CN111089564A - Moving platform moving target binocular ranging system and method - Google Patents
Moving platform moving target binocular ranging system and method Download PDFInfo
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Abstract
The embodiment of the invention provides a moving platform moving target binocular distance measuring system and method. The system comprises: the navigation system comprises a first image acquisition device, a second image acquisition device, a first navigation device and a second navigation device, wherein the first image acquisition device is fixedly connected with the first navigation device, and the second image acquisition device is fixedly connected with the second navigation device. According to the embodiment of the invention, the position and attitude information of the camera is obtained in real time in a mode of fixedly connecting the camera with the inertial measurement unit and the satellite navigation unit, a real-time transmission projection equation of the target is established by resolving the real-time attitude and image information, and the absolute position of the target under a world coordinate system is obtained by solving the equation, so that the distance from the target to the two cameras can be resolved, and the problem of binocular ranging of the movable platform under the condition of high real-time requirement is solved.
Description
Technical Field
The invention relates to the technical field of visual triangulation, in particular to a moving platform moving target binocular ranging system and a moving platform moving target binocular ranging method.
Background
The binocular ranging method is a passive ranging method simulating human beings to utilize binocular perception distance, and mainly comprises the steps of observing the same target from different angles by adopting two cameras with a certain distance to form a measuring triangle between the two cameras and the target, and solving the distance by utilizing a triangulation principle. In actual use, the method can be divided into fixed-platform binocular ranging and movable-platform binocular ranging according to whether the relative pose relationship between the two cameras is fixed.
The traditional binocular distance measurement method is mainly provided for a fixed-platform binocular distance measurement model, internal and external parameters of a camera are generally obtained by a calibration-based method, the relative pose of the camera does not change any more in the measurement process, a transmission projection equation can be obtained by calibration before use, and the method is mature and is currently applied to the fields of unmanned aerial vehicle navigation, robot vision, intelligent traffic, satellite on-orbit service and the like. The method has the disadvantages that once calibration is completed, the relative pose between the two cameras cannot be changed, otherwise the calibration needs to be carried out again; when measuring a long-distance target, the requirement of measurement accuracy must ensure that the base line is long enough, which also causes the binocular ranging system to be very bulky and inflexible. The defects also cause that the traditional fixed-platform binocular ranging method is not suitable for moving-platform moving-target binocular ranging with high real-time requirement.
The binocular range finding of the moving platform means that the relative pose relationship of two cameras is constantly changed, at present, research on the aspect is less, and similarly, the method that the monocular camera and the flight of the unmanned aerial vehicle change the space by time is adopted to carry out range finding on the ground to reconstruct a three-dimensional scene, but the method is not suitable for range finding of a moving target. In the application of multi-projectile cooperative detection in the weapon field, missile weapons fly at high speed, the relative pose among projectiles is constantly changed, and the problem of binocular ranging of a moving platform is faced when a double/multi-projectile is used for simulating the triangulation principle of binocular vision to detect a target.
Disclosure of Invention
The technical problem solved by the invention is as follows: the moving platform moving target binocular ranging system and the moving platform moving target binocular ranging method overcome the defect that in the prior art, a missile weapon flies at a high speed, relative poses among missiles are constantly changed, and a moving platform binocular ranging problem is faced when a target is detected by using a triangulation principle of simulating binocular vision by using double/multiple missiles.
The technical solution of the invention is as follows:
in order to solve the above technical problem, an embodiment of the present invention provides a moving platform moving target binocular distance measuring system, including:
the navigation system comprises a first image acquisition device, a second image acquisition device, a first navigation device and a second navigation device, wherein the first image acquisition device is fixedly connected with the first navigation device, and the second image acquisition device is fixedly connected with the second navigation device.
Preferably, a distance between the first image capturing device and the second image capturing device is greater than a threshold distance.
Preferably, the first navigation device comprises: a first satellite navigation device and a first inertial navigation device, the second navigation device comprising: a second satellite navigation device and a second inertial navigation device,
the rolling shaft of the first inertial measurement unit is parallel to the optical axis of the first image acquisition device;
and the rolling shaft of the second inertial measurement unit is parallel to the optical axis of the second image acquisition unit.
In order to solve the technical problem, an embodiment of the present invention provides a moving platform moving target binocular distance measuring method, which is applied to any one of the above systems, and includes:
acquiring a first image corresponding to a target to be detected by adopting first image acquisition equipment, and acquiring a second image corresponding to the target to be detected by adopting second image acquisition equipment;
recording a first geocentric coordinate of the first image acquisition equipment under a geocentric geostationary coordinate system and a second geocentric coordinate of the second image acquisition equipment under the geocentric geostationary coordinate system;
acquiring a first image coordinate of the target to be detected in the first image and a second image coordinate of the target to be detected in the second image;
determining whether the target to be detected in the first image and the target to be detected in the second image are the same target or not according to the first geocentric coordinate, the second geocentric coordinate, the first image coordinate and the second image coordinate;
and when the target is determined to be the same target, determining a first distance between the target to be detected and the first image acquisition equipment and a second distance between the target to be detected and the second image acquisition equipment according to the first geocentric coordinate, the second geocentric coordinate, the first image coordinate and the second image coordinate.
Preferably, the determining whether the target to be measured in the first image and the target to be measured in the second image are the same target according to the first geocentric coordinate, the second geocentric coordinate, the first image coordinate and the second image coordinate includes:
establishing a projection equation of the target to be measured from a world coordinate system to a pixel coordinate system according to the first image coordinate, the second image coordinate and the pinhole imaging model;
judging whether the target to be detected meets polar line geometric constraint relation or not according to the projection equation, and obtaining a judgment result;
and determining whether the target to be detected in the first image and the target to be detected in the second image are the same target or not according to the judgment result.
Preferably, the determining, according to the determination result, whether the target to be measured in the first image and the target to be measured in the second image are the same target includes:
when the target to be detected is judged to meet the epipolar geometric constraint relation, determining that the target to be detected in the first image and the target to be detected in the second image are the same target;
and when the target to be detected is judged not to meet the epipolar geometric constraint relation, determining that the target to be detected in the first image and the target to be detected in the second image are not the same target.
Preferably, the determining a first distance between the target to be measured and the first image capturing device and a second distance between the target to be measured and the second image capturing device according to the first geocentric coordinate, the second geocentric coordinate, the first image coordinate and the second image coordinate includes:
determining the target coordinate of the target to be detected in the geocentric geostationary coordinate system according to the first geocentric coordinate and the second geocentric coordinate;
and calculating the first distance and the second distance according to the first image coordinate, the second image coordinate and the target coordinate.
Compared with the prior art, the invention has the advantages that:
according to the invention, internal and external parameters of the camera do not need to be calibrated, the position and attitude information of the camera is obtained in real time by fixedly connecting the camera with the inertial measurement unit and the satellite navigation unit, a real-time transmission projection equation of the target is established by resolving the real-time attitude and image information, and the absolute position of the target under a world coordinate system is obtained by solving the equation, so that the distance from the target to the two cameras can be resolved, and the problem of binocular ranging of the movable platform under the condition of high real-time requirement is solved.
1. The method does not need to perform extra calibration to obtain the internal and external parameters of the camera, and is suitable for application scenes with higher real-time requirements;
2. compared with the existing binocular ranging system, the base line is longer, the size is smaller, the system is more flexible, and a target with a longer distance can be measured;
3. compared with the traditional photogrammetry method, the method does not need to change space in time, and can be applied to moving target ranging.
Drawings
Fig. 1 is a schematic structural diagram of a moving platform moving target binocular distance measuring system provided in an embodiment of the present invention;
FIG. 2 is a schematic diagram of a camera imaging model provided by an embodiment of the invention;
FIG. 3 is a schematic diagram of a binocular range finding principle and epipolar constraint of a mobile platform according to an embodiment of the present invention;
fig. 4 is a flowchart of steps of a moving-platform moving-target binocular ranging method according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without inventive efforts based on the embodiments of the present invention, belong to the scope of protection of the embodiments of the present invention.
Example one
Referring to fig. 1, a schematic structural diagram of a moving platform moving target binocular distance measuring system provided in an embodiment of the present invention is shown, and as shown in fig. 1, the moving platform moving target binocular distance measuring system may specifically include the following: the navigation system comprises a first image acquisition device, a second image acquisition device, a first navigation device and a second navigation device, wherein the first image acquisition device is fixedly connected with the first navigation device, and the second image acquisition device is fixedly connected with the second navigation device. As shown in fig. 1, two cameras respectively represent a first image capturing apparatus and a second image capturing apparatus.
The first image acquisition equipment and the first navigation equipment can be fixedly connected by a tool, and the second image acquisition equipment and the second navigation equipment can also be fixedly connected by a tool.
In order to ensure the measurement accuracy, the distance between the first image capturing device and the second image capturing device is greater than a threshold distance.
The first navigation device may include a first satellite navigation device and a first inertial navigation device, and the second navigation device may include a second satellite navigation device and a second inertial navigation device.
When the first image acquisition device and the second image acquisition device are used for acquiring the target to be measured, the rolling shaft of the first inertial measurement unit device and the optical axis of the first image acquisition device can be set to be parallel to each other, and the rolling shaft of the second inertial measurement unit device and the optical axis of the second image acquisition device are set to be parallel to each other.
According to the binocular distance measuring system for the moving platform moving target, provided by the embodiment of the invention, internal and external parameters of the camera do not need to be calibrated, the position and posture information of the camera is obtained in real time in a mode of fixedly connecting the camera with the inertial measurement unit and the satellite navigation unit, the real-time transmission projection equation of the target is established by solving the real-time posture and image information, and the absolute position of the target under a world coordinate system is obtained by solving the equation, so that the distance from the target to the two cameras can be obtained by solving, and the problem of binocular distance measuring of the moving platform under the condition of high real-time requirement is solved.
1. The system does not need to perform extra calibration to obtain the internal and external parameters of the camera, and is suitable for application scenes with higher real-time requirements;
2. compared with the existing binocular ranging system, the base line is longer, the size is smaller, the system is more flexible, and a target with a longer distance can be measured;
3. compared with the traditional photogrammetry method, the method does not need to change space in time, and can be applied to moving target ranging.
Example two
Referring to fig. 4, a flowchart illustrating steps of a moving-platform moving-target binocular distance measuring method according to an embodiment of the present invention is shown, and as shown in fig. 4, the moving-platform moving-target binocular distance measuring method may specifically include the following steps:
step 201: acquiring a first image corresponding to a target to be detected by adopting first image acquisition equipment, and acquiring a second image corresponding to the target to be detected by adopting second image acquisition equipment;
step 202: recording a first geocentric coordinate of the first image acquisition equipment under a geocentric geostationary coordinate system and a second geocentric coordinate of the second image acquisition equipment under the geocentric geostationary coordinate system;
step 203: acquiring a first image coordinate of the target to be detected in the first image and a second image coordinate of the target to be detected in the second image;
step 204: determining whether the target to be detected in the first image and the target to be detected in the second image are the same target or not according to the first geocentric coordinate, the second geocentric coordinate, the first image coordinate and the second image coordinate;
step 205: and when the target is determined to be the same target, determining a first distance between the target to be detected and the first image acquisition equipment and a second distance between the target to be detected and the second image acquisition equipment according to the first geocentric coordinate, the second geocentric coordinate, the first image coordinate and the second image coordinate.
Next, with reference to fig. 2 to fig. 3, the following detailed description is made on the moving platform moving target binocular distance measuring method according to the embodiment of the present invention.
In the following description, the image pickup apparatus is described in detail below taking a camera as an example.
The invention aims to solve the technical problem of ranging a moving target under the conditions of higher real-time requirement and continuous change of relative poses of two cameras. In order to solve the technical problem, the invention provides a moving platform moving target binocular distance measurement method, which comprises the steps of acquiring the position information of a camera by satellite navigation and an inertial measurement unit, acquiring the posture of the camera when a target is detected, adding image information acquired by the target at two cameras at the moment, and establishing to obtain a projection equation set. And judging whether the targets in the images acquired by the two cameras are the same target or not through antipodal geometric constraint, if so, reconstructing a three-dimensional coordinate of the target by solving an equation set, and calculating to obtain the distance from the target to the two cameras respectively. The moving platform binocular distance measurement method comprises the following specific steps:
the technical scheme adopted by the invention is as follows:
step 1: data acquisition
As shown in fig. 1, two monocular cameras having the same internal reference are first placed apart, and the distance between the two cameras is as far as possible in order to ensure the measurement accuracy. The monocular camera and the navigation equipment (satellite navigation equipment and inertial navigation equipment) are fixedly connected through the tool respectively, and the rolling shaft of the inertial navigation equipment is parallel to the optical axis of the camera. The position and the posture of the two cameras are respectively adjusted to enable the two cameras to simultaneously acquire the image information of the target from different angles, and the posture and the position information of the cameras output by the inertial measurement unit and the satellite navigation unit at the moment are recorded. The position information of the satellite navigation system is
The x is a value representing the longitude,
indicating latitude and h indicating altitude. And converting the position information into a world coordinate system, and selecting a geocentric and geostationary coordinate system as a world coordinate system. The coordinates (X, Y, Z) of the earth's center and earth's fixation system can be calculated by the following formula:
in the above formula, ReIs the radius of the earth, RfIs the oblateness of the earth.
After the conversion, the coordinates of the camera 1 and the camera 2 in the geocentric coordinate system are t1(x1, y1, z1) and t2(x2, y2, z2), respectively, and the rotation matrixes of the camera 1 and the camera 2 from the geocentric coordinate system to the camera coordinate system are R1 and R2, respectively.
Step 2: establishing projection equations and identifying targets
Acquiring respective coordinate positions (u1, v1) and (u2, v2) of a target to be detected in a two-phase machine acquisition image, and respectively establishing a projection equation of the target from a three-dimensional coordinate under a world coordinate system to a two-dimensional coordinate under a pixel coordinate system according to a pinhole imaging model:
in the above formulas (1) and (2), zc is a scale quotation, f is a focal length of the camera, dx and dy are pixel sizes, u0 and v0 are pixel coordinates of an optical center of the camera, M is a 3 × 4 perspective projection matrix, and P (x, y, z) is a three-dimensional coordinate of the target to be measured in a geocentric and geocentric coordinate system.
The respective coordinate positions of the targets in the two-camera acquired images satisfy the epipolar geometry in stereo vision, namely:
[u2,v2,1]F[u1,v1,1]T＝0 (3)
where F is the fundamental matrix. And (3) substituting the coordinates of the acquired target point in the two images into the left side of the formula (3) to further verify whether the target point is the same target to be detected. In practical use, due to factors such as sensor error and noise, the equation (3) cannot be strictly satisfied, and is replaced by the following equation, wherein epsilon is a small threshold value:
|[u2,v2,1]F[u1,v1,1]T|<ε (4)
and step 3: target three-dimensional coordinate reconstruction
The two projection equations established in the simultaneous step 2 can be obtained:
(5) the formula simplification is followed by an overdetermined equation set of four equations and three unknowns, and the unique solution of the overdetermined equation set can be obtained through a least square algorithm:
P＝(HTH)-1HTB (6)
wherein the content of the first and second substances,
and P is the coordinate of the target to be measured in the geocentric geostationary coordinate system.
And 4, step 4: distance calculation
In the step 1, coordinates of the two cameras in the geocentric/geostationary coordinate system are t1(x1, y1, z1), t2(x2, y2, z2) through coordinate conversion, the coordinate of the target in the geocentric/geostationary coordinate system is P (x, y, z) through calculation in the step 3, and the distances d1 and d2 from the target point to be detected to the two cameras respectively can be finally obtained through a distance formula between the two points.
Wherein i is 1, 2.
According to the binocular distance measurement method for the moving platform moving target, provided by the embodiment of the invention, internal and external parameters of the camera are not required to be calibrated, the position and posture information of the camera is obtained in real time in a mode of fixedly connecting the camera with the inertial measurement unit and the satellite navigation unit, the real-time transmission projection equation of the target is established by solving the real-time posture and image information, and the absolute position of the target under a world coordinate system is obtained by solving the equation, so that the distance from the target to the two cameras can be obtained by solving, and the problem of binocular distance measurement of the moving platform under the condition of high real-time requirement is solved.
1. The method does not need to perform extra calibration to obtain the internal and external parameters of the camera, and is suitable for application scenes with higher real-time requirements;
2. compared with the existing binocular ranging system, the base line is longer, the size is smaller, the system is more flexible, and a target with a longer distance can be measured;
3. compared with the traditional photogrammetry method, the method does not need to change space in time, and can be applied to moving target ranging.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the embodiments of the present invention, and any modifications, equivalents and improvements made within the spirit and principle of the embodiments of the present invention are included in the scope of the embodiments of the present invention.
Claims (7)
1. The utility model provides a move platform and move target binocular range finding system which characterized in that includes: the navigation system comprises a first image acquisition device, a second image acquisition device, a first navigation device and a second navigation device, wherein the first image acquisition device is fixedly connected with the first navigation device, and the second image acquisition device is fixedly connected with the second navigation device.
2. The system of claim 1, wherein a distance between the first image capture device and the second image capture device is greater than a threshold distance.
3. The system of claim 2, wherein the first navigation device comprises: a first satellite navigation device and a first inertial navigation device, the second navigation device comprising: a second satellite navigation device and a second inertial navigation device,
the rolling shaft of the first inertial measurement unit is parallel to the optical axis of the first image acquisition device;
and the rolling shaft of the second inertial measurement unit is parallel to the optical axis of the second image acquisition unit.
4. A moving platform moving target binocular ranging method applied to the system of any one of claims 1 to 3, characterized by comprising:
acquiring a first image corresponding to a target to be detected by adopting first image acquisition equipment, and acquiring a second image corresponding to the target to be detected by adopting second image acquisition equipment;
recording a first geocentric coordinate of the first image acquisition equipment under a geocentric geostationary coordinate system and a second geocentric coordinate of the second image acquisition equipment under the geocentric geostationary coordinate system;
acquiring a first image coordinate of the target to be detected in the first image and a second image coordinate of the target to be detected in the second image;
determining whether the target to be detected in the first image and the target to be detected in the second image are the same target or not according to the first geocentric coordinate, the second geocentric coordinate, the first image coordinate and the second image coordinate;
and when the target is determined to be the same target, determining a first distance between the target to be detected and the first image acquisition equipment and a second distance between the target to be detected and the second image acquisition equipment according to the first geocentric coordinate, the second geocentric coordinate, the first image coordinate and the second image coordinate.
5. The method of claim 4, wherein determining whether the object to be measured in the first image and the object to be measured in the second image are the same object according to the first geocentric coordinate, the second geocentric coordinate, the first image coordinate, and the second image coordinate comprises:
establishing a projection equation of the target to be measured from a world coordinate system to a pixel coordinate system according to the first image coordinate, the second image coordinate and the pinhole imaging model;
judging whether the target to be detected meets polar line geometric constraint relation or not according to the projection equation, and obtaining a judgment result;
and determining whether the target to be detected in the first image and the target to be detected in the second image are the same target or not according to the judgment result.
6. The method according to claim 5, wherein the determining whether the object to be measured in the first image and the object to be measured in the second image are the same object according to the determination result comprises:
when the target to be detected is judged to meet the epipolar geometric constraint relation, determining that the target to be detected in the first image and the target to be detected in the second image are the same target;
and when the target to be detected is judged not to meet the epipolar geometric constraint relation, determining that the target to be detected in the first image and the target to be detected in the second image are not the same target.
7. The method of claim 4, wherein determining a first distance between the object under test and the first image capture device and a second distance between the object under test and the second image capture device based on the first geocentric coordinate, the second geocentric coordinate, the first image coordinate, and the second image coordinate comprises:
determining the target coordinate of the target to be detected in the geocentric geostationary coordinate system according to the first geocentric coordinate and the second geocentric coordinate;
and calculating the first distance and the second distance according to the first image coordinate, the second image coordinate and the target coordinate.
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