CN108596977A - A kind of outer continuous parameters scaling method of bionic eye binocular vision - Google Patents
A kind of outer continuous parameters scaling method of bionic eye binocular vision Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 239000011159 matrix material Substances 0.000 claims abstract description 53
- 238000004364 calculation method Methods 0.000 claims abstract description 3
- 210000001508 eye Anatomy 0.000 claims description 55
- 230000009466 transformation Effects 0.000 claims description 24
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 18
- 210000005252 bulbus oculi Anatomy 0.000 claims description 10
- 241000208340 Araliaceae Species 0.000 description 4
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 4
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
- G06T7/85—Stereo camera calibration
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
- G06T2207/10012—Stereo images
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30244—Camera pose
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Abstract
The invention discloses continuous parameters scaling method outside a kind of bionic eye binocular vision, this method reads the specific location of each monocular-camera by controlling the motor with position feedback that binocular camera moves；Then the relative matrix of the binocular camera at current time is obtained by calculation；With this method, only it is to be understood that the initial relative position parameter matrix of binocular camera, the relative position relation of the binocular camera of any time can be obtained using position feedback, to realize continuous calibration.
Description
Technical field
The invention belongs to technical field of computer vision, and in particular to a kind of outer continuous parameters calibration of bionic eye binocular vision
Method.
Background technology
Traditional binocular vision calibration algorithm is based on Zhang Zhengyou monocular vision calibration algorithms, after being marked using gridiron pattern method
Internal reference matrix to each camera and outer ginseng matrix.Outer ginseng matrix establishes the connection between world coordinate system and camera coordinate system
System.Internal reference matrix establishes contacting between camera coordinate system and pixel coordinate system.Two such video camera is sat by the world
Mark system can arrive between relational matrix.Include spin matrix and translation matrix.This binocular vision calibration is calculated
Method is very effective in the case that two video camera relative positions are fixed.
But in the case where binocular camera moves, the Camera extrinsic that initial alignment obtains can change.If no
It re-scales, then severe deviations will occur in the image depth information obtained using original formula.It needs to re-scale.It is moving
Middle demarcated with gridiron pattern is unpractical, because gridiron pattern method is only applicable to static demarcating under original state and obtains initial internal reference square
Battle array and outer ginseng matrix.Therefore using we need one can be with a kind of continuous calibration algorithm of camera motion.
Invention content
In view of this, the object of the present invention is to provide continuous parameters scaling methods outside a kind of bionic eye binocular vision so that
Binocular camera external parameter matrix relativeness in dynamic movement process is able to Real-time solution.
A kind of outer continuous parameters scaling method of bionic eye binocular vision, includes the following steps：
The original state of two video cameras in step 1, arbitrary selection bionic eye binocular vision system, and remember that the two are initial
State is respectively the first zero-bit q0With the first zero-bit q1；
In the first zero-bit q0, demarcate to obtain in the first zero-bit q by Zhang Shi standardizations0When bionic eye binocular vision system it is outer
Parameter matrixCLTCR(q0)；Record three joint position information in bionic eye binocular vision system middle left and right eye joint, and foundation
Joint position information is calculated in the first zero-bit q0When, transformation matrix of the right camera pedestal relative to bionic eye base coordinate systemNTR
(q0) and transformation matrix of the left camera pedestal relative to bionic eye base coordinate systemNTL(q0)；
Step 2, in the first zero-bit q1, demarcate to obtain in the first zero-bit q by Zhang Shi standardizations1When bionic eye binocular vision system
The outer parameter matrix of systemCLTCR(q1)；Three joint position information in images of left and right eyes joint are recorded, and according to joint position information meter
It calculates in the first zero-bit q1When, transformation matrix of the right camera pedestal relative to bionic eye base coordinate systemNTR(q1) and left camera base
Transformation matrix of the seat relative to bionic eye base coordinate systemNTL(q1)；
Step 3 enables A=RTN(q0)NTL(q0)LTN(q1)NTR(q1), B=CRTCL(q0)CLTCR(q1), solve equation AX=
XB can obtain X=RTCRSolution；Then basisLTCL=LTN(q0)NTR(q0)RTCR CRTCL(q0) solve obtainLTCLSolution.
Step 4, in free-position, read the value of each eyeball joint position, and record the position vector be state q, meter
It calculates under the pose, transformation matrix of the bionic eye base coordinate system relative to left camera pedestalLTN(q) and bionic eye pedestal coordinate
It is the transformation matrix relative to right camera pedestalRTN(q), and according toCLTCR(q)=CLTL LTN(q)NTR(q)RTCR, it is calculated
The outer parameter matrix of free-positionCLTCR(q)。
The present invention has the advantages that：
Proposed by the present invention a kind of for proposing the outer continuous parameters scaling method of bionic eye binocular vision, this method passes through
The motor with position feedback of control binocular camera movement reads the specific location of each monocular-camera.Then pass through calculating
Obtain the relative matrix of the binocular camera at current time.With this method, only it is to be understood that binocular camera initial phase aligns
Parameter matrix is set, the relative position relation of the binocular camera of any time can be obtained using position feedback, to realize
Continuous calibration.
Description of the drawings
Fig. 1 is the calibration schematic diagram of the present invention；
Fig. 2 is flow chart of the method for the present invention；
Fig. 3 is the geometric coordinate schematic diagram of the bionic eye binocular stereo vision of the present invention.
Specific implementation mode
The present invention will now be described in detail with reference to the accompanying drawings and examples.
Bionic eye binocular vision system includes there are two eyeball, and two monocular-cameras are separately fixed in two eyeballs,
Two eyeballs are set there are one bionic eye pedestal, and each monocular-camera further respectively has a camera pedestal；Each research is by revolving
Turn, pitching, yaw three motor drivings, each motor is defined as a joint, and the location information in joint is by the biography on motor shaft
Sensor obtains.
As shown in Figure 1 schematic diagram is demarcated for bionic eye binocular stereo vision.Wherein each eyeball has a rolling, pitching, partially
The degree of freedom in three directions of boat.There is position feedback detection in each degree of freedom.Eyeball is obtained by the reading of position feedback to work as
Preceding each shaft position.Wherein, coordinate system R (x, y, z) indicates that right eye eyeball coordinate system, coordinate system L (x, y, z) indicate left eye eye
Spherical coordinate system.W (x, y, z) indicates world coordinate system.
It is illustrated in figure 3 this method and calculates each joint geometric coordinate schematic diagram.Wherein, coordinate system R (x, y, z) is indicated
Right eye eyeball coordinate system, is abbreviated as R.Coordinate system L (x, y, z) indicates left eye eyeball coordinate system, is abbreviated as L.Coordinate system CR (x, y,
Z) it indicates right eye camera coordinates system, is abbreviated as CR.Coordinate system CL (x, y, z) indicates left eye camera coordinates system, is abbreviated as CL.It sits
Mark system N (x, y, z) indicates right eye camera coordinates system, is abbreviated as N.
In the present invention, coordinate system and transformation matrix are defined first, specially：
CL, left camera coordinates system；
L, left camera base coordinate system；
CR, right camera coordinates system；
R, right camera base coordinate system；
N, bionic eye neck finish coordinate system；
LTCL, transformation matrix of the left camera coordinates system relative to left camera base coordinate system, fixed but unknown, systematic error
It can also sum up in the point that in this matrix；
RTCR, transformation matrix of the right camera coordinates system relative to right camera base coordinate system, fixed but unknown, systematic error
It can also sum up in the point that in this matrix；
CLTCR, outer parameter matrix of the right camera coordinates system relative to transformation matrix, that is, bionic eye of left camera coordinates system, by
It can change in right and left eyes relative pose, which is changing always.
CRTCL, transformation matrix of the left camera coordinates system relative to right camera coordinates system, since right and left eyes relative pose can be sent out
Changing, the parameter are changing always.
NTL, transformation matrix of the left camera pedestal relative to bionic eye base coordinate system, the position for depending on left eye joint is believed
Breath, the location information can be obtained by epibulbar corresponding joint position sensor；
LTN, transformation matrix of the bionic eye base coordinate system relative to left camera pedestal, the position for depending on left eye joint is believed
Breath, the location information can be obtained by epibulbar corresponding joint position sensor；
NTR, transformation matrix of the right camera pedestal relative to bionic eye base coordinate system, the position for depending on right eye joint is believed
Breath, the location information can be obtained by epibulbar corresponding joint position sensor；
RTN, transformation matrix of the bionic eye base coordinate system relative to right camera pedestal, the position for depending on right eye joint is believed
Breath, the location information can be obtained by epibulbar corresponding joint position sensor；
As shown in Fig. 2, the outer continuous parameters scaling method of bionic eye binocular vision in the present invention, is suitable for binocular camera
The continually changing vision system in position each other.This algorithm is initial dependent on being obtained using Zhang Zhengyou binocular camera calibration algorithms
Binocular camera relative position relation.This method is read each by controlling the motor with position feedback of binocular camera movement
The specific location of monocular-camera.Then the binocular camera and eye base coordinate system and neck at current time is obtained by calculation
The relative position relation matrix of joint coordinate system.With this method, only it is to be understood that the initial relative position parameter of binocular camera
Matrix can obtain the relative position relation of the binocular camera of any time using position feedback.To realize continuous mark
It is fixed.In this way, the outer ginseng matrix of the binocular camera in movement is allow to obtain Real-time solution.It is continuous suitable for binocular position
The system of variation.
This method is divided to be made of two steps, is manual demarcating steps and automatic Calibration step respectively.In manual calibration step
Suddenly, external parameters calibration is carried out in the first zero-bit, the second zero-bit respectively, while records the joint position of the first zero-bit, the second zero-bit
Feedback information.According to the outer parameter and joint position feedback information of above-mentioned calibration, can settle accounts around each camera relative to camera base
The transformation matrix of seat.In automatic Calibration step, bionic eye is obtained when free-position is continuously moved using manual demarcating steps
As a result, in conjunction with current joint location information, it can real-time resolving binocular camera external parameter matrix in dynamic movement process.
It is as follows：
Step 1, the original state for arbitrarily choosing two binocular cameras carry out static mark using the two original states
It is fixed.Remember that the two original states are respectively the first zero-bit q0 and the first zero-bit q1.In the first zero-bit q0, demarcated by Zhang Shi standardizations
Obtain outer parameter matrixCLTCR(q0)；Three joint position information in the images of left and right eyes joint of position recording sensor are calculated the
The transformation matrix of one zero-bit q0NTR(q0),NTL(q0)；
Step 2, in the first zero-bit q1, demarcated to obtain outer parameter matrix by Zhang Shi standardizationsCLTCR(q1)；Record position senses
Three joints position location information in the right and left eyes joint of device, calculates transformation matrixNTR(q1),NTL(q1)；
Step 3 enables A=RTN(q0)NTL(q0)LTN(q1)NTR(q1), B=CRTCL(q0)CLTCR(q1), solve equation AX=
XB can obtain X=RTCRSolution；Then basisLTCL=LTN(q0)NTR(q0)RTCR CRTCL(q0) solve obtainLTCLSolution.
Step 4, in free-position, read the value of each joint position, and record the position vector be state q, calculateLTN
(q),RTN(q), and according toCLTCR(q)=CLTL LTN(q)NTR(q)RTCR, the outer parameter matrix of free-position is calculated.
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in the present invention's
Within protection domain.
Claims (1)
1. a kind of outer continuous parameters scaling method of bionic eye binocular vision, which is characterized in that include the following steps：
The original state of two video cameras in step 1, arbitrary selection bionic eye binocular vision system, and remember the two original states
Respectively the first zero-bit q0With the first zero-bit q1；
In the first zero-bit q0, demarcate to obtain in the first zero-bit q by Zhang Shi standardizations0When bionic eye binocular vision system outer parameter
MatrixCLTCR(q0)；Three joint position information in bionic eye binocular vision system middle left and right eye joint are recorded, and according to joint
Positional information calculation is in the first zero-bit q0, transformation matrix of the right camera pedestal relative to bionic eye base coordinate systemNTR(q0) with
And transformation matrix of the left camera pedestal relative to bionic eye base coordinate systemNTL(q0)；
Step 2, in the first zero-bit q1, demarcate to obtain in the first zero-bit q by Zhang Shi standardizations1When bionic eye binocular vision system
Outer parameter matrixCLTCR(q1)；Three joint position information in images of left and right eyes joint are recorded, and are calculated according to joint position information
First zero-bit q1When, transformation matrix of the right camera pedestal relative to bionic eye base coordinate systemNTR(q1) and left camera pedestal phase
For the transformation matrix of bionic eye base coordinate systemNTL(q1)；
Step 3 enables A=RTN(q0)NTL(q0)LTN(q1)NTR(q1), B=CRTCL(q0)CLTCR(q1), equation AX=XB is solved, can be obtained
Go out X=RTCRSolution；Then basisLTCL=LTN(q0)NTR(q0)RTCR CRTCL(q0) solve obtainLTCLSolution.
Step 4, in free-position, read the value of each eyeball joint position, and record the position vector be state q, calculate exist
Under the pose, transformation matrix of the bionic eye base coordinate system relative to left camera pedestalLTN(q) and bionic eye base coordinate system phase
For the transformation matrix of right camera pedestalRTN(q), and according toCLTCR(q)=CLTL LTN(q)NTR(q)RTCR, arbitrary position is calculated
The outer parameter matrix of appearanceCLTCR(q)。
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Cited By (2)
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| CN110189382A (en) * | 2019-05-31 | 2019-08-30 | 东北大学 | A kind of more binocular cameras movement scaling method based on no zone of mutual visibility domain |
| CN112102401A (en) * | 2020-09-21 | 2020-12-18 | 中国科学院上海微***与信息技术研究所 | Target positioning method, device, system, equipment and storage medium |
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| CN112102401A (en) * | 2020-09-21 | 2020-12-18 | 中国科学院上海微***与信息技术研究所 | Target positioning method, device, system, equipment and storage medium |
| CN112102401B (en) * | 2020-09-21 | 2024-05-28 | 中国科学院上海微***与信息技术研究所 | Target positioning method, device, system, equipment and storage medium |
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