CN112284330A - Distance measuring system and method based on fisheye camera - Google Patents
Distance measuring system and method based on fisheye camera Download PDFInfo
- Publication number
- CN112284330A CN112284330A CN202011294649.0A CN202011294649A CN112284330A CN 112284330 A CN112284330 A CN 112284330A CN 202011294649 A CN202011294649 A CN 202011294649A CN 112284330 A CN112284330 A CN 112284330A
- Authority
- CN
- China
- Prior art keywords
- fisheye
- camera
- module
- fisheye camera
- area
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000004422 calculation algorithm Methods 0.000 claims abstract description 8
- 238000003909 pattern recognition Methods 0.000 claims abstract description 7
- 238000000605 extraction Methods 0.000 claims description 16
- 238000004891 communication Methods 0.000 claims description 11
- 230000000007 visual effect Effects 0.000 claims description 11
- 238000012545 processing Methods 0.000 claims description 9
- 238000004364 calculation method Methods 0.000 claims description 3
- 239000000126 substance Substances 0.000 claims description 3
- 238000005259 measurement Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
Images
Classifications
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/25—Determination of region of interest [ROI] or a volume of interest [VOI]
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Electromagnetism (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Measurement Of Optical Distance (AREA)
Abstract
The invention discloses a distance measuring system and method based on a fisheye camera, wherein the method comprises the steps of setting the camera brightness, exposure time and triggering mode of the fisheye camera, and controlling the fisheye camera to take photos; obtaining and displaying a fisheye image containing checkerboards; converting the fisheye image into a gray image, and extracting an effective area; determining the coordinates of the corner points of the checkerboard in the effective area according to a pattern recognition algorithm; calculating the position of the measured area according to the angular point coordinates, and acquiring the pixel area of the target area through binarization; and substituting the pixel area of the target area into a preset formula to obtain the distance between the measured object and the camera. The fisheye camera adopted by the invention has a simple structure and is easy to realize.
Description
Technical Field
The invention relates to the technical field of machine vision, in particular to a distance measuring system and method based on a fisheye camera.
Background
At present, the machine vision distance measurement mainly uses a method of laser ranging, monocular ranging, binocular ranging or a method of combining the laser ranging and a monocular camera. The laser ranging method is characterized in that a laser sensor is used for simply measuring the distance between the sensor and a target, so that a target image cannot be obtained, and a feature point in the target image cannot be flexibly located. The binocular camera is relatively comprehensive in distance measurement, the distance is calculated by analyzing the difference of the two pictures, however, camera calibration is needed, the two pictures need to be processed, the time consumption of early processing and distance measurement is long, and the equipment cost is high. In the prior art, the monocular distance measurement uses a common industrial camera and a lens, and is difficult to reach a large visual field range, and the fisheye camera has short focal length and a large visual field, and is widely applied to the fields of video monitoring, intelligent transportation and the like.
Therefore, how to provide a distance measuring system and method based on a fisheye camera is a problem that needs to be solved urgently by those skilled in the art.
Disclosure of Invention
In view of this, the invention provides a distance measuring system and method based on a fisheye camera, which are easy to implement and low in cost.
In order to achieve the purpose, the invention adopts the following technical scheme:
a fisheye camera based distance measurement system comprising: the system comprises a fisheye camera, a camera debugging module, an image acquisition and display module, a feature extraction module, a visual processing and analysis module, a target area extraction module and a distance determination module, wherein the camera debugging module is connected with the fisheye camera, and the fisheye camera, the image acquisition and display module, the feature extraction module, the visual processing and analysis module, the target area extraction module and the distance determination module are sequentially connected;
the camera debugging module is used for controlling parameters of the fisheye camera;
the fisheye camera is used for shooting fisheye images containing checkerboards;
the image acquisition and display module is used for acquiring and displaying the fisheye image containing the checkerboard;
the characteristic extraction module is used for converting the fisheye image into a gray image and extracting an effective area;
the visual processing analysis module is used for determining the corner coordinates of the checkerboard in the effective area according to a pattern recognition algorithm;
the target area extraction module is used for calculating the position of the detected region according to the corner coordinates and acquiring the pixel area of the target region through binarization;
and the distance determining module is used for obtaining the distance between the measured object and the fisheye camera according to the pixel area of the target area.
And the communication module is connected with the distance determination module and is used for transmitting data.
A distance measuring method based on a fisheye camera is applied to a distance measuring system based on the fisheye camera and comprises the following steps:
step 1: setting parameters of the fisheye camera and controlling the fisheye camera to take pictures;
step 2: obtaining and displaying a fisheye image containing checkerboards;
and step 3: converting the fisheye image into a gray image, and extracting an effective area;
and 4, step 4: determining the coordinates of the corner points of the checkerboard in the effective area according to a pattern recognition algorithm;
and 5: calculating the position of the measured area according to the angular point coordinates, and acquiring the pixel area of the target area through binarization;
step 6: substituting the pixel area of the target area into a preset formula to obtain the distance between the measured object and the fisheye camera, wherein the calculation formula is as follows:
y＝10.808x-41.371 (1)
wherein the content of the first and second substances,
a denotes a target region pixel area.
According to the technical scheme, compared with the prior art, the fish-eye camera-based distance measuring system and method are provided, an additional laser sensor is not needed, and the cost is low; only one picture needs to be processed during single-step operation, the algorithm is short in time consumption, camera calibration is not needed, and early preparation work is little.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic block diagram of a distance measuring system based on a fisheye camera according to the present invention.
Fig. 2 is a flowchart of a distance measuring method based on a fisheye camera according to 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 only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, a fisheye camera-based distance measuring system includes: the system comprises a fisheye camera, a camera debugging module, an image acquisition and display module, a feature extraction module, a visual processing analysis module, a target area extraction module, a distance determination module and a communication module, wherein the camera debugging module is connected with the fisheye camera;
the camera debugging module is used for controlling parameters of the fisheye camera, including the brightness of the camera, the exposure time and the triggering mode;
the fisheye camera is used for shooting fisheye images containing the checkerboards; the fisheye lens is an extreme wide-angle lens, has a focal length of 1.8mm or less and an angle of view close to or equal to 180 °, and thus can perform photographing with an ultra-large field of view.
The image acquisition and display module is used for acquiring and displaying the fisheye image containing the checkerboard;
the characteristic extraction module is used for converting the fisheye image into a gray image and extracting an effective area;
the visual processing analysis module is used for determining the corner coordinates of the checkerboard in the effective area according to a pattern recognition algorithm;
the target area extraction module is used for calculating the position of the detected region according to the corner coordinates and acquiring the pixel area of the target region through binarization;
and the distance determining module is used for obtaining the distance between the measured object and the fisheye camera according to the pixel area of the target area.
The communication module performs data communication with hardware equipment in other systems by using various communication modes, such as TCP \ IP communication, ModelBus communication, 232\485 communication, IO board communication, Profinet, EtherNet and the like, so as to achieve the purpose of diversifying the data after the visual analysis.
As shown in fig. 2, a distance measuring method based on a fisheye camera includes the following steps:
step 1: setting the camera brightness, exposure time and triggering mode of the fisheye camera, and controlling the fisheye camera to take pictures;
step 2: obtaining and displaying a fisheye image containing checkerboards;
and step 3: converting the fisheye image into a gray image, and extracting an effective area;
and 4, step 4: determining the coordinates of the corner points of the checkerboard in the effective area according to a pattern recognition algorithm;
and 5: calculating the position of the measured area according to the angular point coordinates, and acquiring the pixel area of the target area through binarization;
step 6: substituting the pixel area of the target area into a preset formula to obtain the distance between the measured object and the fisheye camera, wherein the calculation formula is as follows:
y＝10.808x-41.371 (1)
wherein the content of the first and second substances,
a denotes a target region pixel area.
The distance effectively measured by the invention is between 300mm and 1200mm, and beyond the range, the distance measurement may have larger deviation.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (3)
1. A fisheye camera-based distance measuring system comprising: the system comprises a fisheye camera, a camera debugging module, an image acquisition and display module, a feature extraction module, a visual processing and analysis module, a target area extraction module and a distance determination module, wherein the camera debugging module is connected with the fisheye camera, and the fisheye camera, the image acquisition and display module, the feature extraction module, the visual processing and analysis module, the target area extraction module and the distance determination module are sequentially connected;
the camera debugging module is used for controlling parameters of the fisheye camera;
the fisheye camera is used for shooting fisheye images containing checkerboards;
the image acquisition and display module is used for acquiring and displaying the fisheye image containing the checkerboard;
the characteristic extraction module is used for converting the fisheye image into a gray image and extracting an effective area;
the visual processing analysis module is used for determining the corner coordinates of the checkerboard in the effective area according to a pattern recognition algorithm;
the target area extraction module is used for calculating the position of the detected region according to the corner coordinates and acquiring the pixel area of the target region through binarization;
and the distance determining module is used for obtaining the distance between the measured object and the fisheye camera according to the pixel area of the target area.
2. The fisheye camera-based distance measuring system of claim 1, further comprising a communication module, said communication module being connected to said distance determining module for transmitting data.
3. A fisheye-camera-based distance measuring method applied to the fisheye-camera-based distance measuring system according to claim 1, comprising the steps of:
step 1: setting parameters of the fisheye camera and controlling the fisheye camera to take pictures;
step 2: obtaining and displaying a fisheye image containing checkerboards;
and step 3: converting the fisheye image into a gray image, and extracting an effective area;
and 4, step 4: determining the coordinates of the corner points of the checkerboard in the effective area according to a pattern recognition algorithm;
and 5: calculating the position of the measured area according to the angular point coordinates, and acquiring the pixel area of the target area through binarization;
step 6: substituting the pixel area of the target area into a preset formula to obtain the distance between the measured object and the fisheye camera, wherein the calculation formula is as follows:
y＝10.808x-41.371 (1)
wherein the content of the first and second substances,
a denotes a target region pixel area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011294649.0A CN112284330A (en) | 2020-11-18 | 2020-11-18 | Distance measuring system and method based on fisheye camera |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011294649.0A CN112284330A (en) | 2020-11-18 | 2020-11-18 | Distance measuring system and method based on fisheye camera |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112284330A true CN112284330A (en) | 2021-01-29 |
Family
ID=74399640
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011294649.0A Pending CN112284330A (en) | 2020-11-18 | 2020-11-18 | Distance measuring system and method based on fisheye camera |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112284330A (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140132707A1 (en) * | 2011-09-05 | 2014-05-15 | Mitsubishi Electric Corporation | Image processing apparatus and image processing method |
| CN103996191A (en) * | 2014-05-09 | 2014-08-20 | 东北大学 | Detection method for black and white checkerboard image corners based on least square optimization |
| CN104008542A (en) * | 2014-05-07 | 2014-08-27 | 华南理工大学 | Fast angle point matching method for specific plane figure |
| CN106959076A (en) * | 2017-02-20 | 2017-07-18 | 广州视源电子科技股份有限公司 | Portrait distance detection method and system based on camera |
| US20170330311A1 (en) * | 2014-12-04 | 2017-11-16 | Mitsubishi Electric Corporation | Image processing device and method, image capturing device, program, and record medium |
| CN110264531A (en) * | 2019-06-27 | 2019-09-20 | 信利光电股份有限公司 | A kind of catching for X-comers takes method, apparatus, system and readable storage medium storing program for executing |
| CN110288793A (en) * | 2019-06-28 | 2019-09-27 | 青岛科美创视智能科技有限公司 | A kind of fence and the method that fence is set |
| CN110689579A (en) * | 2019-10-18 | 2020-01-14 | 华中科技大学 | Rapid monocular vision pose measurement method and measurement system based on cooperative target |
| CN110930407A (en) * | 2020-02-07 | 2020-03-27 | 西南交通大学 | Suspension gap visual detection method based on image processing |
| CN111047633A (en) * | 2018-10-12 | 2020-04-21 | 富华科精密工业（深圳）有限公司 | Monocular distance measuring device |
| CN111780716A (en) * | 2020-07-03 | 2020-10-16 | 杭州电子科技大学 | Monocular real-time distance measurement method based on target pixel area and aspect ratio |
-
2020
- 2020-11-18 CN CN202011294649.0A patent/CN112284330A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140132707A1 (en) * | 2011-09-05 | 2014-05-15 | Mitsubishi Electric Corporation | Image processing apparatus and image processing method |
| CN104008542A (en) * | 2014-05-07 | 2014-08-27 | 华南理工大学 | Fast angle point matching method for specific plane figure |
| CN103996191A (en) * | 2014-05-09 | 2014-08-20 | 东北大学 | Detection method for black and white checkerboard image corners based on least square optimization |
| US20170330311A1 (en) * | 2014-12-04 | 2017-11-16 | Mitsubishi Electric Corporation | Image processing device and method, image capturing device, program, and record medium |
| CN106959076A (en) * | 2017-02-20 | 2017-07-18 | 广州视源电子科技股份有限公司 | Portrait distance detection method and system based on camera |
| CN111047633A (en) * | 2018-10-12 | 2020-04-21 | 富华科精密工业（深圳）有限公司 | Monocular distance measuring device |
| CN110264531A (en) * | 2019-06-27 | 2019-09-20 | 信利光电股份有限公司 | A kind of catching for X-comers takes method, apparatus, system and readable storage medium storing program for executing |
| CN110288793A (en) * | 2019-06-28 | 2019-09-27 | 青岛科美创视智能科技有限公司 | A kind of fence and the method that fence is set |
| CN110689579A (en) * | 2019-10-18 | 2020-01-14 | 华中科技大学 | Rapid monocular vision pose measurement method and measurement system based on cooperative target |
| CN110930407A (en) * | 2020-02-07 | 2020-03-27 | 西南交通大学 | Suspension gap visual detection method based on image processing |
| CN111780716A (en) * | 2020-07-03 | 2020-10-16 | 杭州电子科技大学 | Monocular real-time distance measurement method based on target pixel area and aspect ratio |
Non-Patent Citations (2)
| Title |
|---|
| 牛泽等: "鱼眼图像的目标物体角点检测方法", 《电子测量技术》 * |
| 郭凯: "面积测量", 《弹丸毁伤参数三维重构技术》 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109767467B (en) | Image processing method, image processing device, electronic equipment and computer readable storage medium | |
| US10306165B2 (en) | Image generating method and dual-lens device | |
| US20210110188A1 (en) | Stereo imaging device | |
| EP3641298B1 (en) | Method and device for capturing target object and video monitoring device | |
| JP5843454B2 (en) | Image processing apparatus, image processing method, and program | |
| CN109712192B (en) | Camera module calibration method and device, electronic equipment and computer readable storage medium | |
| US20110025845A1 (en) | Apparatus and method for measuring location and distance of object by using camera | |
| CN109685853B (en) | Image processing method, image processing device, electronic equipment and computer readable storage medium | |
| WO2020024576A1 (en) | Camera calibration method and apparatus, electronic device, and computer-readable storage medium | |
| CN111345029A (en) | Target tracking method and device, movable platform and storage medium | |
| KR20170041636A (en) | Display control apparatus, display control method, and program | |
| CN113822942B (en) | Method for measuring object size by monocular camera based on two-dimensional code | |
| CN109040745B (en) | Camera self-calibration method and device, electronic equipment and computer storage medium | |
| CN109598763B (en) | Camera calibration method, device, electronic equipment and computer-readable storage medium | |
| EP3188468A1 (en) | Image processing method and apparatus and electronic device | |
| CN109559353B (en) | Camera module calibration method and device, electronic equipment and computer readable storage medium | |
| CN109068060B (en) | Image processing method and device, terminal device and computer readable storage medium | |
| CN109584312B (en) | Camera calibration method, device, electronic equipment and computer-readable storage medium | |
| CN112470189B (en) | Occlusion cancellation for light field systems | |
| EP3605393A1 (en) | Image correction due to deviations caused by temperature changes of camera light emitter | |
| US11741584B2 (en) | Method for correcting an image and device thereof | |
| CN109658459B (en) | Camera calibration method, device, electronic equipment and computer-readable storage medium | |
| CN112284330A (en) | Distance measuring system and method based on fisheye camera | |
| CN113108919B (en) | Human body temperature detection method, device and storage medium | |
| CN109379521B (en) | Camera calibration method and device, computer equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210129 |
|
| RJ01 | Rejection of invention patent application after publication |