CN107101612A - A kind of target distance measurement method and system - Google Patents
A kind of target distance measurement method and system Download PDFInfo
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- CN107101612A CN107101612A CN201710420538.1A CN201710420538A CN107101612A CN 107101612 A CN107101612 A CN 107101612A CN 201710420538 A CN201710420538 A CN 201710420538A CN 107101612 A CN107101612 A CN 107101612A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention discloses a kind of target distance measurement method and system, methods described includes：By being pre-set at two cameras of vehicle front, the image of vehicle front scene described in synchronous acquisition, wherein, set before and after described two cameras；The target to be measured in the image of each camera collection is recognized, and obtains the height of each target to be measured；Target to be measured and the distance of the vehicle according to the high computational of the target to be measured got.The present invention obtains target to be measured in two magazine height difference by the way of target detection and matching, and its distance with the vehicle is calculated according to the target absolute altitude to be measured, so independent of left and right baseline length, measurement process is simple, conveniently, performance it is stable.
Description
Technical field
The present invention relates to technical field of machine vision, more particularly to a kind of target distance measurement method and system.
Background technology
As high-speed transit transports the arrival in epoch, automobile turns into indispensable vehicles of common in people's life,
However, motor-vehicle accident also steeply rises, and automobile collision accident is mostly because road speed is too fast, and vehicular gap is too small, stops
What car was caused not in time, especially in drive the cross car, if driver's fatigue or absent minded being easier to cause
The hypotelorism of square vehicle and front vehicles, so as to avoid not as good as and cause the generation of accident., can in order to reduce such accident rate
To calculate front vehicles and the distance of party B vehicle by front distance survey equipment, and human pilot is given when spacing is excessively near
To warn, the alertness of human pilot is improved.
Existing computer vision distance measuring method is mainly based upon binocular or many purpose modes, and its general principle is two phases
Machine optical axis is parallel placed side by side, and the parallax being imaged using target between two cameras carries out range of triangle.But, based on binocular
Or there are the following problems for many purpose distance measuring methods：1st, accurate Point matching is needed (as shown in Figure 1, it is necessary to know right after the imaging of P points
The coordinate for the Q1 and Q2 points answered)；2nd, the precision of parallax depends on the computational accuracy of parallax and the length of baseline, and is limited to
Feature Points Matching algorithm is easily limited the factor for causing baseline to fall short of by the shortcoming and physical space of illumination and influence of crust deformation.
Thus prior art could be improved and improve.
The content of the invention
The technical problem to be solved in the present invention is that there is provided a kind of target distance measurement side in view of the shortcomings of the prior art
Method and system, the problem of to solve accurate Point matching the need for existing target distance measurement method is present.
In order to solve the above-mentioned technical problem, the technical solution adopted in the present invention is as follows：
A kind of target distance measurement method, it includes：
By being pre-set at two cameras of vehicle front, the image of vehicle front scene described in synchronous acquisition, its
In, set before and after described two cameras；
The target to be measured in the image of each camera collection is recognized, and obtains the height of each target to be measured；
Target to be measured and the distance of the vehicle according to the high computational of the target to be measured got.
The target distance measurement method, wherein, it is to be measured described in the high computational for the target to be measured that the basis is got
Target and the distance of the vehicle are specifically included:
The spacing of two cameras pre-set is read, wherein, the spacing is the straight line edge by two cameras
The projected length in vehicle body direction；
Target to be measured and the vehicle according to the height and the distance computation that calculate obtained target to be measured
Distance.
The target distance measurement method, wherein, the target to be measured in the image of each camera collection of identification, and
The height for obtaining each target to be measured is specifically included：
The corresponding region to be measured of target to be measured in the image of each camera collection is recognized, and obtains the region to be measured
Pixels tall；
The height of the target to be measured is calculated according to the pixels tall in the region to be measured, wherein, the height is described
The height in region to be measured.
The target distance measurement method, wherein, the calculation formula of the height of the target to be measured is：
Wherein, the D represents the pixels tall of target to be measured, and s represents scaling of the image relative to original image of detection
Ratio, μ represents the physics size of each pixel.
The target distance measurement method, it is characterised in that the height of target to be measured obtained according to calculating and
The formula of target to be measured and the distance of the vehicle is described in the distance computation：
Wherein, the d represents distance, and Δ d represents the spacing of two cameras, v1, v2The height of target to be measured is represented respectively
Degree.
A kind of target distance measurement system, it includes：
Acquisition module, for two cameras by being pre-set at vehicle front, vehicle front described in synchronous acquisition
The image of scene, wherein, set before and after described two cameras；
Acquisition module, the target to be measured in image for recognizing each camera collection, and obtain each target to be measured
Height；
Computing module, for according to the high computational of target to be measured got target to be measured and the vehicle away from
From.
The target distance measurement system, wherein, the computing module is specifically included:
Reading unit, the spacing for reading two cameras pre-set, wherein, the spacing is to be taken the photograph by two
Projected length of the straight line of picture head along vehicle body direction；
First computing unit, for be measured according to the height and the distance computation that calculate obtained target to be measured
Target and the distance of the vehicle.
The target distance measurement system, wherein, the acquisition module is specifically included：
Acquiring unit, the corresponding region to be measured of target to be measured in image for recognizing each camera collection, and obtain
Take the pixels tall in the region to be measured；
Second computing unit, the height for calculating the target to be measured according to the pixels tall in the region to be measured, its
In, the height is the height in the region to be measured.
The target distance measurement system, wherein, the calculation formula of the height of the target to be measured is：
Wherein, the D represents the pixels tall of target to be measured, and s represents scaling of the image relative to original image of detection
Ratio, μ represents the physics size of each pixel.
The target distance measurement system, wherein, the height of target to be measured obtained according to calculating and it is described between
It is away from the formula for calculating the target to be measured and the distance of the vehicle：
Wherein, the d represents distance, and Δ d represents the spacing of two cameras, v1, v2The height of target to be measured is represented respectively
Degree.
Beneficial effect：Compared with prior art, the invention provides a kind of target distance measurement method and system, the side
Method includes：By being pre-set at two cameras of vehicle front, the image of vehicle front scene described in synchronous acquisition, its
In, set before and after described two cameras；The target to be measured in the image of each camera collection is recognized, and obtains each to be measured
The height of target；Target to be measured and the distance of the vehicle according to the high computational of the target to be measured got.The present invention
Target to be measured is obtained in two magazine height difference by the way of target detection and matching, and according to the target to be measured
Absolute altitude calculates its distance with the vehicle, so independent of left and right baseline length, measurement process is simple, conveniently, property
Can be stable.
Brief description of the drawings
The flow chart for the target distance measurement method preferred embodiment that Fig. 1 provides for the present invention.
The schematic diagram of the installation site of two cameras in the target distance measurement method that Fig. 2 provides for the present invention.
The schematic diagram of area-of-interest is recognized in the target distance measurement method that Fig. 3 provides for the present invention.
The schematic diagram for the pinhole imaging system that Fig. 4 provides for the present invention.
The schematic diagram of two camera imagings in the target distance measurement method that Fig. 5 provides for the present invention.
The structure principle chart for the target distance measurement system preferred embodiment that Fig. 6 provides for the present invention.
Embodiment
The present invention provides a kind of target distance measurement method and system, to make the purpose of the present invention, technical scheme and effect
Clearer, clear and definite, the present invention is described in more detail for the embodiment that develops simultaneously referring to the drawings.It should be appreciated that this place is retouched
The specific embodiment stated only to explain the present invention, is not intended to limit the present invention.
Those skilled in the art of the present technique are appreciated that unless expressly stated, singulative " one " used herein, " one
It is individual ", " described " and "the" may also comprise plural form.It is to be further understood that what is used in the specification of the present invention arranges
Diction " comprising " refer to there is the feature, integer, step, operation, element and/or component, but it is not excluded that in the presence of or addition
Other one or more features, integer, step, operation, element, component and/or their group.It should be understood that when we claim member
Part is " connected " or during " coupled " to another element, and it can be directly connected or coupled to other elements, or can also exist
Intermediary element.In addition, " connection " used herein or " coupling " can include wireless connection or wireless coupling.It is used herein to arrange
Taking leave "and/or" includes one or more associated wholes or any cell for listing item and all combines.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific terminology), with the general understanding identical meaning with the those of ordinary skill in art of the present invention.Should also
Understand, those terms defined in such as general dictionary, it should be understood that with the context with prior art
The consistent meaning of meaning, and unless by specific definitions as here, otherwise will not use idealization or excessively formal implication
To explain.
Below in conjunction with the accompanying drawings, by the description to embodiment, the content of the invention is described further.
It refer to Fig. 1, the flow chart of the preferred embodiment for the target distance measurement method that Fig. 1 provides for the present invention.It is described
Method includes：
S100, two cameras by being pre-set at vehicle front, the figure of vehicle front scene described in synchronous acquisition
Picture, wherein, set before and after described two cameras.
Specifically, the vehicle front sets two cameras, respectively the first camera and the second shooting figure.Described
Set before and after one camera and second camera, and first camera and second camera are separated by a certain distance, and so may be used
To cause same object is imaged on the first camera and second camera of different sizes.The installation position of first camera
The positions such as front windshield top or headstock can be located at headstock by putting, and the installation site of the second camera can be located at car
Head or preceding perspex top, are illustrated in figure 2 the schematic diagram of typical installation locations of two cameras on vehicle.
The optical axis of first camera and second camera can be parallel to each other or overlap.Optical axis coincidence refers to institute
State the first camera parallel with vehicle body direction with the line of second camera；Optical axis is parallel to refer to that the first camera and second is taken the photograph
As the optical axis of head are in unified plane.It is worth explanation, the optical axis composition of first camera and second camera
Plane can be with perpendicular to the ground, can not also be perpendicular to the ground.
First camera can realize the synchronous acquisition to image, and the first camera and second with second camera
The scope of camera collection image is identical.Explanation is needed, in the present embodiment, the target to be measured is present in first simultaneously and taken the photograph
In the image that image and second camera collection are gathered as head, i.e., the corresponding target of described target to be measured is in the described first shooting
In the public visual angle of head and second camera.
In one embodiment of the invention, the inside and outside parameter of described two cameras can be demarcated in advance and two pieces are taken the photograph
As the relative tertiary location (wherein, can be characterized by a spin matrix and a translation matrix) of head.It can specifically use
(Radial Alignment Constraint, RAC) two-step method is demarcated, and the demarcation to camera need to be once only
Can, without all repeating to demarcate when using every time, obtained calibrating parameters can be stored in database, the vehicle to be calculated with
Target to be measured apart from when call.
Target to be measured in S200, the image of each camera collection of identification, and obtain the height of each target to be measured.
Specifically, the target to be measured in the image of each camera collection of the identification can be by way of artificial selection
Demarcated, it would however also be possible to employ the mode automatic detection of artificial intelligence goes out mesh target area to be measured.The mode of the artificial intelligence
Can be using Integration tunnel characterization method, the method based on gradient orientation histogram (HOG) and based on depth convolutional Neural
Learning method.In the present embodiment, as shown in figure 3, calibrated by the way of artificial intelligence in the image of collection it is some sense it is emerging
Interesting region, then the region to be measured of target to be measured is chosen out of some area-of-interests, and obtain the external of each area-of-interest
The height of rectangle, wherein, the height is in units of pixel.
Further, because the height in the region to be measured refers to the actual physics height of imaging, and by gathering image
What is obtained is the pixels tall in region to be measured, so that, the target to be measured in the image of each camera collection of identification, and obtain
Taking the height of each target to be measured can specifically include：
The corresponding region to be measured of target to be measured in S201, the image of each camera collection of identification, and treated described in acquisition
Survey the pixels tall in region；
S202, the height according to the pixels tall in the region to be measured calculating target to be measured, wherein, the height is
The height in the region to be measured.
Specifically, identification region to be measured refer to according to preset the selection condition of target to be measured identification several
Region to be measured is selected in area-of-interest.The selection condition for selecting target area to be measured can with default setting or
What user was voluntarily set according to self-demand.For example, the selection condition of the target area to be measured is that height is maximum, or treat
It is car plate etc. to survey the corresponding picture material in target area.
In the present embodiment, the physical height in the region to be measured can be by the pixels tall in the region to be measured to acquisition
Approximate linear change is carried out to obtain.Assuming that the pixels tall of target is D, the calculation formula of its corresponding physical height can over there
Think：
Wherein, the D represents the pixels tall of target to be measured, and s represents scaling of the image relative to original image of detection
Ratio, μ represents the physics size of each pixel.
It is worth explanation, the scaling is prestored, and the physics size of the pixel can be that camera goes out
Factory's acquiescence or user obtain installing and using demarcation.
In one embodiment of the invention, because noise is contained in the region that artificial delimitation or automated manner are obtained, and
The measurement of adjusting the distance of these noises has negative effect.So as to, the pixels tall can be obtained in the way of multiple measurement is averaged,
The influence that these noises are adjusted the distance can be so reduced by way of repeated detection, the accuracy that detection obtains distance is improved.
Accordingly, the calculation formula of the pixels tall can be：
S300, target to be measured and the distance of the vehicle according to the high computational of the target to be measured got.
Specifically, target to be measured appears in the public field of view of the first camera as shown in Figure 2 and second camera,
And its be present in simultaneously the first camera and second camera synchronous acquisition to two images in.It can be divided by step S200
Do not obtain height of the target to be measured in the two images collected, further according to high computational target to be measured with it is described
The distance of vehicle.In the present embodiment, the calculation formula of the target to be measured and the distance of the vehicle can be：
Wherein, the d represents distance, and Δ d represents the spacing of two cameras, v1, v2The height of target to be measured is represented respectively
Degree.
It is exemplary, target to be measured described in the high computational for the target to be measured that the basis is got and the vehicle away from
From specifically including:
The spacing of two cameras that S301, reading are pre-set, wherein, the spacing is by the straight of two cameras
Projected length of the line along vehicle body direction；
S302, target to be measured and the car according to the height and the distance computation that calculate obtained target to be measured
Distance.
Specifically, in this embodiment, headlight is arranged on the first camera, second camera is installed and front windshield glass
It is illustrated exemplified by glass, and public field of view of the target to be measured in the first camera and second camera.It is described to be measured
Target and the distance of vehicle refer to the target to be measured and are installed on the distance of the camera of front end, i.e., target to be measured and first
The distance of camera.The distance is specially：Make a vertical line to plane K from target's center to be measured, vertical line K length is
Target is to the distance of the first camera, and its midplane K is defined as by the first camera and perpendicular to the flat of two camera optical axis
Face.
In the present embodiment, the distance of calculating originally of pinhole imaging system can be used, as shown in figure 4, according to imaging relations
In Gauss formula can approximately obtain：
Wherein, the f is focal length, and d is target and the distance of photocentre, and u is imaging and the distance of photocentre.
Triangle similarity relation further according to imaging can be obtained：
Wherein, h is the true altitude of target, and v is the height of imaging (in units of millimeter).
In the present embodiment, as shown in figure 5, first camera and second camera are accordingly to be regarded as pinhole camera, according to
The image-forming principle of first camera and second camera can be obtained：
Comprehensive (3) and (4) can be obtained：
Comprehensive (5) and (6) can be obtained：
It can be obtained with reference to (7) and (8)：
Wherein, Δ d=(d2-d1)；
It can be obtained in conjunction with (7) and (9)：
The formula (10) gives the calculation formula for calculating target and the distance of the first camera.In actual installation,
The distance of usual two cameras is much larger than the focal length of two cameras, i.e. f1f2(v2-v1) ＜ ＜ f1v2Δ d, wherein, f1,f2,
v1,v2For mm ranks, Δ d is m ranks.
Further, the formula (10) can be approximated to be：
Wherein, the f1And f2For camera focus, it can be accurately obtained by demarcation and correcting mode.In addition, f1And f2For phase
Machine focal length, can be accurately obtained by demarcation and correcting mode.It can also pacify in addition, Δ d can also be measured accurately when mounted
Accurately measured during dress.
In another embodiment of the present invention, when the configuration suppression of the first camera and second camera, i.e. f1=f2
When, the calculation formula of the distance of the camera of target range first can be：
Present invention also offers a kind of target distance measurement system, as shown in fig. 6, it includes：
Acquisition module 100, for two cameras by being pre-set at vehicle front, before vehicle described in synchronous acquisition
Fang Jingxiang image, wherein, set before and after described two cameras；
Acquisition module 200, the target to be measured in image for recognizing each camera collection, and obtain each mesh to be measured
Target height；
Computing module 300, for target to be measured described in the high computational according to the target to be measured got and the vehicle
Distance.
The target distance measurement system, wherein, the computing module is specifically included:
Reading unit, the spacing for reading two cameras pre-set, wherein, the spacing is to be taken the photograph by two
Projected length of the straight line of picture head along vehicle body direction；
First computing unit, for be measured according to the height and the distance computation that calculate obtained target to be measured
Target and the distance of the vehicle.
The target distance measurement system, wherein, the acquisition module is specifically included：
Acquiring unit, the corresponding region to be measured of target to be measured in image for recognizing each camera collection, and obtain
Take the pixels tall in the region to be measured；
Second computing unit, the height for calculating the target to be measured according to the pixels tall in the region to be measured, its
In, the height is the height in the region to be measured.
The target distance measurement system, wherein, the calculation formula of the height of the target to be measured is：
Wherein, the D represents the pixels tall of target to be measured, and s represents scaling of the image relative to original image of detection
Ratio, μ represents the physics size of each pixel.
The target distance measurement system, wherein, the height of target to be measured obtained according to calculating and it is described between
It is away from the formula for calculating the target to be measured and the distance of the vehicle：
Wherein, the d represents distance, and Δ d represents the spacing of two cameras, v1, v2The height of target to be measured is represented respectively
Degree.
The modules of above-mentioned target distance measurement system have been described in detail in the above-mentioned methods, just not another herein
One statement.
In embodiment provided by the present invention, it should be understood that disclosed system and method, others can be passed through
Mode is realized.For example, device embodiment described above is only schematical, for example, the division of the module, is only
A kind of division of logic function, can there is other dividing mode when actually realizing, such as multiple units or component can combine or
Person is desirably integrated into another system, or some features can be ignored, or does not perform.Another, shown or discussed is mutual
Between coupling or direct-coupling or communication connection can be the INDIRECT COUPLING or communication link of device or unit by some interfaces
Connect, can be electrical, machinery or other forms.
The unit illustrated as separating component can be or may not be it is physically separate, it is aobvious as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each functional unit in each embodiment of the invention can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units it is integrated in a unit.Above-mentioned integrated list
Member can both be realized in the form of hardware, it would however also be possible to employ hardware adds the form of SFU software functional unit to realize.
The above-mentioned integrated unit realized in the form of SFU software functional unit, can be stored in an embodied on computer readable and deposit
In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are to cause a computer
Equipment (can be personal computer, server, or network equipment etc.) or processor (processor) perform the present invention each
The part steps of embodiment methods described.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (Read-
Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disc or CD etc. it is various
Can be with the medium of store program codes.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
The present invention is described in detail with reference to the foregoing embodiments, it will be understood by those within the art that：It still may be used
To be modified to the technical scheme described in foregoing embodiments, or equivalent substitution is carried out to which part technical characteristic；
And these modification or replace, do not make appropriate technical solution essence depart from various embodiments of the present invention technical scheme spirit and
Scope.
Claims (10)
1. a kind of target distance measurement method, it is characterised in that it includes：
By being pre-set at two cameras of vehicle front, the image of vehicle front scene described in synchronous acquisition, wherein, institute
State setting before and after two cameras；
The target to be measured in the image of each camera collection is recognized, and obtains the height of each target to be measured；
Target to be measured and the distance of the vehicle according to the high computational of the target to be measured got.
2. target distance measurement method according to claim 1, it is characterised in that the target to be measured that the basis is got
Target to be measured described in high computational and the distance of the vehicle are specifically included:
The spacing of two cameras pre-set is read, wherein, the spacing is along vehicle body by the straight lines of two cameras
The projected length in direction；
Target to be measured and the distance of the vehicle according to the height and the distance computation that calculate obtained target to be measured.
3. target distance measurement method according to claim 1, it is characterised in that the figure of each camera collection of identification
Target to be measured as in, and obtain the height of each target to be measured and specifically include：
The corresponding region to be measured of target to be measured in the image of each camera collection is recognized, and obtains the picture in the region to be measured
Plain height；
The height of the target to be measured is calculated according to the pixels tall in the region to be measured, wherein, the height is described to be measured
The height in region.
4. the target distance measurement method according to claim 3, it is characterised in that the meter of the height of the target to be measured
Calculating formula is：
<mrow>
<mi>v</mi>
<mo>=</mo>
<mfrac>
<mi>D</mi>
<mi>s</mi>
</mfrac>
<mi>&mu;</mi>
</mrow>
Wherein, the D represents the pixels tall of target to be measured, and s represents scaling of the image relative to original image of detection,
μ represents the physics size of each pixel.
5. the target distance measurement method according to claim 2 or 4, it is characterised in that it is described obtained according to calculating it is to be measured
The formula of target to be measured and the distance of the vehicle is described in the height of target and the distance computation：
<mrow>
<mi>d</mi>
<mo>=</mo>
<mfrac>
<mrow>
<msub>
<mi>f</mi>
<mn>1</mn>
</msub>
<msub>
<mi>v</mi>
<mn>2</mn>
</msub>
<mi>&Delta;</mi>
<mi>d</mi>
</mrow>
<mrow>
<msub>
<mi>f</mi>
<mn>1</mn>
</msub>
<msub>
<mi>v</mi>
<mn>2</mn>
</msub>
<mo>-</mo>
<msub>
<mi>f</mi>
<mn>2</mn>
</msub>
<msub>
<mi>v</mi>
<mn>1</mn>
</msub>
</mrow>
</mfrac>
</mrow>
Wherein, the d represents distance, and Δ d represents the spacing of two cameras, v1, v2The height of target to be measured is represented respectively.
6. a kind of target distance measurement system, it is characterised in that it includes：
Acquisition module, for two cameras by being pre-set at vehicle front, vehicle front scene described in synchronous acquisition
Image, wherein, set before and after described two cameras；
Acquisition module, the target to be measured in image for recognizing each camera collection, and obtain the height of each target to be measured
Degree；
Computing module, for target to be measured described in the high computational according to the target to be measured got and the distance of the vehicle.
7. target distance measurement system according to claim 6, it is characterised in that the computing module is specifically included:
Reading unit, the spacing for reading two cameras pre-set, wherein, the spacing is to pass through two cameras
Projected length of the straight line along vehicle body direction；
First computing unit, for the target to be measured according to the height and the distance computation that calculate obtained target to be measured
With the distance of the vehicle.
8. target distance measurement system according to claim 6, it is characterised in that the acquisition module is specifically included：
Acquiring unit, the corresponding region to be measured of target to be measured in image for recognizing each camera collection, and obtain institute
State the pixels tall in region to be measured；
Second computing unit, the height for calculating the target to be measured according to the pixels tall in the region to be measured, wherein, institute
State the height that height is the region to be measured.
9. the target distance measurement system according to claim 8, it is characterised in that the meter of the height of the target to be measured
Calculating formula is：
<mrow>
<mi>v</mi>
<mo>=</mo>
<mfrac>
<mi>D</mi>
<mi>s</mi>
</mfrac>
<mi>&mu;</mi>
</mrow>
Wherein, the D represents the pixels tall of target to be measured, and s represents scaling of the image relative to original image of detection,
μ represents the physics size of each pixel.
10. the target distance measurement system according to claim 7 or 9, it is characterised in that it is described obtained according to calculating it is to be measured
The formula of target to be measured and the distance of the vehicle is described in the height of target and the distance computation：
<mrow>
<mi>d</mi>
<mo>=</mo>
<mfrac>
<mrow>
<msub>
<mi>f</mi>
<mn>1</mn>
</msub>
<msub>
<mi>v</mi>
<mn>2</mn>
</msub>
<mi>&Delta;</mi>
<mi>d</mi>
</mrow>
<mrow>
<msub>
<mi>f</mi>
<mn>1</mn>
</msub>
<msub>
<mi>v</mi>
<mn>2</mn>
</msub>
<mo>-</mo>
<msub>
<mi>f</mi>
<mn>2</mn>
</msub>
<msub>
<mi>v</mi>
<mn>1</mn>
</msub>
</mrow>
</mfrac>
</mrow>
Wherein, the d represents distance, and Δ d represents the spacing of two cameras, v1, v2The height of target to be measured is represented respectively.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109300154A (en) * | 2018-11-27 | 2019-02-01 | 郑州云海信息技术有限公司 | A kind of distance measuring method and device based on binocular solid |
| CN110008862A (en) * | 2019-03-22 | 2019-07-12 | 哈尔滨工业大学（深圳） | A kind of vehicle target detection method and relevant apparatus |
| CN111724434A (en) * | 2020-06-23 | 2020-09-29 | 江苏农牧科技职业学院 | Aquaculture body growth tracking method, device, system and medium |
| CN115235419A (en) * | 2022-07-27 | 2022-10-25 | 中国科学院长春光学精密机械与物理研究所 | Relative height measuring equipment of fixed station and measuring method thereof |
| US11509833B2 (en) | 2021-03-04 | 2022-11-22 | Ford Global Technologies, Llc | Illumination control for vehicle sensors |
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2017
- 2017-06-06 CN CN201710420538.1A patent/CN107101612A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109300154A (en) * | 2018-11-27 | 2019-02-01 | 郑州云海信息技术有限公司 | A kind of distance measuring method and device based on binocular solid |
| CN110008862A (en) * | 2019-03-22 | 2019-07-12 | 哈尔滨工业大学（深圳） | A kind of vehicle target detection method and relevant apparatus |
| CN110008862B (en) * | 2019-03-22 | 2021-03-30 | 哈尔滨工业大学（深圳） | Vehicle target detection method and related device |
| CN111724434A (en) * | 2020-06-23 | 2020-09-29 | 江苏农牧科技职业学院 | Aquaculture body growth tracking method, device, system and medium |
| US11509833B2 (en) | 2021-03-04 | 2022-11-22 | Ford Global Technologies, Llc | Illumination control for vehicle sensors |
| CN115235419A (en) * | 2022-07-27 | 2022-10-25 | 中国科学院长春光学精密机械与物理研究所 | Relative height measuring equipment of fixed station and measuring method thereof |
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