CN103630112A - Method for achieving target positioning through double cameras - Google Patents
Method for achieving target positioning through double cameras Download PDFInfo
- Publication number
- CN103630112A CN103630112A CN201310636135.2A CN201310636135A CN103630112A CN 103630112 A CN103630112 A CN 103630112A CN 201310636135 A CN201310636135 A CN 201310636135A CN 103630112 A CN103630112 A CN 103630112A
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- target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/10—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with variable angles and a base of fixed length in the observation station, e.g. in the instrument
- G01C3/14—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with variable angles and a base of fixed length in the observation station, e.g. in the instrument with binocular observation at a single point, e.g. stereoscopic type
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/10—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with variable angles and a base of fixed length in the observation station, e.g. in the instrument
- G01C3/18—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with variable angles and a base of fixed length in the observation station, e.g. in the instrument with one observation point at each end of the base
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- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Measurement Of Optical Distance (AREA)
Abstract
The invention provides a method for achieving target positioning through double cameras. The method comprises the following steps: (1), rotating the double cameras to scan a target, and positioning the target found after scanning in the center of a visual field; (2), shooting through the cameras, processing the shot image through an image processing technology, and generating a target image; (3), carrying out filtering processing to the image, and extracting target characteristics; (4), after two cameras are aligned with the same target, matching the cameras with the target; (5), after successful matching, forming a triangle through the triangle and the target, calculating the vertical distance from the target to the straight line on which two cameras are positioned through a formula according to the triangle positioning principle. The method has the benefits as follows: the double cameras are adopted, the horizontal distance and vertical distance from the target to the cameras can be calculated accurately according to the triangle positioning principle, the cameras are arranged in appropriate positions, and alert areas are arranged, so that the target warning effect can be achieved, reminding can be given out timely, and hazards can be avoided.
Description
Technical field
The present invention relates to a kind of method of utilizing dual camera realize target location, be mainly used in location and the range finding of naval target, also can be used for the monitoring of intelligent television beholder and TV distance.And then for monitoring caution system, utilize Triangle Principle to measure target and entity, to being in the target of security area, remind in time.
Background technology
Field of traffic at sea, owing to being at sea under this special environment, the mankind can not find timely the situation of surrounding as on land, easily cause such as other ships, reef, the barrier boats and ships colliding pier by mistake such as sea life, and this phenomenon happens occasionally.
Follow the universal of intelligent television, people are more and more higher for the degree of concern of intelligent television, and a large amount of purchase, intelligent television has become the product of herbal now, but while watching TV due to user, do not note suitable viewing distance, in the situation that viewing time is very long, can cause damage to human eye.
Summary of the invention
The object of this invention is to provide a kind of method of utilizing dual camera realize target location, the naval target and TV and the difficult problem of monitoring of beholder's spacing that to solve prior art, exist.
Technical scheme of the present invention is: a kind of method of utilizing dual camera realize target location, it is characterized in that, and comprise the steps:
(1) first, two camera rotary scanning targets, scan after target target localization at center, the visual field;
(2) with camera shooting, and by image processing techniques, taken the photograph image is carried out to image recognition, target extraction, object matching, and finally generate Target Photo;
(3) picture is carried out to filtering processing, extract target signature;
(4) two cameras are aimed at after same target, and camera mates target, and the match is successful forms triangle, and it fails to match continues scanning;
(5) after the match is successful by forming a triangle between two cameras and target three, the corner that distance between two cameras and camera rotate is known, can calculate the vertical range of target and two camera place straight lines according to Triangle Principle using formula.
Two described video cameras are by cradle head control rotary scanning target.
Described Triangle Principle formula is
,
.
The invention has the beneficial effects as follows: according to triangle positioning principle, adopt dual camera can calculate accurately level and the vertical range between target and camera, camera is deployed to correct position and security area is set and can play warning function to target, make in time prompting, avoid harm to occur.
Accompanying drawing explanation
Fig. 1 is measuring principle schematic diagram of the present invention.
Embodiment
Referring to Fig. 1, a kind of method of utilizing dual camera realize target location of the present invention, embodiment is as follows:
(1) first, two cameras 1 and 2 rotary scanning targets 3, scan after target 3 target localization at center, the visual field;
(2) camera 1 and 2 is made a video recording, and by image processing techniques, taken the photograph image is carried out to image recognition, target extraction, object matching, and finally generates Target Photo;
(3) picture is carried out to filtering processing, extract target signature features such as () pattern, structure, colors;
(4) two cameras 1 and 2 are aimed at after same target 3, and camera mates target, and the match is successful forms triangle, and it fails to match continues scanning;
(5) after the match is successful two, by two cameras 1 and 2 and target 3 threes between form a triangle (referring to Fig. 1), the distance d between two cameras is known.Two cameras 1 and 2 corners that rotate (two cameras 1 and 2 and target 3 between two lines and angle a and the b of the line between two cameras 1 and 2) known, according to Triangle Principle using formula, can count two described cameras by cradle head control rotary scanning target, after scanning target, target localization is stopped operating at center, the camera visual field, the image that two cameras are captured is processed, and whether after processing, carry out images match (comparing the feature of the two) is same target.
Described Triangle Principle formula is
,
.
A in formula, b, d are known, so can calculate the vertical range h of target 3 and two camera place straight lines and to the horizontal range between two cameras according to this Triangle Principle formula
l.
Claims (3)
1. a method of utilizing dual camera realize target location, is characterized in that, comprises the steps:
(1) first, two camera rotary scanning targets, scan after target target localization at center, the visual field;
(2) with camera shooting, and by image processing techniques, taken the photograph image is carried out to image recognition, target extraction, object matching, and finally generate Target Photo;
(3) picture is carried out to filtering processing, extract target signature;
(4) two cameras are aimed at after same target, and camera mates target, and the match is successful forms triangle, and it fails to match continues scanning;
(5) after the match is successful by forming a triangle between two cameras and target three, the corner that distance between two cameras and camera rotate is known, can calculate the vertical range of target and two camera place straight lines according to Triangle Principle using formula.
2. the method for utilizing dual camera realize target location according to claim 1, is characterized in that, two described video cameras are by cradle head control rotary scanning target.
3. the method for utilizing dual camera realize target location according to claim 1, is characterized in that, described Triangle Principle formula is
,
.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310636135.2A CN103630112A (en) | 2013-12-03 | 2013-12-03 | Method for achieving target positioning through double cameras |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310636135.2A CN103630112A (en) | 2013-12-03 | 2013-12-03 | Method for achieving target positioning through double cameras |
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| Publication Number | Publication Date |
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| CN103630112A true CN103630112A (en) | 2014-03-12 |
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| CN201310636135.2A Pending CN103630112A (en) | 2013-12-03 | 2013-12-03 | Method for achieving target positioning through double cameras |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104154898A (en) * | 2014-04-24 | 2014-11-19 | 深圳大学 | Active ranging method and system |
| CN105606086A (en) * | 2015-08-28 | 2016-05-25 | 宇龙计算机通信科技(深圳)有限公司 | Positioning method and terminal |
| CN106597424A (en) * | 2016-12-22 | 2017-04-26 | 惠州Tcl移动通信有限公司 | Distance measuring method and distance measuring system based on dual cameras, and mobile terminal |
| CN106643667A (en) * | 2016-12-14 | 2017-05-10 | 中国石油天然气集团公司 | Distance measurement method and device |
| CN106813649A (en) * | 2016-12-16 | 2017-06-09 | 北京远特科技股份有限公司 | A kind of method of image ranging localization, device and ADAS |
| CN106871862A (en) * | 2017-02-14 | 2017-06-20 | 上海源斌电子科技有限公司 | A kind of monocular distance-finding method based on movement locus |
| CN111157007A (en) * | 2020-01-16 | 2020-05-15 | 深圳市守行智能科技有限公司 | Indoor positioning method using cross vision |
| CN111982061A (en) * | 2020-07-15 | 2020-11-24 | 杭州晨安科技股份有限公司 | Distance measurement method based on different focal lengths of binocular fixed-focus cameras |
| CN112129263A (en) * | 2020-09-30 | 2020-12-25 | 绍兴晨璞网络科技有限公司 | Separated moving type stereo distance measuring camera and design method thereof |
| CN117968641A (en) * | 2024-03-28 | 2024-05-03 | 中国民航科学技术研究院 | Airport clearance obstacle measuring method and device based on image recognition |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104154898B (en) * | 2014-04-24 | 2016-06-08 | 深圳大学 | A kind of initiative range measurement method and system |
| CN104154898A (en) * | 2014-04-24 | 2014-11-19 | 深圳大学 | Active ranging method and system |
| CN105606086A (en) * | 2015-08-28 | 2016-05-25 | 宇龙计算机通信科技(深圳)有限公司 | Positioning method and terminal |
| CN106643667B (en) * | 2016-12-14 | 2020-03-10 | 中国石油天然气集团公司 | Distance measuring method and device |
| CN106643667A (en) * | 2016-12-14 | 2017-05-10 | 中国石油天然气集团公司 | Distance measurement method and device |
| CN106813649A (en) * | 2016-12-16 | 2017-06-09 | 北京远特科技股份有限公司 | A kind of method of image ranging localization, device and ADAS |
| CN106597424A (en) * | 2016-12-22 | 2017-04-26 | 惠州Tcl移动通信有限公司 | Distance measuring method and distance measuring system based on dual cameras, and mobile terminal |
| CN106871862A (en) * | 2017-02-14 | 2017-06-20 | 上海源斌电子科技有限公司 | A kind of monocular distance-finding method based on movement locus |
| CN111157007A (en) * | 2020-01-16 | 2020-05-15 | 深圳市守行智能科技有限公司 | Indoor positioning method using cross vision |
| CN111982061A (en) * | 2020-07-15 | 2020-11-24 | 杭州晨安科技股份有限公司 | Distance measurement method based on different focal lengths of binocular fixed-focus cameras |
| CN111982061B (en) * | 2020-07-15 | 2022-08-23 | 杭州晨安科技股份有限公司 | Distance measurement method based on different focal lengths of binocular fixed-focus cameras |
| CN112129263A (en) * | 2020-09-30 | 2020-12-25 | 绍兴晨璞网络科技有限公司 | Separated moving type stereo distance measuring camera and design method thereof |
| CN117968641A (en) * | 2024-03-28 | 2024-05-03 | 中国民航科学技术研究院 | Airport clearance obstacle measuring method and device based on image recognition |
| CN117968641B (en) * | 2024-03-28 | 2024-06-25 | 中国民航科学技术研究院 | Airport clearance obstacle measuring method and device based on image recognition |
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Application publication date: 20140312 |