CN104079916A - Panoramic three-dimensional visual sensor and using method - Google Patents
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Abstract
The invention discloses a panoramic three-dimensional visual sensor and a using method. The visual sensor at least comprises three wide angle cameras fixed to a set mold, wherein any two cameras are placed on one side of the mold, and the third camera faces the other side of the visual sensor. Images collected by the two adjacent cameras are utilized for carrying out image three-dimensional vision analysis, images collected by all the cameras installed on the visual sensor mold are utilized for achieving image panoramic splicing, then all-directional visual analysis is carried out, and whether one object needing to be concerned exists or not is analyzed. According to the panoramic three-dimensional visual sensor, the characteristic of visual recognition of multi-view vision of a three-dimensional visual sensor and the characteristic of being capable of simultaneously collecting images in multiple directions of a panoramic visual sensor are combined at the same time, so that the panoramic three-dimensional images of the target object and the surroundings are represented.
Description
Technical field
The present invention relates to vision sensor field, particularly a kind of panorama three-dimensional visual sensor and using method thereof.
Background technology
Along with the development of computer vision and artificial intelligence, the form of vision sensor and function are also in rapid lifting.Existing vision sensor is divided into two large classes conventionally, one class is to pay attention to the stereoscopic vision of 3D, by two or more cameras, catch the picture of object in reality, and by the image collecting being analyzed to the athletic posture of acquisition object and apart from the distance of video camera.An other class is in recent years emerging panoramic picture acquisition scheme, by the camera of fixed alignment different directions, gathers the image around all angles around object, and process calibration and splicing obtain the panoramic picture around object.
But what stereo vision sensor was paid close attention to is only a direction, although and panoramic vision sensor solution can gather the image of multiple directions simultaneously, can not carry out the visual identity of used for multi-vision visual, greatly increased the difficulty of carrying out artificial intelligence.
In addition, the panoramic vision sensor of present stage has three kinds of solutions such as multi-cam splicing, refraction-reflection type, bugeye lens splicing, and multi-cam splicing solution cost is higher, and refraction-reflection type camera use scenes is limited, and can only generate Cylindrical panoramic image.
Summary of the invention
The object of the invention is in order to overcome above shortcomings in prior art, a kind of panorama three-dimensional visual sensor and using method thereof that simultaneously possesses stereoscopic vision and panoramic vision is provided, and this panorama three-dimensional visual sensor is used wide-angle lens splicing; Transducer provided by the invention is the vivo athletic posture of display-object thing and the around state of scene more truly.
To achieve these goals, according to an aspect of the present invention, a kind of panorama three-dimensional visual sensor is provided, described panorama three-dimensional visual sensor at least comprises that three wide-angle cameras are fixed on the mould setting, wherein two cameras are placed in a side of mould, and for stereoscopic vision analysis, the angle of these two camera optical axises is less than 80 degree, and the optical axis of these two cameras is parallel with supporting surface, the 3rd camera is towards the opposite side of vision sensor.
Preferably, the 3rd camera mentioned above that is not used in stereoscopic vision analysis can become with ground certain elevation angle.
Preferably, the 3rd camera mentioned above that is not used in stereoscopic vision analysis can become with ground certain angle of depression, and above mould, increases an auxiliary camera, on the optical axis direction of auxiliary camera.
Preferably, can a range finding servicing unit be installed in the nearer side of the camera spacing of analyzing for stereoscopic vision.
Preferably, in the nearer side of the camera spacing of analyzing for stereoscopic vision, an infrared transmitter based on structured light technique is installed, and is there is for two cameras of stereoscopic vision analysis the function that gathers infrared light.
Preferably, can have camera control module, module is to the attitude of camera, position, motion state and towards controlling
Preferably, can have sensor localization module, module is analyzed this vision sensor initial attitude, position, motion state and orientation information by several transducers such as electronic compass, accelerometer or gyroscopes.
According to another aspect of the present invention, provide a kind of using method of panorama three-dimensional visual sensor, said method comprising the steps of:
Step 1): camera collection image;
Step 2): the image that utilizes the camera collection for stereoscopic vision analysis described in step 1 to arrive, carries out the stereoscopic vision analysis of image;
Step 3): utilize be arranged on camera collections all on vision sensor mould to image carry out the panorama splicing of image;
Step 4): carry out omnidirectional visual analysis;
Preferably, can use other range finder module to measure the degree of depth of scene around, and auxiliary stereopsis module is carried out stereoscopic vision identification.
Preferably, can use infrared transmitter on object, to project infrared light towards periphery, particularly project infrared structure light, then adopt the camera that can gather infrared light, utilize infrared light information and original storage to set and measure the degree of depth of scene around.
Preferably, can use the auxiliary panorama splicing of information of stereopsis module, improve the effect of panorama splicing.
Preferably, can use the several sensor localization attitudes such as electronic compass, accelerometer or gyroscope, position, towards step.
Compared with prior art, the present invention has following feature and beneficial effect:
1: two camera close together, towards a side, for stereoscopic vision analysis, camera is towards the vision sensor modelling of an other side, at stereo vision sensor, only pay close attention on unidirectional basis, take into account and consider other directions, reach and can carry out the visual identity of used for multi-vision visual, can gather again the image of multiple directions to obtain the object of panorama 3-D view simultaneously;
2: use stereoscopic vision to add infrared acquisition or other module combined measurements scene depth around, realized the splicing to panorama and be optimized;
3: utilize wide-angle lens splicing, avoided the high and refraction-reflection type camera use scenes of multi-cam splicing cost limited etc. not enough;
4: utilize Multi-sensor Fusion positioning shooting head towards.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme of the embodiment of the present invention, in describing embodiment below, needed accompanying drawing is done simple introduction, apparently, the accompanying drawing the following describes is only some embodiments of the present invention, for those of ordinary skills, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the vertical view of the panorama three-dimensional visual sensor scheme of the present invention's the simplest a kind of version;
Fig. 2 is the vertical view of a kind of preferred panorama three-dimensional visual sensor scheme of the present invention
Fig. 3 is the front view of a kind of preferred panorama three-dimensional visual sensor scheme of the present invention;
Fig. 4 is the left view of a kind of preferred panorama three-dimensional visual sensor scheme of the present invention;
Fig. 5 is that the present invention uses the supporting hardware composition proposal figure of the simplest version vision sensor shown in Fig. 1;
Fig. 6 is a kind of preferred panorama three-dimensional visual sensor hardware composition proposal figure of the present invention;
Fig. 7 is the method for work flow chart of the panorama three-dimensional visual sensor of the present invention's the simplest a kind of version;
Embodiment
Below by embodiment, by reference to the accompanying drawings technical scheme of the present invention is carried out to clear, complete description; obviously; described embodiment is only a part of embodiment of the present invention; rather than whole embodiment; based on embodiments of the invention; those of ordinary skills, not making the every other embodiment obtaining under creative work prerequisite, belong to the scope of protection of the invention.
According to one embodiment of present invention, a kind of panorama three-dimensional visual sensor is provided, shown in Fig. 1, a kind of panorama three-dimensional visual sensor of the simplest version, it is upper that described transducer comprises that three wide-angle camera A, C, D are fixed on the mould E that sets, and wherein two camera A, C are placed in a side of mould E, and the angle of these two camera optical axises is 60 degree, and the optical axis of these two cameras is parallel with supporting surface, the 3rd camera D is towards the opposite side of vision sensor.
Fig. 2 increases range finding servicing unit on the basis of the vision sensor shown in Fig. 1, this range finding servicing unit can be laser ranging module or ultrasonic distance measuring module, or be the infrared transmitter based on structured light technique, if be infrared transmitter, be arranged on two camera A of sensor die E front side, C has the function that receives infrared light, the feature of this design is to utilize infrared transmitter to the different angles emitting structural light in space, utilization is arranged on two camera collection infrared structure reflection of light information of vision sensor front end, thereby calculate transducer the place ahead environment degree of depth.
Fig. 5 has provided the hardware composition proposal of transducer shown in Fig. 1, and described transducer at least comprises with lower module;
The camera 1 that relative distance is nearer and camera 2 for gathering the image of a side both direction, provide image information to stereopsis module and panorama splicing processing module simultaneously;
Opposite side camera, for gathering the image of opposite side, and splices processing module by image transfer to panorama;
Stereopsis module, for being used the image of the nearlyer camera collection of relative distance between described camera to carry out computer vision analysis;
Panorama splicing processing module, for splicing the image information of whole camera collections;
Vision sensor of the present invention, except the hardware composition proposal shown in Fig. 5, also can increase other miscellaneous function modules, and as shown in Figure 6, other miscellaneous function modules mainly comprise:
Range finding supplementary module, the distance near object obtaining with respect to camera, and offer stereopsis module, for auxiliary stereoscopic vision analysis, or offer panorama concatenation module, for optimizing panorama splicing.
Camera control module, the visual information that can collect by analysis, near object situation analyzing, adjust vision sensor front end camera towards, or the visual information collecting by analysis, analyze omnirange ambient light conditions, control the exposure status of camera.
Sensor localization module, analyzes this vision sensor initial attitude, position, motion state and orientation information by several transducers such as electronic compass, accelerometer or gyroscopes.
According to another aspect of the present invention, provide a kind of using method of transducer of panoramic vision, as shown in Figure 7, said method comprising the steps of:
Step 1): camera collection image
Step 2): the image that utilizes the camera collection for stereoscopic vision analysis described in step 1 to arrive, carries out the stereoscopic vision analysis of image;
Step 3): utilize be arranged on camera collections all on vision sensor mould to image carry out the panorama splicing of image;
Step 4): carry out omnidirectional visual analysis;
If transducer increase of the present invention has auxiliary range finder module, corresponding method step is:
Step 1): camera collection image
Step 2): by being arranged on the depth measurement device of the nearlyer side of camera relative distance, measure near object distance;
Step 3): the information that comprehensive step 1, step 2 obtain is carried out stereoscopic vision analysis;
Step 4): utilize be arranged on camera collections all on vision sensor mould to image carry out the panorama splicing of image;
Step 5): carry out omnidirectional visual analysis according to stereoscopic vision analysis result and Panorama Mosaic information;
Panorama three-dimensional visual sensor provided by the present invention has been taken into account the visual identity of stereo vision sensor used for multi-vision visual and the feature that panoramic vision sensor can gather the image of multiple directions simultaneously, can reproduce object and panorama 3-D view around thereof.
The above embodiment has only expressed preferred embodiment of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection range of patent of the present invention should be as the criterion with claims.
Claims (9)
1. a panorama three-dimensional visual sensor, is characterized in that: described vision sensor at least comprises with lower module:
Three wide-angle cameras, wherein any two wide-angle cameras are fixed on a side of described vision sensor, and for stereoscopic vision analysis, the 3rd wide-angle camera is fixed on the opposite side of vision sensor;
Stereopsis module, carries out computer vision analysis for being fixed on the image of two camera collections of a side of described vision sensor described in using;
Panorama splicing processing module, for splicing the image information of whole camera collections.
2. panorama three-dimensional visual sensor as claimed in claim 1, is characterized in that: also comprise:
Range finding supplementary module, the distance near object obtaining with respect to camera, and offer stereopsis module, for auxiliary stereoscopic vision analysis, or offer panorama concatenation module, for optimizing panorama splicing.
3. panorama three-dimensional visual sensor as claimed in claim 2, is characterized in that: described range finding supplementary module is laser ranging module or ultrasonic distance measuring module, or is the infrared transmitter based on structured light technique; And if described range finding supplementary module is the infrared transmitter based on structured light technique, the wide-angle camera being fixed on described vision sensor has the function that receives infrared light.
4. the panorama three-dimensional visual sensor as described in claims 1 to 3 any one, it is characterized in that: the camera that is arranged on vision sensor mould opposite side becomes the certain elevation angle or angle of depression with the optical axis place plane of other two camera lenses for stereoscopic vision analysis, and above mould, increase an auxiliary camera, on the optical axis direction of described auxiliary camera.
5. the panorama three-dimensional visual sensor as described in claims 1 to 3 any one, is characterized in that: also comprise:
Camera control module, the visual information collecting by analysis, near object situation analyzing, adjust vision sensor front end camera towards, or the visual information collecting by analysiss, analyzes omnirange ambient light conditions, the exposure status of control camera;
Sensor localization module, analyzes this vision sensor initial attitude, position, motion state and orientation information by several transducers such as electronic compass, accelerometer or gyroscopes.
6. the panorama three-dimensional visual sensor as described in claims 1 to 3 any one, is characterized in that: described in be fixed on vision sensor one side the angle of two wide-angle cameras for stereoscopic vision analysis for being less than 80 degree.
7. a using method for panorama three-dimensional visual sensor as claimed in claim 1, is characterized in that: comprise the following steps:
Step 1): camera carries out IMAQ
Step 2): utilize two images that camera collection arrives for stereoscopic vision analysis, carry out the stereoscopic vision analysis of image;
Step 3): utilize all camera collections be arranged on vision sensor mould to image carry out the panorama splicing of image;
Step 4): carry out omnidirectional visual analysis.
8. a using method for panorama three-dimensional visual sensor as claimed in claim 3, is characterized in that: comprise the following steps:
Step 1): camera collection image;
Step 2): by being arranged on the depth measurement device of the nearlyer side of camera relative distance, measure near object distance;
Step 3): two camera collections that can be used for stereoscopic vision analysis in comprehensive step 1 to image, the information that step 2 obtains carry out stereoscopic vision analysis;
Step 4): utilize be arranged on camera collections all on vision sensor mould to image carry out the panorama splicing of image;
Step 5): carry out omnidirectional visual analysis.
9. a using method for panorama three-dimensional visual sensor as claimed in claim 7 or 8, is characterized in that: also comprise: use the several sensor localization attitudes such as electronic compass, accelerometer or gyroscope, position, towards etc. information.
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| CN105574838A (en) * | 2014-10-15 | 2016-05-11 | 上海弘视通信技术有限公司 | Image registration and splicing method of multi-view camera and device thereof |
| CN105931183A (en) * | 2016-04-15 | 2016-09-07 | 深圳乐行天下科技有限公司 | Omnibearing area array capturing system and device |
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| CN106559664A (en) * | 2015-09-30 | 2017-04-05 | 成都理想境界科技有限公司 | The filming apparatus and equipment of three-dimensional panoramic image |
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