CN219780230U - Camera optical axis calibration device of binocular or multi-view stereoscopic vision system - Google Patents
Camera optical axis calibration device of binocular or multi-view stereoscopic vision system Download PDFInfo
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Abstract
The utility model relates to a camera optical axis calibration device of a binocular or multi-view stereoscopic vision system, wherein the binocular or multi-view stereoscopic vision system comprises N cameras for collecting images, the optical axis calibration device comprises a positioning mechanism and an optical path mechanism, the positioning mechanism is used for positioning and connecting a camera mounting bracket, the optical path mechanism comprises an optical path component for emitting N laser beams which are parallel to each other, and the N laser beams are respectively transmitted to the N cameras; each camera is an independent module, the light path component is an independent module, N cameras and the light path component form N+1 independent modules, at least N of the N+1 independent modules are adjustable in posture, and N is a natural number greater than or equal to 2. The utility model can quickly and accurately calibrate the optical axis of the camera, thereby improving the accuracy of the depth of the measured object and avoiding the error accumulation of the calculation result caused by the offset of the optical axes of the lenses of two or more camera modules.
Description
Technical Field
The utility model relates to the technical field of stereoscopic vision measurement, in particular to a camera optical axis calibration device of a binocular or multi-view stereoscopic vision system.
Background
The difference in the positions of the two cameras on the sensor when imaging objects at a distance is called parallax. Binocular stereo vision measurement technology is a method for measuring depth based on parallax produced by photographing the same object with left and right cameras. Parallelism of the optical axes of the two cameras is an important factor affecting the accuracy of depth measurement of the binocular stereo vision system. In the prior art, binocular distance measurement is generally performed in four steps, namely camera calibration, binocular correction, binocular matching and depth information calculation. Once the optical axes of the two cameras of the binocular stereoscopic image acquisition device are offset, image correction is performed before the binocular matching step, that is, the two image planes in different directions are re-projected to the same plane and the optical axes are parallel, so that error accumulation is formed when object depth calculation is performed, and the accuracy of a calculation result is seriously affected. How to prevent the optical axes of two or more cameras from being deviated is a technical problem to be solved in the art.
Disclosure of Invention
The technical problem to be solved by the utility model is how to prevent the optical axes of two or more cameras from shifting.
In order to solve the technical problems, the utility model provides a camera optical axis calibration device of a binocular or multi-view stereoscopic vision system, wherein the binocular or multi-view stereoscopic vision system comprises N cameras for acquiring images, the optical axis calibration device comprises a positioning mechanism and an optical path mechanism, the positioning mechanism is used for positioning a mounting bracket connected with the cameras, the optical path mechanism comprises an optical path component for emitting N parallel laser beams, and the N laser beams are respectively transmitted to the N cameras;
each camera is an independent module, the light path component is an independent module, N cameras and the light path component form N+1 independent modules, at least N gestures are adjustable in N+1 independent modules, and N is a natural number greater than or equal to 2.
In one embodiment of the present utility model, N-1 of the cameras and the optical path component may have adjustable postures, and the remaining one of the cameras is fixedly disposed.
In one embodiment of the utility model, the gestures of the N cameras are adjustable, and the light path component is fixedly arranged.
In one embodiment of the utility model, the independent module with adjustable posture is adjusted by a six-axis module.
In one embodiment of the utility model, the binocular or multi-view stereoscopic system comprises two of the cameras.
In one embodiment of the present utility model, the optical path assembly includes:
a first optical path unit for emitting a laser beam propagating along a first set direction;
the N second light path units are in one-to-one correspondence with the N cameras, and are used for receiving the laser beams sent by the first light path units and sending out the laser beams transmitted along the second setting direction.
In one embodiment of the present utility model, the first optical path unit includes a laser collimation module and a reticle, the laser collimation module includes a laser light source and a collimation lens, the laser light source is used for emitting an original light beam, the collimation lens is used for emitting a collimated light beam after collimating the original light beam, and the reticle is used for shaping the collimated light beam and emitting a cross-shaped light beam;
the N-1 second light path units comprise a beam splitting prism and a speckle reduction lens module, the other second light path unit comprises a reflecting prism and a speckle reduction lens module, the beam splitting prism is used for splitting the cross beam and then sending out a beam splitting light beam and reflecting the cross beam and then sending out a reflected beam, the reflecting prism is used for reflecting the beam splitting light beam and then sending out a reflected beam, and the speckle reduction lens module is used for shrinking the reflected beam and then sending out a shrinking light beam.
In one embodiment of the present utility model, when the posture of the light path component is adjustable, the posture of the first light path unit is set to be adjustable.
In one embodiment of the present utility model, the first set direction is a horizontal direction, and the second set direction is a vertical direction.
In one embodiment of the utility model, the independent modules after the posture adjustment are adhered or fixed by screw locking.
Compared with the prior art, the technical scheme of the utility model has the following advantages: according to the camera optical axis calibration device of the binocular or multi-view stereoscopic vision system, the optical axes of the cameras are corrected, so that the accuracy of the depth of a measured object is improved, error accumulation of calculation results caused by optical axis deviation of lenses of two or more camera modules is avoided, the required test space is small, the types of products which can be tested are multiple, the measurement time is saved, and the measurement accuracy is improved.
Drawings
In order that the utility model may be more readily understood, a more particular description of the utility model will be rendered by reference to specific embodiments thereof that are illustrated in the appended drawings.
Fig. 1 is a schematic structural diagram of a camera optical axis calibration device of a binocular or multi-view stereoscopic vision system disclosed by the utility model;
fig. 2 is a step diagram of a camera optical axis calibration method of a binocular or multi-view stereoscopic vision system disclosed by the utility model.
Description of the specification reference numerals: 1. a camera; 2. an optical path component; 21. a first optical path unit; 211. a laser light source; 212. a collimating lens; 213. a reticle; 22. a second optical path unit; 221. a beam-splitting prism; 222. a speckle reduction lens module; 223. and a reflecting prism.
Detailed Description
The present utility model will be further described with reference to the accompanying drawings and specific examples, which are not intended to be limiting, so that those skilled in the art will better understand the utility model and practice it.
Referring to fig. 1 and 2, a camera optical axis calibration device of a binocular or multi-view stereoscopic vision system, the binocular or multi-view stereoscopic vision system includes N cameras 1 for capturing images, the optical axis calibration device includes a positioning mechanism (not shown in the drawings) for positioning a mounting bracket connected to the cameras, and an optical path mechanism including an optical path component 2 for emitting N laser beams parallel to each other, the N laser beams respectively propagating to the N cameras 1;
each camera 1 is an independent module, the light path component 2 is an independent module, N cameras 1 and the light path component 2 form N+1 independent modules, and at least N gestures are adjustable in the N+1 independent modules, wherein N is a natural number greater than or equal to 2.
In this embodiment, the N cameras are mounted on a camera support, the positioning mechanism clamps and fixes the camera support, the optical path component is mounted on the optical path support, the camera gesture is adjustable and means that the camera is movably connected on the camera support, the optical path component gesture is adjustable and means that the optical path component is movably connected on the optical path support, and N is 2. In other embodiments it may also be: n is 3 or 4.
In the preferred embodiment of this embodiment, the pose of N-1 cameras 1 and the light path component 2 is adjustable, and the remaining one camera 1 is fixedly set. That is, one of the cameras is fixedly connected to the camera support, the rest of the cameras are connected to the camera support in an adjustable mode, and the light path component is connected to the light path support in an adjustable mode. In other embodiments it may also be: n cameras 1 are all gesture-adjustable, namely every camera gesture adjustable connect on the camera support, light path subassembly 2 fixed connection is on the light path support.
In a preferred embodiment of this embodiment, the posture-adjustable independent module performs posture adjustment through a six-axis module (not shown in the figure). Specifically, six-axis modules are adjusted manually, the camera with adjustable gestures is connected to the camera support through the six-axis modules, and the optical path assembly with adjustable gestures is connected to the optical path support through the six-axis modules.
In a preferred embodiment of the present embodiment, the binocular or multi-view stereoscopic system comprises two cameras 1. In other embodiments it may also be: binocular or multi-view stereoscopic systems include three cameras.
In a preferred implementation of this embodiment, the optical path assembly 2 includes:
a first optical path unit 21, the first optical path unit 21 being configured to emit a laser beam propagating in a first setting direction;
the N second optical path units 22, where the N second optical path units 22 are in one-to-one correspondence with the N cameras 1, and the second optical path units 22 are configured to receive the laser beam emitted by the first optical path unit 21 and emit a laser beam propagating along the second setting direction.
In the above, the laser beam is propagated through one first optical path unit into the plurality of second optical path units, which propagate the laser beam to the imaging sensors of the plurality of cameras.
In a preferred implementation manner in this embodiment, the first optical path unit 21 includes a laser collimation module and a reticle 213, the laser collimation module includes a laser light source 211 and a collimation lens 212, the laser light source 211 is used for emitting an original light beam, the collimation lens 212 is used for collimating the original light beam and then emitting a collimated light beam, and the reticle 213 is used for shaping the collimated light beam and then emitting a cross-shaped light beam;
the N-1 second optical path units 22 include a beam splitting prism 221 and a beam shrinking lens module 222, the other second optical path unit 22 includes a reflecting prism 223 and a beam shrinking lens module 222, the beam splitting prism 221 is used for splitting the cross beam and emitting the beam splitting beam and reflecting the cross beam and emitting the reflected beam, the reflecting prism 223 is used for reflecting the beam splitting beam and emitting the reflected beam, and the beam shrinking lens module 222 is used for shrinking the reflected beam and emitting the shrunk beam.
The laser collimation light path module is used for collimating laser emitted by the laser light source, and comprises the laser light source and the collimation lens, and the laser emitted by the laser light source is collimated by the collimation lens to form horizontal parallel light beams.
The purpose of the reticle is to enable laser emitted by the laser collimation light path module to penetrate through cross hairs in the reticle to form a laser beam with a cross shape, the cross pattern can be used as an advantageous position reference when a subsequent camera module images, and compared with imaging light spots of point-shaped laser in an imaging sensor of a camera, imaging position coordinates of the cross laser in the imaging sensor of the camera module are easier to read, and accuracy is higher.
After the cross laser beam is split by the beam splitting prism, a part of the cross laser beam is vertically reflected at a beam splitting interface of the beam splitting prism, and the reflected beam is reduced into a narrow-band cross parallel beam with narrower beam width than before zooming through the speckle lens module, and is focused by a lens of the first camera and imaged on an imaging sensor of the camera. The other part of the cross laser beam is vertically reflected at the reflecting interface of the reflecting prism through the beam splitting prism, and the beam splitting beam vertically reflected by the reflecting prism is reduced into a narrow-band cross parallel beam with narrower beam width than the beam width before zooming through the speckle reduction lens module, and then is converged by the lens of the second camera and imaged on the imaging sensor of the second camera.
In the preferred embodiment of the present embodiment, when the posture of the optical path component 2 is adjustable, the posture of the first optical path unit 21 is set to be adjustable.
In a preferred embodiment of the present embodiment, the first setting direction is a horizontal direction, and the second setting direction is a vertical direction. The collimated beam and the cross beam are both horizontal beams, and the reflected beam and the diminished beam are both vertical beams.
In a preferred embodiment of this embodiment, the independent modules after the posture adjustment are glued or fastened by screws. For example, the movable blocks of the six-axis module are fixed in position by means of screw locking or bonding.
Referring to fig. 2, as shown in the legend, a method for calibrating the optical axis of a camera of a binocular or multi-view stereoscopic vision system includes the following steps, which are sequentially performed:
step one, a camera optical axis calibration device of a binocular or multi-view stereoscopic vision system is provided;
step two, the light path component sends out N laser beams which are parallel to each other;
thirdly, performing gesture adjustment on the independent module with the adjustable gesture until the centers of N laser beams are overlapped with the centers of imaging sensors of N cameras respectively;
and fourthly, fixing the posture of the independent module after posture adjustment.
In a vertical reflection light path through a beam splitting prism, the position of a first camera is fixed, and a laser light source, a collimating lens and a carrier of a cross wire reticle in a laser collimating light path module are adjusted, so that the position coordinate of an imaging pattern cross wire intersection point of an imaging sensor of the first camera is positioned at the center position coordinate of the imaging sensor of the first camera. The laser beam vertically reflected by the reflecting prism is parallel to the laser beam vertically reflected by the beam splitting prism, the six-axis module of the second camera is adjusted, so that the position coordinate of the cross laser at the intersection point of the cross wire of the imaging pattern of the imaging sensor of the second camera is positioned at the center position coordinate of the imaging sensor, and finally, the second camera is fixed on the camera bracket by using glue or a locking screw. The calibration of the optical axis of the lens of the binocular camera module can be completed.
In particular, in the light path, the optical axis of the lens of the binocular stereoscopic imaging system of different types can be calibrated by adjusting the distance between the beam splitting prism and the reflecting prism. In addition, by increasing the number of the second light path units, the utility model can be further expanded to calibrate the optical axis of the lens of the three-eye or more stereoscopic vision imaging system.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations and modifications of the present utility model will be apparent to those of ordinary skill in the art in light of the foregoing description. It is not necessary here nor is it exhaustive of all embodiments. And obvious variations or modifications thereof are contemplated as falling within the scope of the present utility model.
Claims (10)
1. The camera optical axis calibration device of the binocular or multi-view stereoscopic vision system is characterized by comprising N cameras for acquiring images, wherein the optical axis calibration device comprises a positioning mechanism and an optical path mechanism, the positioning mechanism is used for positioning a mounting bracket connected with the cameras, the optical path mechanism comprises an optical path component for emitting N mutually parallel laser beams, and the N laser beams are respectively transmitted to the N cameras;
each camera is an independent module, the light path component is an independent module, N cameras and the light path component form N+1 independent modules, at least N gestures are adjustable in N+1 independent modules, and N is a natural number greater than or equal to 2.
2. The camera optical axis calibration apparatus of a binocular or multi-view stereoscopic vision system according to claim 1, wherein N-1 of the cameras and the optical path components are adjustable in posture, and the remaining one of the cameras is fixedly disposed.
3. The camera optical axis calibration device of a binocular or multi-view stereoscopic vision system according to claim 2, wherein the N cameras are adjustable in all postures, and the optical path assembly is fixedly arranged.
4. The camera optical axis calibration device of a binocular or multi-view stereoscopic vision system according to claim 1, wherein the independent module with adjustable pose performs pose adjustment through a six-axis module.
5. The camera optical axis calibration device of a binocular or multi-view stereoscopic system according to claim 1, wherein the binocular or multi-view stereoscopic system comprises two cameras.
6. The camera optical axis calibration device of a binocular or multi-view stereoscopic system of claim 1, wherein the optical path assembly comprises:
a first optical path unit for emitting a laser beam propagating along a first set direction;
the N second light path units are in one-to-one correspondence with the N cameras, and are used for receiving the laser beams sent by the first light path units and sending out the laser beams transmitted along the second setting direction.
7. The camera optical axis calibration device of a binocular or multi-view stereoscopic system according to claim 6, wherein the first optical path unit comprises a laser collimation module and a reticle, the laser collimation module comprises a laser light source and a collimation lens, the laser light source is used for emitting an original light beam, the collimation lens is used for collimating the original light beam and emitting a collimated light beam, and the reticle is used for shaping the collimated light beam and emitting a cross-shaped light beam;
the N-1 second light path units comprise a beam splitting prism and a speckle reduction lens module, the other second light path unit comprises a reflecting prism and a speckle reduction lens module, the beam splitting prism is used for splitting the cross beam and then sending out a beam splitting light beam and reflecting the cross beam and then sending out a reflected beam, the reflecting prism is used for reflecting the beam splitting light beam and then sending out a reflected beam, and the speckle reduction lens module is used for shrinking the reflected beam and then sending out a shrinking light beam.
8. The camera optical axis calibration device of a binocular or multi-view stereoscopic vision system of claim 6, wherein the first light path unit is configured with an adjustable pose when the light path assembly is configured with an adjustable pose.
9. The camera optical axis calibration device of a binocular or multi-view stereoscopic system of claim 6, wherein the first set direction is a horizontal direction and the second set direction is a vertical direction.
10. The camera optical axis calibration device of a binocular or multi-view stereoscopic vision system according to claim 1, wherein the independent module after the posture adjustment is fixed by bonding or by screw locking.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202320152096.8U CN219780230U (en) | 2023-02-08 | 2023-02-08 | Camera optical axis calibration device of binocular or multi-view stereoscopic vision system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202320152096.8U CN219780230U (en) | 2023-02-08 | 2023-02-08 | Camera optical axis calibration device of binocular or multi-view stereoscopic vision system |
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| CN219780230U true CN219780230U (en) | 2023-09-29 |
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