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：US11445162B2

公开(公告)日：2022-09-13

申请号：US17123999

申请日：2020-12-16

申请人： Beijing Smarter Eye Technology Co. Ltd.

发明人： Zhao Sun ,  Haitao Zhu ,  Yongcai Liu ,  Shanshan Pei ,  Xinliang Wang

IPC分类号： H04N13/246 ,  G06T7/80 ,  G06T7/73 ,  H04N13/239 ,  B60R11/04

摘要： The present disclosure provides a method for calibrating a binocular camera, including: S2 of extracting feature points from an image set 1 and an image set 2 taken at two points separated from each other by a predetermined distance; S3 of fitting Gaussian distribution parameters of each feature point, and extracting a desired value as a theoretical disparity; S4 of selecting a common feature point, and calculating the predetermined quantity of frames at a first theoretical distance and the predetermined quantity of frames at a second theoretical distance; S5 of performing Gaussian fitting on a difference between the theoretical distances of the common feature point, and extracting a variance as an evaluation index; S6 of determining whether the evaluation index is smaller than a threshold, if yes, terminating the calibration, and otherwise, proceeding to S7; and S7 of adjusting posture parameters of the binocular camera, and returning to S3.