公开(公告)号：US11615548B2

公开(公告)日：2023-03-28

申请号：US17124028

申请日：2020-12-16

申请人： Beijing Smarter Eye Technology Co. Ltd.

发明人： Feng Cui ,  Zhao Sun ,  Yongcai Liu ,  Shanshan Pei ,  Jian Li

IPC分类号： G06T7/593 ,  G06T7/80 ,  H04N13/204 ,  H04N13/00

摘要： The present disclosure provides a method for distance measurement based on a binocular camera, a system for distance measurement based on a binocular camera, a device and a computer-readable storage medium. The method includes: taking N images of a distance measurement marker placed at each of Z positions in a depth direction of the binocular camera; calculating an average disparity of the distance measurement marker at the middle position, the left side position and the right side position at each of the Z positions; calculating a distance measurement value at each of the Z positions in the depth direction; calculating a distance measurement error value at the middle position, the left side position and the right side position at each of the Z positions, and acquiring a total error cost function; and calculating extrinsic parameters, so as to acquire a distance measurement result in the depth direction.

公开(公告)号：US11057603B2

公开(公告)日：2021-07-06

申请号：US16721056

申请日：2019-12-19

申请人： Beijing Smarter Eye Technology Co. Ltd.

发明人： Qiwei Xie ,  Xinliang Wang ,  An Jiang ,  Yuan Hao ,  Jian Li

IPC分类号： H04N13/128 ,  H04N13/271 ,  H04N13/246 ,  H04N13/00

摘要： Provided is a binocular camera depth calibration method, a binocular camera depth calibration device, a binocular camera depth calibration system and a storage medium. The method includes: acquiring a plurality of groups of images of a 2D code calibration board at different positions so as to acquire disparity maps of the 2D code calibration board; acquiring a 2D code template image of a target region; matching the 2D code template image, so as to determine and store matching region information; determining a position of the 2D code template image in each disparity map in accordance with the matching region information, and calculating an average disparity value of the 2D code template image at the position; acquiring a plurality of groups of average disparity values, and calculating a final disparity value; and calibrating a depth of a binocular camera.