CN114095714A - Parallax image shooting device and method - Google Patents
Parallax image shooting device and method Download PDFInfo
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- CN114095714A CN114095714A CN202210062886.7A CN202210062886A CN114095714A CN 114095714 A CN114095714 A CN 114095714A CN 202210062886 A CN202210062886 A CN 202210062886A CN 114095714 A CN114095714 A CN 114095714A
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- 230000007246 mechanism Effects 0.000 claims abstract description 30
- 230000003287 optical effect Effects 0.000 claims abstract description 13
- 238000005259 measurement Methods 0.000 claims abstract description 6
- 239000013598 vector Substances 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 description 2
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/50—Systems of measurement based on relative movement of target
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- Aviation & Aerospace Engineering (AREA)
- Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)
Abstract
The invention provides a parallax image shooting device and method, and aims to solve the problem that in the traditional mode, a single aircraft is adopted for shooting parallax images, and the display of a shot stereoscopic scene is seriously lagged behind the shooting process. The parallax image shooting device is composed of at least two aircrafts. The aircraft is all carried with the shooting cloud platform. And at least one aircraft is provided with a laser radar. Lidar on aircraft is used to measure distances and relative directions between aircraft. The shooting pan-tilt has a 3-degree-of-freedom rotation mechanism so that an optical axis of a camera provided thereon can be directed in an arbitrary spatial direction. According to the multi-aircraft cooperative parallax shooting method, a plurality of cameras are arranged to form a parallel shooting mode in stereo display shooting through parameter measurement, parallax adjustment and camera attitude control. Therefore, it can realize real-time display of the photographed stereoscopic scene.
Description
Technical Field
The invention belongs to the field of parallax image shooting in a stereoscopic display technology, and particularly relates to a parallax image shooting device and method.
Background
The parallax image may be photographed using an aircraft. When parallax images are captured by using an aircraft, a single aircraft is generally used to fly to different spatial positions and capture images respectively. The parallax image after shooting needs to be subjected to three-dimensional modeling again by commercial software such as SMART 3D and the like, a three-dimensional model is introduced into 3DS MAX software, and a camera array is arranged according to the viewpoint distribution of a stereoscopic display for shooting, so that the parallax image which can be used for displaying of the stereoscopic display can be obtained. Therefore, the display of the stereoscopic scene it was capturing will be severely lagged behind the capturing process. To solve the problem, the invention provides a parallax image shooting device and a parallax image shooting method. The parallax image shooting device and the method adjust the relative position of each aircraft and the camera posture carried on the aircraft in real time through the cooperation of the aircrafts, so that the shot parallax image can be directly used for three-dimensional display, and the real-time display of the shot three-dimensional scene is realized.
Disclosure of Invention
The invention provides a parallax image shooting device and method, and aims to solve the problem that in the traditional mode, a single aircraft is adopted for shooting parallax images, and the display of a shot stereoscopic scene is seriously lagged behind the shooting process.
The parallax image capturing apparatus is specifically configured as follows. The parallax image shooting device at least comprises two aircrafts. The above aircrafts are all provided with a shooting tripod head. Wherein, be provided with laser radar on at least one aircraft. The shooting cloud platform is provided with 3 degree of freedom rotary mechanisms and a shooting cloud platform camera, the shooting cloud platform camera is installed on the 3 degree of freedom rotary mechanisms, and the 3 degree of freedom rotary mechanisms specifically comprise a first rotary mechanism, a second rotary mechanism and a third rotary mechanism. The first rotating mechanism, the second rotating mechanism and the third rotating mechanism can respectively rotate along 3 orthogonal directions, so that the optical axis of the shooting pan-tilt camera arranged on the first rotating mechanism can face any direction.
The parallax image capturing method specifically performs capturing in accordance with the following features. The parallax image shooting method comprises parameter measurement, parallax adjustment and camera attitude control.
In the aspect of parameter measurement, a laser radar on each aircraft scans objects near the aircraft to measure the distance between the aircraftdAnd a relative direction, the relative direction vector of the aircraft being defined asl。
In the aspect of parallax adjustment, the distance between two aircrafts is adjusted according to the required parallax during stereo displaydWhen is coming into contact withWhen it is necessary to increase the parallax error,dincreasing; on the contrary, when it is required to reduce the parallax,dand decreases.
In the aspect of camera attitude control, the relative direction vector of the aircraft is used as the basislAnd controlling the 3-degree-of-freedom rotating mechanism of the shooting cloud platform to rotate so as to enable the shooting cloud platform camera optical axes on the two aircraftskParallel to each other, and the pixel row direction of the image sensors of the two aerial vehicles on the shooting cloud platform cameras is positionedk-lIn-plane; and finally, acquiring images by each shooting cloud deck camera to finish parallax image shooting.
Optionally, when the number of the aircrafts is greater than 2, when any 2 aircrafts take parallax images, the parallax images are taken according to the technical characteristics, and multiple aircrafts arranged on the same straight line can simultaneously take parallax images.
In the parallax image shooting method, the optical axis directions of the shooting pan-tilt cameras on each aircraft are parallel to each other, and the pixel row direction of the image sensor of the shooting pan-tilt camera on each aircraft is positionedk-lIn-plane, the arrangement of the pan-tilt cameras constitutes a parallel shooting mode in parallax image shooting. Finally, the parallax image shot by the method is transmitted to a ground station through a conventional image transmission system of the aircraft, and the ground station carries out stereo display according to a general method in the field of stereo display, so that real-time display of the shot stereo scene can be realized.
Drawings
Fig. 1 is a schematic diagram of the parallax image capturing apparatus.
Fig. 2 is a schematic view of a camera head in the parallax image capturing apparatus.
Fig. 3 is a schematic view of the parallax adjustment principle of the parallax image capturing method.
Fig. 4 is a schematic view illustrating a principle of controlling a camera pose in the parallax image capturing method.
Icon: 100-a first aircraft; 110-a first aircraft lidar; 120-a first aerial vehicle shooting pan-tilt; 200-a second aircraft; 210-a second aircraft lidar; 220-a second aircraft shooting pan-tilt; 020-universal shooting holder; 021-a first rotation mechanism; 022-a second rotation mechanism; 023-a third rotation mechanism; 024-shooting pan-tilt camera; 124-a first aerial vehicle shooting pan-tilt camera; 224-a second aircraft shooting pan-tilt camera; 300-shoot the target.
It should be understood that the above-described figures are merely schematic and are not drawn to scale.
Detailed Description
The embodiment provides an application case of applying the parallax image shooting device and the parallax image shooting method to two aircrafts for shooting.
This embodiment performs shooting in accordance with the following characteristics.
Referring to fig. 1 and 2, the parallax image capturing device is completed by two aircrafts, namely a first aircraft 100 and a second aircraft 200. The first aircraft 100 is provided with a first aircraft laser radar 110 and a first aircraft shooting pan-tilt 120; the second aircraft 200 is mounted with a second aircraft laser radar 210 and a second aircraft imaging pan/tilt head 220. The first aircraft shooting cloud platform 120 and the second aircraft shooting cloud platform 220 are completely consistent and are all universal shooting cloud platforms 020. Referring to fig. 2, the universal camera head 020 has a 3-degree-of-freedom rotating mechanism, and the 3-degree-of-freedom rotating mechanism includes a first rotating mechanism 021, a second rotating mechanism 022, and a third rotating mechanism 023. The universal shooting cloud platform 020 is also provided with a shooting cloud platform camera 024, and an optical axis of the shooting cloud platform camera 024 can be controlledkAnd (4) direction. As shown in fig. 2, when the first rotation mechanism 021 acts alone, the shooting pan-tilt camera 024 may be providedx-yRotating in a plane; when the second rotating mechanism 022 acts alone, the shooting pan-tilt camera 024 may be presenty-zRotating in a plane; when the third rotating mechanism 023 acts alone, the shooting pan-tilt camera 024 can be arranged atx-zRotating in the plane. Accordingly, when the 3-degree-of-freedom rotation mechanism operates, the optical axis of the shooting pan-tilt camera 024kCan be oriented in any spatial direction.
Referring to fig. 3 and 4, the parallax image capturing method specifically includes parameter measurement, parallax adjustment, and camera attitude control.
For parameter measurement, please refer to fig. 3. First aircraft lidar 110 and second aircraft lidar 210 are paired toScanning of objects near one aircraft 100 and second aircraft 200 is used to measure the distance between first aircraft 100 and second aircraft 200dAnd a relative direction, the relative direction vector of first aircraft 100 and second aircraft 200 being defined asl。
Please refer to fig. 3 for parallax adjustment. Adjusting the distance between the first aircraft 100 and the second aircraft 200 according to the parallax size required in the stereoscopic displayd(ii) a When it is necessary to increase the parallax,dincreasing; on the contrary, when it is required to reduce the parallax,dand decreases. Specifically, first aircraft 100 and second aircraft 200 are spaced apart by a distance ofdWhich photographs the photographic target 300, the optical axis of the first aerial vehicle photographing pan/tilt head camera 124k'Included angle with respect to the photographic subject 300αSecond aerial vehicle shooting pan-tilt camera 224 optical axisk''Included angle with respect to the photographic subject 300βThen the magnitude of its parallax can be determined byα+βAnd (4) performing representation. Obviously, when the parallax needs to be increased, the parallax can be increaseddIncreasing; conversely, when the parallax needs to be reduced, the parallax can be reduceddReduce。
Please refer to fig. 4 for the camera pose control. According to the relative direction vectors of first aircraft 100 and second aircraft 200lAnd controlling the 3-degree-of-freedom rotating mechanism on the first aerial vehicle shooting cloud platform 120 and the second aerial vehicle shooting cloud platform 220 to rotate, so that the optical axis of the first aerial vehicle shooting cloud platform camera 124k'With the optical axis of the second aerial vehicle shooting pan-tilt camera 224k''Parallel.
Meanwhile, it makes the pixel row direction of the image sensor of the first aircraft shooting pan-tilt camera 124 and the second aircraft shooting pan-tilt camera 224 located at the same positionk-lIn-plane. Due to the fact thatk'Andk''in parallel, thenk-lA plane surface,k'-lPlane andk''-lthe three planes are the same plane. Specifically, the pixel row direction of the first aerial vehicle shooting pan-tilt camera 124 image sensor isj'The pixel row direction of the second aerial vehicle shooting pan-tilt camera 224 image sensor isj''The first aerial vehicle shooting cloud platform 120 and the second aerial vehicle shooting cloud platform 220 are based on the vectorlBy controlling respective 3 degrees of freedomA degree rotation mechanism for allowing the first aerial vehicle to shoot the pixel row direction of the pan/tilt camera 124 image sensorj'Is located atk-lIn-plane, and pixel row direction of second aerial vehicle shooting pan-tilt camera 224 image sensorj''Is also positioned atk-lIn-plane. Due to the fact thatj'Andk'is vertical andj''andk''at a right angle, thenj'Andj''necessarily in parallel.
Finally, the first aircraft shooting pan-tilt camera 124 and the second aircraft shooting pan-tilt camera 224 collect images to complete parallax image shooting.
In the parallax image capturing apparatus and method, the optical axis directions of the first aerial vehicle capturing pan/tilt camera 124 and the second aerial vehicle capturing pan/tilt camera 224 are parallel to each other, and the pixel row direction of the image sensor is located in the same direction as the pixel row direction of the first aerial vehicle capturing pan/tilt camera 124 and the second aerial vehicle capturing pan/tilt camera 224k-lIn the plane, the arrangement of the first aircraft shooting pan-tilt camera 124 and the second aircraft shooting pan-tilt camera 224 constitutes a parallel shooting mode in parallax image shooting. Finally, the parallax image shot by the device and the method is transmitted to the ground station through a conventional image transmission system of the aircraft, and the ground station carries out stereo display according to a general method in the field of stereo display, so that real-time display of the shot stereo scene can be realized.
Claims (3)
1. A parallax image capturing apparatus characterized in that:
the parallax image shooting device at least comprises two aircrafts; the aircrafts are all provided with shooting cloud platforms; wherein, at least one aircraft is provided with a laser radar; the shooting cloud platform is provided with a 3-degree-of-freedom rotating mechanism and a shooting cloud platform camera, the shooting cloud platform camera is installed on the 3-degree-of-freedom rotating mechanism, and when the 3-degree-of-freedom rotating mechanism rotates, an optical axis of the shooting cloud platform camera installed on the shooting cloud platform camera can face any direction.
2. A parallax image photographing method characterized by:
the parallax image shooting method comprises parameter measurement, parallax adjustment and camera attitude control;
parameter measurementIn one aspect, a lidar on each aircraft scans objects near the aircraft to measure the distance between the aircraftdAnd a relative direction, the relative direction vector of the aircraft being defined asl；
In the aspect of parallax adjustment, the distance between two aircrafts is adjusted according to the required parallax during stereo displaydWhen the parallax needs to be increased, the parallax is increased,dincreasing; on the contrary, when it is required to reduce the parallax,ddecrease;
in the aspect of camera attitude control, the relative direction vector of the aircraft is used as the basislAnd controlling the 3-degree-of-freedom rotating mechanism of the shooting cloud platform to rotate so as to enable the shooting cloud platform camera optical axes on the two aircraftskParallel to each other, and the pixel row direction of the image sensors of the two aerial vehicles on the shooting cloud platform cameras is positionedk-lIn-plane; and finally, acquiring images by each shooting cloud deck camera to finish parallax image shooting.
3. A parallax image photographing method according to claim 2, wherein: when the number of the aircrafts is more than 2, when any 2 aircrafts perform parallax image shooting, the shooting is performed according to the method of claim 2, and a plurality of aircrafts arranged on the same straight line can simultaneously perform the image shooting.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210062886.7A CN114095714A (en) | 2022-01-20 | 2022-01-20 | Parallax image shooting device and method |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102955349A (en) * | 2011-08-23 | 2013-03-06 | 深圳市掌网立体时代视讯技术有限公司 | Stereoscopic image shooting method and stereoscopic image shooting device capable of automatically adjusting image parallax |
| US20180213208A1 (en) * | 2017-01-25 | 2018-07-26 | Samsung Electronics Co., Ltd. | Method and apparatus for determining stereoscopic multimedia information |
| CN108495048A (en) * | 2018-05-29 | 2018-09-04 | 哈尔滨市舍科技有限公司 | Dual camera image capture device based on cradle head control |
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- 2022-01-20 CN CN202210062886.7A patent/CN114095714A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102955349A (en) * | 2011-08-23 | 2013-03-06 | 深圳市掌网立体时代视讯技术有限公司 | Stereoscopic image shooting method and stereoscopic image shooting device capable of automatically adjusting image parallax |
| US20180213208A1 (en) * | 2017-01-25 | 2018-07-26 | Samsung Electronics Co., Ltd. | Method and apparatus for determining stereoscopic multimedia information |
| CN108495048A (en) * | 2018-05-29 | 2018-09-04 | 哈尔滨市舍科技有限公司 | Dual camera image capture device based on cradle head control |
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Application publication date: 20220225 |