括本申请任意实施例提供的多目摄像系统。An embodiment of the present application provides a terminal device, including the multi-camera camera system provided by any embodiment of the present application.
本申请的一个实施例提供了一种机器人，该机器人包括本申请任意实施例提供的多目摄像系统。One embodiment of the present application provides a robot including a multi-view camera system provided by any of the embodiments of the present application.
本申请实施例相对于现有技术而言，通过在同一水平线上安装至少三个视觉传感机构，并且保证安装的视觉传感机构的焦距均相同，相互之间互不重叠，处理机构根据不同的应用环境场景选取基线距离符合要求的两个视觉传感机构组成双目相机，从而使得该多目摄像系统能够具备多个具有不同基线距离的双目相机的功能，使得测量范围可调，以适应室内、室外等不同环境，并且能够有效提高产品的集成度，大大降低硬件成本，扩大产品的使用范围。Compared with the prior art, the embodiment of the present application installs at least three visual sensing mechanisms on the same horizontal line, and ensures that the focal lengths of the installed visual sensing mechanisms are the same, do not overlap each other, and the processing mechanism is different according to different embodiments. The application environment scene selects two visual sensing mechanisms whose baseline distance meets the requirements to form a binocular camera, so that the multi-camera camera system can have the functions of a plurality of binocular cameras with different baseline distances, so that the measurement range can be adjusted to Adapt to different environments such as indoors and outdoors, and effectively improve the integration of products, greatly reduce hardware costs, and expand the scope of use of products.
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。The one or more embodiments are exemplified by the accompanying drawings in the accompanying drawings, and FIG. The figures in the drawings do not constitute a scale limitation unless otherwise stated.
图1是本申请第一实施例的多目摄像系统的结构示意图；1 is a schematic structural diagram of a multi-camera imaging system according to a first embodiment of the present application;
图2是本申请第二实施例的处理机构重新选取两个视觉传感机构的流程图。2 is a flow chart of the processing mechanism of the second embodiment of the present application reselecting two visual sensing mechanisms.
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请部分实施例进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。In order to make the objects, the technical solutions and the advantages of the present application more clear, some embodiments of the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the application and are not intended to be limiting.
本申请的第一实施例涉及一种多目摄像系统，该多目摄像系统包括处理机构和至少三个视觉传感机构。其中，至少三个视觉传感机构的焦距相同，至少三个视觉传感机构的光心位于同一水平线(为了方便描述以下称视觉传感机构的光心所在的水平线为第一水平线)上，且互不重叠。处理机构分别与至少三个视觉传感机构通信连接，用于确定多目摄像系统拍摄被测对象所需的基线距离，根据所需的基线距离从至少三个视觉传感机构中选取两个视觉传感机构，利用选取的两个视觉传感机构定位被测对象。A first embodiment of the present application is directed to a multi-view camera system including a processing mechanism and at least three visual sensing mechanisms. Wherein, at least three of the visual sensing mechanisms have the same focal length, and the optical centers of the at least three visual sensing mechanisms are located on the same horizontal line (for convenience, the horizontal line of the optical sensing mechanism is referred to as a first horizontal line), and Do not overlap each other. The processing mechanism is respectively connected to at least three visual sensing mechanisms for determining a baseline distance required for the multi-camera camera to take the measured object, and selecting two visions from the at least three visual sensing mechanisms according to the required baseline distance. The sensing mechanism uses the selected two visual sensing mechanisms to position the object to be measured.
需要说明的是，在本实施例中，处理机构在确定多目摄像系统拍摄被测对象所需的基线距离时，具体可以是根据被测对象的预设活动范围，确定多目摄像系统拍摄被测对象所需的基线距离；也可以是利用至少三个视觉传感机构 中的任意两个视觉传感机构定位被测对象，确定被测对象到至第一水平线的垂直距离，然后根据垂直距离，确定多目摄像系统拍摄被测对象所需的基线距离。It should be noted that, in the embodiment, when the processing mechanism determines the baseline distance required for the multi-camera imaging system to capture the measured object, the processing unit may determine that the multi-camera camera system is photographed according to the preset motion range of the measured object. Measuring the required baseline distance of the object; or using any two of the at least three visual sensing mechanisms to position the measured object, determining the vertical distance of the measured object to the first horizontal line, and then according to the vertical distance Determine the baseline distance required for the multi-camera camera to take the subject.
另外，需要说明的是，本实施例中采用的视觉传感机构均是由成像单元和图像采集单元构成，并且图像采集单元均设置于同一水平线(由于光心是位于图像采集单元上的，因此，图像采集单元均设置于第一水平线)上，成像单元均设置于同一水平线(如第二水平线)上。In addition, it should be noted that the visual sensing mechanisms used in the embodiment are all composed of an imaging unit and an image acquisition unit, and the image acquisition units are all disposed on the same horizontal line (since the optical center is located on the image acquisition unit, The image acquisition units are all disposed on the first horizontal line), and the imaging units are all disposed on the same horizontal line (such as the second horizontal line).
另外，需要说明的是，上述所说的第一水平线与第二水平线为相互平行的两条水平线，并且第一水平线到第二水平线的距离等于视觉传感机构的焦距，成像单元的几何中心与图像采集单元的光心处于同一轴线上。In addition, it should be noted that the first horizontal line and the second horizontal line are two horizontal lines parallel to each other, and the distance from the first horizontal line to the second horizontal line is equal to the focal length of the visual sensing mechanism, and the geometric center of the imaging unit is The optical centers of the image acquisition unit are on the same axis.
另外，为了使得多目摄像系统中的视觉传感机构能够尽可能多的组成基线距离(两个视觉传感器的光心之间的距离)不同的多目相机，从而使多目摄像系统能够针对不同活动范围内的被测对象进行跟踪、拍摄，本实施例中提供的多目摄像系统中包括的至少三个视觉传感机构中的任意两个视觉传感机构之间的基线距离均不相同，从而可以使得任意两个视觉传感机构相互配合，组成基线距离不同的多目相机。In addition, in order to enable the visual sensing mechanism in the multi-camera camera system to form as many multi-head cameras as possible with different baseline distances (distance between the optical centers of the two vision sensors), the multi-view camera system can be made different The measured objects in the range of motion are tracked and photographed, and the baseline distances between any two of the at least three visual sensing mechanisms included in the multi-camera camera system provided in this embodiment are different. Thereby, any two visual sensing mechanisms can be matched to each other to form a multi-head camera with different baseline distances.
为了便于理解该多目摄像系统的使用以及处理机构确定多目摄像系统拍摄被测对象所需的基线距离的方式，以下以多目摄像系统中包括三个视觉传感机构为例，对多目摄像系统的结构进行具体说明，该多目摄像系统的结构如图1所示。In order to facilitate the understanding of the use of the multi-camera camera system and the manner in which the processing mechanism determines the baseline distance required for the multi-camera camera system to capture the measured object, the following is an example of a multi-vision camera system including three visual sensing mechanisms. The structure of the camera system will be specifically described. The structure of the multi-camera camera system is as shown in FIG.
如图1所示，多目摄像系统100具体包括第一视觉传感机构101、第二视觉传感机构102、第三视觉传感机构103和处理机构104。第一视觉传感机构101包括成像单元F1和图像采集单元C1，第二视觉传感机构102包括成像单元F2和图像采集单元C2，第三视觉传感机构103包括成像单元F3和图像采集单元C3。As shown in FIG. 1, the
其中，C1、C2和C3设置于第一水平线H1上，F1、F2和F3设置于第二水平线H2上，B1为C1的光心到C2的光心之间的基线距离，B2为C2的光心到C3的光心之间的基线距离，B3为C1的光心到C3的光心之间的基线距离，f为三个视觉传感机构的焦距，点P为被测对象(或者是被测对象上的一点)，P1为被测对象P在成像单元F1上的成像点，P2为被测对象P在成像单元F2上的成像点，P3为被测对象P在成像单元F3上的成像点，O1为成像单元F1的平面原点，O2为成像单元F2的平面原，O3为成像单元F3的平面原点，X1为平面原点O1到成像点P1的偏移距离，X2为平面原点O2到成像点P2的偏 移距离，X3为平面原点O3到成像点P3的偏移距离，Z为被测对象P到第一水平线H1的垂直距离。Wherein C1, C2 and C3 are arranged on the first horizontal line H1, F1, F2 and F3 are arranged on the second horizontal line H2, B1 is the baseline distance between the optical center of C1 and the optical center of C2, and B2 is the light of C2. The baseline distance between the heart and the optical center of C3, B3 is the baseline distance between the optical center of C1 and the optical center of C3, f is the focal length of three visual sensing mechanisms, and point P is the object to be measured (or is A point on the object to be measured, P1 is the imaging point of the object P on the imaging unit F1, P2 is the imaging point of the object P on the imaging unit F2, and P3 is the imaging of the object P on the imaging unit F3. Point, O1 is the plane origin of imaging unit F1, O2 is the plane original of imaging unit F2, O3 is the plane origin of imaging unit F3, X1 is the offset distance from plane origin O1 to imaging point P1, and X2 is plane origin O2 to imaging The offset distance of the point P2, X3 is the offset distance from the plane origin O3 to the imaging point P3, and Z is the vertical distance of the object P to the first horizontal line H1.
根据三角形相似原理，可知垂直距离、基线距离、焦距和偏移距离之间存在特定的对应关系，其关系具体可以利用如下公式表示：According to the triangle similarity principle, it is known that there is a specific correspondence between the vertical distance, the baseline distance, the focal length and the offset distance, and the relationship can be specifically expressed by the following formula:
其中，Z为垂直距离(被测对象P到第一水平线H1的垂直距离)，f为三个视觉传感机构的焦距，B为多目摄像系统拍摄被测对象P所需的基线距离，X L为左偏移距离，X R为右偏移距离。 Where Z is the vertical distance (the vertical distance of the object P to the first horizontal line H1), f is the focal length of the three visual sensing mechanisms, and B is the baseline distance required for the multi-camera imaging system to capture the object P, X L is the left offset distance and X R is the right offset distance.
需要说明的是，本实施例中所说的左偏移距离X L为被测对象P在左成像单元上的成像点到左成像单元的平面原点之间的偏移像素点，右偏移距离X R为被测对象P在右成像单元上的成像点到右成像单元的平面原点之间的偏移像素点。 It should be noted that the left offset distance X L in the embodiment is an offset pixel point between the imaging point of the object P on the left imaging unit and the plane origin of the left imaging unit, and the right offset distance. X R is an offset pixel point between the imaging point of the object P on the right imaging unit and the plane origin of the right imaging unit.
另外，需要说明的是，本实施例中所说的左成像单元为任意两个视觉传感机构中位于左侧的视觉传感机构中的成像单元(如F1或F2)，右成像单元为任意两个视觉传感机构中位于右侧的视觉传感机构中的成像单元(如F2或F3)，因此左偏移距离X L具体可以是X1或X2，右偏移距离X R具体可以是X2或X3。 In addition, it should be noted that the left imaging unit in this embodiment is an imaging unit (such as F1 or F2) in the visual sensing mechanism on the left side of any two visual sensing mechanisms, and the right imaging unit is arbitrary. The imaging unit (such as F2 or F3) in the visual sensing mechanism on the right side of the two visual sensing mechanisms, so the left offset distance X L may specifically be X1 or X2, and the right offset distance X R may specifically be X2 Or X3.
对公式(1)整理可得：The formula (1) can be obtained:
由于焦距f是固定的，第一视觉传感机构101、第二视觉传感机构102和第三视觉传感机构103的设置位置是根据需要固定设置的，因此基线距离B1、基线距离B2和基线距离B3也是固定的。并且，由于选择的视觉传感机构的像素为固定值，所以每一个基线距离对应的测量范围也是固定不变的。Since the focal length f is fixed, the set positions of the first
另外，需要说明的是，处理机构104从多目摄像系统中选取的两个视觉传感机构之间的基线距离(如B1、B2、B3)是等于拍摄被测对象P所需的基线距离B的，因此，在使用本实施例中的多目摄像系统拍摄被测对象P时，可以根据被测对象P的预设活动范围和上述公式，确定多目摄像系统拍摄被测对象P所需的基线距离B，从而从多目拍摄系统中选取符合要求的两个视觉传感机构来定位被测对象P。In addition, it should be noted that the baseline distance (such as B1, B2, B3) between the two visual sensing mechanisms selected by the
为了便于理解，以下针对本实施例中提到的被测对象P的预设活动范围进行具体说明。For the sake of easy understanding, the preset range of motion of the object P to be tested mentioned in the embodiment will be specifically described below.
本实施例中被测对象P的预设活动范围可以是根据多目摄像系统所应用于的环境场合来设置的，比如室内环境中，被测对象P的预设活动范围是一个取值，如10m 2内，室外环境中，被测对象P的预设活动范围是另一个取值，如10m 2到50m 2内。 The preset activity range of the object P to be measured in this embodiment may be set according to an environment where the multi-camera camera system is applied. For example, in an indoor environment, the preset activity range of the object P to be measured is a value, such as Within 10m 2 , in the outdoor environment, the preset range of motion of the object P to be measured is another value, such as 10m 2 to 50m 2 .
需要说明的是，以上仅为举例说明，并不对本申请的保护范围构成限定。在实际应用中，本领域的技术人员可以根据多目摄像系统所应用于的环境场合合理设置被测对象P的预设活动范围，具体的设置可以结合基线距离与活动范围之间的对应关系来设置，此处不做限制。It should be noted that the above is merely illustrative and does not limit the scope of protection of the present application. In practical applications, those skilled in the art can appropriately set the preset activity range of the object P according to the environment in which the multi-camera system is applied. The specific setting can be combined with the correspondence between the baseline distance and the activity range. Settings, no restrictions here.
另外，需要说明的是，在实际应用中，除了按照上述方式确定多目摄像系统拍摄被测对象P所需的基线距离B之外，还可以利用多目摄像系统中的任意两个视觉传感机构定位被测对象P，确定被测对象P到第一水平线H1的垂直距离Z，然后根据垂直距离Z，确定多目摄像系统拍摄被测对象P所需的基线距离B，从而从多目拍摄系统中选取符合要求的两个视觉传感机构来定位被测对象P。In addition, it should be noted that, in practical applications, in addition to determining the baseline distance B required for the multi-camera imaging system to capture the object P to be measured in the above manner, any two visual sensors in the multi-camera camera system may be utilized. The mechanism locates the object P to be measured, determines the vertical distance Z of the object P to the first horizontal line H1, and then determines the baseline distance B required for the multi-camera camera to take the object P according to the vertical distance Z, thereby taking a multi-eye shot. Two visual sensing mechanisms that meet the requirements are selected in the system to locate the object P to be measured.
需要说明的是，以上仅为举例说明，并不对本申请的保护范围构成限定。在实际应用中，多目摄像系统中包括的视觉传感机构只要大于或等于三个就可以，比如在多目摄像系统中包括的视觉传感机构为四个，并且任意两个视觉传感机构之间的基线距离都不相同的情况下，该多目摄像系统可以组合构成6个基线距离不同的多目相机，本领域的技术人员根据多目摄像系统的实际应用场景进行合理设置即可，此处不做限制。It should be noted that the above is merely illustrative and does not limit the scope of protection of the present application. In practical applications, the visual sensing mechanism included in the multi-camera camera system may be greater than or equal to three, for example, four visual sensing mechanisms included in the multi-camera camera system, and any two visual sensing mechanisms. In the case where the baseline distances are different, the multi-camera camera system can be combined to form six multi-head cameras having different baseline distances, and those skilled in the art can appropriately set according to the actual application scenario of the multi-camera camera system. There are no restrictions here.
另外，需要说明的是，在本实施例中，为了降低硬件成本，提高产品的集成度，多目摄像系统中包括的视觉传感机构选取的是目前较为成熟、结构相对简单的单目相机。但在实际应用中，本领域的技术人员可以根据需要，选择合适的单目视觉传感设备，此处不做限制。In addition, in the embodiment, in order to reduce the hardware cost and improve the integration degree of the product, the visual sensing mechanism included in the multi-camera camera system selects a monocular camera which is relatively mature and relatively simple in structure. However, in practical applications, those skilled in the art can select a suitable monocular vision sensing device according to the needs, and no limitation is made herein.
通过上述描述不难发现，本实施例中提供的多目摄像系统，通过在同一水平线上安装至少三个视觉传感机构，并且保证安装的视觉传感机构的焦距均相同，相互之间互不重叠，处理机构根据不同的应用环境场景选取基线距离符合要求的两个视觉传感机构组成双目相机，从而使得该多目摄像系统能够具备多个具有不同基线距离的双目相机的功能，使得测量范围可调，以适应室内、室外等不同环境，并且能够有效提高产品的集成度，大大降低硬件成本，扩大产品的使用范围。It is not difficult to find through the above description that the multi-camera camera system provided in this embodiment installs at least three visual sensing mechanisms on the same horizontal line, and ensures that the focal lengths of the mounted visual sensing mechanisms are the same, and do not mutually In the overlapping, the processing mechanism selects two visual sensing mechanisms whose baseline distance meets the requirements according to different application environment scenes to form a binocular camera, thereby enabling the multi-camera camera system to have the functions of a plurality of binocular cameras having different baseline distances, so that The measuring range is adjustable to adapt to different environments such as indoors and outdoors, and it can effectively improve the integration of products, greatly reduce hardware costs, and expand the scope of use of products.
本申请的第二实施例涉及一种多目摄像系统。本实施方式在第一或第二 实施方式的基础上，做了进一步改进，具体改进之处为：本实施例中的处理机构能够在多目摄像系统拍摄被测对象的过程中，根据被测对象到第一水平线的垂直距离，重新选取基线距离符合要求的视觉传感机构。处理机构重新从至少三个视觉传感机构中选取两个视觉传感机构的具体操作流程如图2所示。A second embodiment of the present application relates to a multi-camera camera system. The present embodiment is further improved on the basis of the first or second embodiment, and the specific improvement is that the processing mechanism in the embodiment can be used in the process of capturing the object to be measured by the multi-camera camera system, according to the measured The vertical distance of the object to the first horizontal line, and re-select the visual sensing mechanism whose baseline distance meets the requirements. The specific operation flow of the processing mechanism to select two visual sensing mechanisms from at least three visual sensing mechanisms is shown in FIG. 2 .
步骤201，确定被测对象到第一水平线的垂直距离。Step 201: Determine a vertical distance of the measured object to the first horizontal line.
具体的说，本实施例所说的垂直距离是由处理机构利用选取的两个视觉传感机构确定被测对象到第一水平线(图1中H1)的垂直距离。Specifically, the vertical distance referred to in this embodiment is determined by the processing mechanism using the selected two visual sensing mechanisms to determine the vertical distance of the measured object to the first horizontal line (H1 in FIG. 1).
计算该垂直距离的具体步骤如下：The specific steps to calculate the vertical distance are as follows:
S1、获取距离计算参数。S1. Obtain a distance calculation parameter.
S2、根据获取到的距离计算参数，确定被测对象到第一水平线的垂直距离。S2. Calculate a parameter according to the obtained distance, and determine a vertical distance of the measured object to the first horizontal line.
需要说明的是，在本实施例中，处理机构获取到的距离计算参数具体是选取的两个视觉传感机构的焦距、基线距离、左偏移距离和右偏移距离。It should be noted that, in this embodiment, the distance calculation parameter acquired by the processing mechanism is specifically a focal length, a baseline distance, a left offset distance, and a right offset distance of the selected two visual sensing mechanisms.
另外，需要说明的是，本实施例中的左偏移距离和右偏移距离与第一实施例中所说左偏移距离和右偏移距离大致相同，主要区别之处为：本实施例中所说的左成像单元为多目摄像系统中已经选取的两个视觉传感机构中位于左侧的视觉传感机构中的成像单元，右成像单元为多目摄像系统中已经选取的两个视觉传感机构中位于右侧的视觉传感机构中的成像单元。In addition, it should be noted that the left offset distance and the right offset distance in this embodiment are substantially the same as the left offset distance and the right offset distance in the first embodiment, and the main difference is: this embodiment The left imaging unit is an imaging unit located in the visual sensing mechanism on the left side of the two visual sensing mechanisms that have been selected in the multi-camera imaging system, and the right imaging unit is the two selected in the multi-camera imaging system. An imaging unit in the visual sensing mechanism located in the right side of the visual sensing mechanism.
另外，值得一提的是，为了便于后续计算，本实施例中各个视觉传感机构中的成像单元上的平面原点都是相同的，且通常选取的是成像单元左上角的(0，0)坐标点。但在实际应用中，本领域的技术人员可以根据需要选取其他坐标点作为平面原点，此处不做限制。In addition, it is worth mentioning that, in order to facilitate subsequent calculations, the plane origins on the imaging units in the respective visual sensing mechanisms in this embodiment are the same, and generally the upper left corner of the imaging unit is selected (0, 0). Coordinate points. However, in practical applications, those skilled in the art can select other coordinate points as the plane origin as needed, and no limitation is made here.
另外，为了保证后续计算的准确性，处理机构获取的距离计算参数还可以包括成像点、畸变系数、旋转矩阵、平移向量等参数信息，此处不再一一列举。In addition, in order to ensure the accuracy of the subsequent calculation, the distance calculation parameters acquired by the processing mechanism may further include parameter information such as an imaging point, a distortion coefficient, a rotation matrix, and a translation vector, which are not enumerated here.
步骤202，获取垂直距离对应的预设基线距离。Step 202: Acquire a preset baseline distance corresponding to the vertical distance.
关于垂直距离与基线距离的映射关系，具体的细节可以参考第一实施例中记载的技术细节，此处不再赘述。Regarding the mapping relationship between the vertical distance and the baseline distance, specific details may be referred to the technical details described in the first embodiment, and details are not described herein again.
步骤203，根据预设基线距离重新确定拍摄被测对象所需的基线距离。Step 203: Re-determine the baseline distance required to take the measured object according to the preset baseline distance.
具体的说，根据预设基线距离重新确定拍摄被测对象所需的基线距离的方式，可以参见第一实施例中提供的公式(1)和公式(2)，此处不再赘述。Specifically, for the manner of re-determining the baseline distance required for the object to be measured according to the preset baseline distance, refer to formula (1) and formula (2) provided in the first embodiment, and details are not described herein again.
步骤204，根据重新确定的被测对象所需的基线距离，重新从至少三个 视觉传感机构中选取两个视觉传感机构。Step 204: Reselect two visual sensing mechanisms from at least three visual sensing mechanisms based on the determined baseline distance required by the measured object.
具体的说，根据重新确定的被测对象所需的基线距离，重新从至少三个视觉传感机构中选取两个视觉传感机构的过程中，处理机构具体需要判断重新确定的被测对象所需的基线距离是否等于当前选取的两个视觉传感机构之间的基线距离，若重新确定的被测对象所需的基线距离不等于当前选取的两个视觉传感机构之间的基线距离，根据重新确定的被测对象所需的基线距离，重新从至少三个视觉传感机构中选取两个视觉传感机构。Specifically, in the process of re-selecting two visual sensing mechanisms from at least three visual sensing mechanisms according to the baseline distance required for the re-determined measured object, the processing mechanism specifically needs to determine the re-determined measured object. Whether the required baseline distance is equal to the baseline distance between the currently selected two visual sensing mechanisms, and if the determined baseline distance required for the measured object is not equal to the baseline distance between the currently selected two visual sensing mechanisms, Based on the determined baseline distance required for the measured object, two visual sensing mechanisms are reselected from at least three of the visual sensing mechanisms.
比如说，当重新确定的被测对象所需的基线距离大于当前选取的两个视觉传感机构之间的基线距离时，根据重新确定的被测对象所需的基线距离，重新从至少三个视觉传感机构中选取两个视觉传感机构，重新选取的两个视觉传感机构之间的基线距离等于重新确定的被测对象所需的基线距离。For example, when the baseline distance required for the re-determined object to be measured is greater than the baseline distance between the currently selected two visual sensing mechanisms, the distance from the re-determined measured object is re-determined from at least three Two visual sensing mechanisms are selected in the visual sensing mechanism, and the baseline distance between the two re-selected visual sensing mechanisms is equal to the baseline distance required for the re-determined measured object.
还比如说，当重新确定的被测对象所需的基线距离小于当前选取的两个视觉传感机构之间的基线距离时，根据重新确定的被测对象所需的基线距离，重新从至少三个视觉传感机构中选取两个视觉传感机构，重新选取的两个视觉传感机构之间的基线距离等于重新确定的被测对象所需的基线距离。For example, when the determined baseline distance required for the re-determined object is less than the baseline distance between the currently selected two visual sensing mechanisms, the distance from the re-determined measured object is re-established from at least three Two visual sensing mechanisms are selected in the visual sensing mechanism, and the baseline distance between the two re-selected visual sensing mechanisms is equal to the baseline distance required for the re-determined measured object.
本领域的技术人员可以理解，上述处理机构的具体操作是实现本申请的具体实施例，而在实际应用中，可以在形式上和细节上对其作各种改变，而不偏离本申请的精神和范围。A person skilled in the art can understand that the specific operation of the above processing mechanism is to implement a specific embodiment of the present application, and in practical applications, various changes can be made in form and detail without departing from the spirit of the present application. And scope.
本申请的第三实施例涉及一种终端设备。该终端设备具体可以是机器人，比如智能扫地机器人、导航机器人、无人机、无人汽车等。A third embodiment of the present application relates to a terminal device. The terminal device may specifically be a robot, such as a smart sweeping robot, a navigation robot, a drone, an unmanned vehicle, and the like.
需要说明的是，以上仅为举例说明，并不对本申请的保护范围构成限定。It should be noted that the above is merely illustrative and does not limit the scope of protection of the present application.
与现有技术相比，本实施例中提供的终端设备，通过安装本申请任意实施例中提供的多目摄像系统，从而可以准确的完成路径规划、自主导航与避障。Compared with the prior art, the terminal device provided in this embodiment can accurately complete path planning, autonomous navigation, and obstacle avoidance by installing the multi-camera camera system provided in any embodiment of the present application.
另外，需要说明的是，未在本实施例中详尽描述的技术细节，可参见本申请任意实施例所提供的多目摄像系统，此处不再赘述。In addition, it should be noted that the technical details that are not described in detail in this embodiment can be referred to the multi-camera camera system provided by any embodiment of the present application, and details are not described herein again.
本领域的普通技术人员可以理解，上述各实施例是实现本申请的具体实施例，而在实际应用中，可以在形式上和细节上对其作各种改变，而不偏离本申请的精神和范围。A person skilled in the art can understand that the above embodiments are specific embodiments of the present application, and various changes can be made in the form and details without departing from the spirit and scope of the application. range.
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| CN109211198B (en) * | 2018-08-15 | 2021-01-01 | 河海大学常州校区 | An intelligent target detection and measurement system and method based on trinocular vision |
| CN210998737U (en) * | 2019-11-12 | 2020-07-14 | 上海肇观电子科技有限公司 | Mobile robot |
| KR102743768B1 (en) | 2019-11-12 | 2024-12-18 | 넥스트브이피유 (상하이) 코포레이트 리미티드 | Mobile robot |
| CN111243021A (en) * | 2020-01-06 | 2020-06-05 | 武汉理工大学 | Vehicle-mounted visual positioning method and system based on multiple combined cameras and storage medium |
| CN111986248B (en) * | 2020-08-18 | 2024-02-09 | 东软睿驰汽车技术（沈阳）有限公司 | Multi-vision sensing method and device and automatic driving automobile |
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