CN101619962B - Active three-dimensional panoramic view vision sensor based on full color panoramic view LED light source - Google Patents

Abstract

The invention relates to an active three-dimensional panoramic view vision sensor based on a full color panoramic view LED light source, which comprises an omnibearing vision sensor, a panoramic view optical generator with a colorful structure and a microprocessor for performing three-dimensional shooting measurement on an omnibearing image. The omnibearing vision sensor and the panoramic view optical generator with the colorful structure are arranged on the same axial lead; the omnibearing vision sensor comprises an image unit and a hyperboloid catadioptric unit; the panoramic view optical generator with the colorful structure comprises an LED optical generator unit with a colorful structure and a hyperboloid catadioptric unit; a hyperboloid catadioptric mirror surface and a hyperboloid refraction mirror surface have same image parameters; and the microprocessor comprises an LED light source control unit, a video image reading module, a special information calculation module and a three-dimensional image reconstruction module. The active three-dimensional panoramic view vision sensor can reduce the calculation, quickly finish the measurement, and has good real-time property and strong practicability.

Description

Active three-dimensional panoramic vision sensor based on full-color panoramic LED light source

technical field

The invention relates to the application of LED light source, optical technology and computer vision technology in stereo vision measurement, in particular to an active three-dimensional stereo panorama vision sensor.

Background technique

Binocular stereo vision 3D measurement and stereo reconstruction technology based on computer vision is an emerging application technology with great development potential and practical value, which can be widely used in industrial inspection, geographical survey, medical cosmetic surgery, orthopedic orthopedics, Reproduction of cultural relics, criminal investigation and evidence collection, security identification, robot vision, rapid prototyping of molds, gifts, virtual reality, animated films, games and many other application fields.

The basic principle of stereo vision is to observe the same scene from two viewpoints to obtain perceptual images under different viewing angles, and calculate the position deviation between image pixels, that is, parallax, through the principle of triangulation to obtain the three-dimensional information of the scene. The stereoscopic perception process of human vision is similar.

The key in stereo vision measurement is to achieve stereo matching of the same measured object observed at different angles. The so-called stereo matching refers to establishing the correspondence between features based on the calculation of the selected features, and placing the same physical point in the same space Mapping points in different images are mapped. Stereo matching is the most important and difficult problem in stereo vision. When a spatial three-dimensional scene is projected into a two-dimensional image, the images of the same scene at different viewpoints will be very different, and many factors in the scene, such as lighting conditions, scene geometry and physical characteristics, noise interference and distortion, and camera Features, etc., are integrated into a single gray value in the image. Therefore, it is obviously very difficult to accurately match images containing so many unfavorable factors without ambiguity, and this problem has not been well solved so far. The effectiveness of stereo matching depends on the solution of three problems, namely: selecting the correct matching features, finding the essential properties between features and establishing a stable algorithm that can correctly match the selected features.

Stereo vision measurement is a method of imitating the human perception of distance using binocular cues to realize the perception of three-dimensional information. The method of triangulation is used in the realization, using two cameras to image the same object point from different positions, and then calculate from the parallax out of distance. However, the current stereo vision technology is still unable to achieve all-round real-time perception, and has not been well resolved in terms of camera calibration, feature extraction and stereo image matching.

A limitation of the current binocular stereo vision measurement system is that the focal length is fixed. Since a fixed focal length can only clearly capture images within a certain depth of field, the test area is limited; the calibration technology has not been well solved, and the stereo vision measurement system is in the market. It is inevitable to change parameters in various sports, such as the impact of vibration during transportation, work shock, etc. In practice, it is impossible to always put a few chessboards in front of you for calibration, thus limiting many applications; The stereo vision measurement system has not yet achieved miniaturization and miniaturization, which limits the application in the fields of robots and aircraft models; the amount of calculation is large, and it is difficult to perform real-time processing, thus limiting applications such as real-time target recognition; the corresponding point of binocular vision The large matching discrepancies cause matching errors and affect the matching accuracy.

Omni Directional Vision Sensors (ODVS), developed in recent years, provides a new solution for real-time acquisition of panoramic images of scenes. ODVS is characterized by a wide field of view (360 degrees), which can compress the information in a hemispheric field of view into one image, and the amount of information in one image is larger; when acquiring a scene image, the placement position of ODVS in the scene is more free; monitoring ODVS does not need to aim at the target in the environment; the algorithm is simpler when detecting and tracking moving objects within the monitoring range; real-time images of the scene can be obtained. At the same time, it also provides a basic element for constructing a stereo vision measurement system of a binocular omnidirectional vision sensor.

Chinese invention patent application No. 200510045648.1 discloses an omnidirectional stereo vision imaging method and device. In this patent, the optical axis of a perspective camera lens and the common symmetry axis of the two reflecting mirrors are placed coincidentally, and a point in the space is respectively reflected by the two mirrors. After the specular reflection, the image plane of the perspective camera is imaged at two different points, which is equivalent to two camera imaging; the device includes two reflective mirrors, a camera, the optical axis of the camera lens and the common axis of symmetry of the two reflective mirrors coincide. The problems of this scheme are: 1) Since one image includes "two" omnidirectional images of feature points, the allowable image parallax is reduced by half, so the measurement range of the vision system is also reduced by at least half; 2 ) The upper and lower mirror surfaces will be blocked, which will affect the stereo vision range; 3) Since the imaging points of the feature points of the same object on the upper and lower mirror surfaces after catadioptric reflection are at different positions from the center point on an image, the upper and lower The imaging resolution of the reflective mirror surface is more than twice as high as that of the lower reflective mirror surface; 4) Due to the focusing problem of the perspective camera lens, only one of the two reflective mirror surfaces can be satisfied as the best focal length, so It will inevitably affect the imaging quality; 5) The focal distance of the two mirrors is the baseline distance of the system, thus causing the baseline distance to be too short and affecting the measurement accuracy.

The Chinese Invention Patent Application No. 200810062128.5 discloses a stereo vision measurement device based on a binocular omnidirectional vision sensor. In this patent, the two ODVSs that make up the stereo vision measurement device adopt an average angular resolution design, and the two cameras that collect images The parameters are exactly the same, with excellent symmetry, and can realize fast point-to-point matching, so as to achieve the purpose of stereo vision measurement. However, large computing resources are still required from point-to-point matching to stereo measurement, and there are still some "sick" computing problems in order to realize real-time online stereo measurement and 3D stereo reconstruction.

The biggest problem in the 3D stereo vision measurement technology introduced above is the large consumption of computer resources, poor real-time performance, poor practicability, and low robustness commonly found in passive stereo camera measurement. An effective way to solve this problem is to use structured light active vision technology, such as point structured light, line structured light scanning method and coded structured light method. However, these methods must use precision calibration devices to calibrate the relevant parameters in advance, and they can only be applied to specific occasions. It is very difficult, sometimes even impossible, to achieve online real-time calibration or reconstruction of 3D scenes without calibration. At the same time, a panoramic color light coding technology is required to support omnidirectional vision.

The emergence of LED light sources provides a technical basis for the realization of panoramic color light coding technology. Using ultra-high-brightness power red, green, and blue three-primary color LEDs, it can be made into a digital light source with a compact structure and much higher luminous efficiency than traditional incandescent light sources. Adjusting the dimming light source, combined with computer control technology, can get extremely colorful lighting effects.

LED, light-emitting diode, also known as light-emitting diode, English name is Light Emitting Diode, is a semiconductor device that can convert electrical energy into light energy, and belongs to solid-state light source. LED light source has the following advantages: (1) Pure light color: LED is a discrete spectrum with narrow spectral lines, rich and bright colors, and can have a variety of color tone selection and light distribution; (2) Concentrated beam: LED emits large Parts are concentrated in the center, the divergence angle is small, the emission angle is 10°~100°, the uniformity of light emission is good, it can reduce glare, and reduce the structure of the color light encoder of the panorama; (3) miniaturization: LED is a ring Oxygen resin encapsulated solid-state light source, its structure is neither like incandescent lamps with glass bulbs, filaments and other fragile parts, nor fluorescent lamps with bulky tubes and accessories, it is an all-solid structure, so it can withstand vibration , impact without damage, and the volume is relatively small, light weight, flexible application, can cast light in a small space, which is conducive to integration in the omnidirectional visual sensor; each unit LED chip is a square of 3-5mm, so It can be prepared into a device that conforms to the shape of a panoramic color structured light device; (4) Fast response speed: LED lights have a short response time, can be started instantly, switched on and off repeatedly, and can be flexibly controlled. Jumping lights change. The response time of LED lighting is nanoseconds, and fluorescent lamps are generally milliseconds: (5) High efficiency: energy consumption is 80% lower than that of incandescent lamps with the same light efficiency, which can save the design of heat dissipation part; (6) Rich colors: change The current can change color, and the light-emitting diode can easily adjust the energy band structure and band gap of the material through chemical modification methods to achieve red, yellow, green, blue and orange multi-color light emission; through the design, it can cover the entire visible light and infrared light; (7) Ultra-long life: LED components The lifespan is very long, theoretically up to 50,000 hours, which is ten times longer than that of projection bulbs. If it is used for 5 hours a day, the LED light source can be used for more than 10 years, and frequent switching will not affect the service life;( 8) Small brightness attenuation: LED has very strong luminous directivity, and its brightness attenuation is much lower than that of traditional light sources. After 2000 hours of use, its decay rate does not exceed 5%. Therefore, these advantages of the LED device are used to realize a panoramic color light encoder, and provide an active panoramic structured light source for an active three-dimensional panoramic vision sensor.

Contents of the invention

In order to overcome the disadvantages of the existing stereo vision measurement devices, such as high consumption of computer resources, poor real-time performance, poor practicability, and low robustness, the present invention provides a device that can reduce the consumption of computer resources, quickly complete the measurement, and has good real-time performance. An active three-dimensional panoramic vision sensor with strong practicability and high robustness.

The technical solution adopted by the present invention to solve its technical problems is:

An active three-dimensional panoramic vision sensor based on a full-color panoramic LED light source, including an omnidirectional vision sensor, a panoramic color structured light generator, and a microprocessor for performing three-dimensional camera measurements on omnidirectional images. The sensor is arranged on the same axis as the panoramic color structured light generator;

The omnidirectional visual sensor includes a first hyperboloid mirror, a first upper cover, a first transparent semicircular outer cover, a first lower fixing seat, a first camera unit fixing seat, a camera unit, a first connecting unit and an upper cover; The first hyperboloid mirror is fixed on the first upper cover, the first connection unit connects the first lower fixing seat and the first transparent semicircular outer cover into one body, and the The first transparent semicircular outer cover is fixed together with the first upper cover and the upper cover, the camera unit is fixed on the fixing base of the first camera unit, and the first camera unit The fixing seat is fixed on the first lower fixing seat, and the output of the camera unit in the omnidirectional vision sensor is connected with the microprocessor;

The panoramic color structured light generator includes a second hyperboloid mirror, a second upper cover, a second transparent semicircular cover, a second lower fixing seat, a second connection unit and an LED light source; the second hyperboloid mirror fixed on the second upper cover, the second connecting unit connects the second lower fixing seat and the second transparent semicircular cover into one body, and the second transparent semicircular cover is connected with the second transparent semicircular cover The second upper cover is fixed together by screws, and the LED light source is fixed on the second connection unit;

The second hyperboloid mirror and the first hyperboloid mirror have the same imaging parameters;

The microprocessor includes:

LED light source control unit, video image reading unit, spatial information calculation unit, 3D image reconstruction unit and storage device;

The LED light source control unit is used to control the panoramic color light coding generator to emit full-color panoramic structured light. When the LED light source control unit makes the power supply of the LED light source in the ON state, the imaging unit of the omnidirectional visual sensor can directly obtain a certain space. The depth and azimuth angle information of the object point; when the LED light source control unit makes the power supply of the LED light source in the OFF state, the actual color information of a certain object point in space is directly obtained in the imaging unit of the omnidirectional visual sensor; the power supply of the actual LED light source The power switch control is realized by electronic switch;

The video image reading module is used to read the video image of the omnidirectional visual sensor, and save it in the storage device, and its output is connected to the spatial information calculation module; when the power supply of the LED light source is in the ON state The color of each pixel in the read panoramic video image has the depth and azimuth angle information of a certain point; when the power supply of the LED light source is in the OFF state, the color of each pixel in the read panoramic video image contains The actual color information of the point;

The spatial information calculation module is used to calculate the distance and incident angle from the object point in space to the center point of the stereo vision measuring device, and calculate the distance R1 between the object point in space and the real focal point _Om of the omnidirectional visual sensor, the object point in space and the panorama The distance R2 of the real focus _Op of the color structured light modulation unit, the distance R between the space object point and the central eye, and the incident angle φ of the space object point; its output is connected to the three-dimensional image reconstruction module;

The three-dimensional image reconstruction module is used to carry out columnar expansion operation on the panoramic image acquired in the omnidirectional vision sensor. Part of the image is separated separately, and then the omni-directional image is expanded. The calculation step size in the horizontal direction in the expansion algorithm is Δβ=2π/l, where l is the horizontal expansion range; the calculation step size in the vertical direction is Δm=( α _o-max -α _o-min )/m; where α _o-max is the scene light incident angle corresponding to the maximum effective radius Rmax of the original panoramic image, and α _o-min is the scene corresponding to the minimum effective radius Rmin of the original panoramic image angle of incidence of light;

The coordinates of point A in the spherical expansion mode corresponding to the original image point A (Φ, β) in the original panorama image represented by polar coordinates are:

x=β/Δβ, y=(α _o -α _o-min )/Δm (8)

In the formula: Δβ is the calculation step in the horizontal direction, β is the azimuth angle, Δm is the calculation step in the vertical direction, α _{o is} the scene light incident angle corresponding to the effective radius R of the original panorama image, and α _o-min is the minimum of the original panorama image The scene light incident angle corresponding to the effective radius Rmin;

When performing columnar expansion on a panoramic image, two different columnar expansion diagrams will be generated for the power supply of the LED light source in the ON/OFF state; when the power supply of the LED light source is in the ON state, the columnar expansion diagram with There are panoramic video images illuminated by panoramic color structured light; when the power supply of the LED light source is OFF, the panoramic video images projected by natural light on the columnar expansion diagram.

As a preferred solution: the LED light source is composed of multiple groups of LEDs with different center wavelengths, the divergence angle of each LED is selected at 10°, the substrate of the LED light source is a circular flat plate, each LEDs are all fixed on the circular plate; LEDs with different central wavelengths are arranged from the inner diameter to the outer diameter of the circular plate from small to large central wavelengths, and LEDs with the same central wavelength are arranged on the circular plate On the same diameter; each LED is facing the second hyperbolic mirror.

Further, the time-sharing control technology is adopted for the full-color panoramic LED light source, and the panoramic color structured light generator is controlled to emit light or not to emit light through an electronic switch. When the LED light source control unit makes the power supply of the LED light source in the ON state, The imaging unit of the visual sensor directly obtains the depth and azimuth angle information of a certain point in space; when the LED light source control unit turns off the power supply of the LED light source, the imaging unit of the omnidirectional visual sensor directly obtains a certain point in space of the actual color information.

Further, the optical system formed by the first hyperboloid mirror and the second hyperboloid mirror is represented by the following 5 equations;

((X ² +Y ² )/a ² )-((Zc) ² /b ² )=-1 When Z>0 (1)

$\mathrm{<span\; class="notranslate">\; c</span>}<span\; class="notranslate">\; =</span>\sqrt{{\mathrm{<span\; class="notranslate">\; a</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; b</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; )</span>$

β=tan ^-1 (Y/X) (3)

α=tan ^-1 [(b ² +c ² )sinγ-2bc]/(b ² +c ² )cosγ (4)

$\mathrm{<span\; class="notranslate">\; \&gamma;</span>}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; the\; tan</span>}}^{<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; [</span>\mathrm{<span\; class="notranslate">\; f</span>}<span\; class="notranslate">\; /</span>\sqrt{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>}<span\; class="notranslate">\; ]</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 5</span>}<span\; class="notranslate">\; )</span>$

In the formula, X, Y, and Z represent the space coordinates, c represents the focal point of the hyperbolic mirror, 2c represents the distance between the two focal points, a, b are the lengths of the real axis and imaginary axis of the hyperbolic mirror, respectively, and β represents the incident light The angle between the X-axis and the X-axis on the XY projection plane is the azimuth angle. α represents the angle between the incident light and the X-axis on the XZ projection plane. Here, α is called the incident angle, and when α is greater than or equal to 0, it is called the depression angle. When α is less than 0, it is called the elevation angle, f represents the distance from the imaging plane to the virtual focus of the hyperbolic mirror, γ represents the angle x between the refraction light and the Z axis, and y represents a point on the imaging plane.

As another preferred solution: a back-to-back connection is adopted between the omnidirectional vision sensor and the panoramic color structured light generator, and the first upper cover of the omnidirectional vision sensor is connected to the panoramic color structured light generator. The second upper cover connection; the concave surface of two hyperbolic mirrors with the same parameters face the concave surface.

Alternatively, a face-to-face connection is adopted between the omnidirectional visual sensor and the panoramic color structured light generator, and the second connecting unit of the panoramic color structured light generator is connected to the first connecting unit of the omnidirectional visual sensor. The connection is made by screws.

Alternatively, a face-to-back connection is adopted between the omnidirectional visual sensor and the panoramic color structured light generator, and the second upper cover of the panoramic color structured light generator is connected to the omnidirectional visual sensor. The first connection unit is connected; the convex surface of two hyperboloid mirrors with the same parameter faces the concave surface, wherein the convex surface is the first hyperbolic mirror of the omnidirectional vision sensor, and the concave surface is the second hyperbolic surface of the panoramic color structured light generator mirror.

Alternatively, the omnidirectional vision sensor and the panoramic color structured light generator are connected in a back-to-face manner, and the first upper cover of the omnidirectional vision sensor is connected to the first upper cover of the panoramic color structured light generator. Two connection units are connected; the concave surface of two hyperboloid mirrors with the same parameter faces the convex surface, wherein the concave surface is the first hyperbolic mirror of the omnidirectional vision sensor, and the convex surface is the second hyperbolic mirror of the panoramic color structured light generator .

Further, the spatial information calculation module includes a refraction angle α _p calculation unit, an incident angle α _o calculation unit and a distance calculation unit; wherein,

The refraction angle α _p calculation unit is used to calculate the refraction angle α _p of the panoramic color structured light generator and the wavelength of light emitted by the LED device. When the power supply of the LED light source is in the ON state When , there is a one-to-one correspondence between the color components of the pixels on the imaging plane and the refraction angle α _p , and use this relationship to obtain the refraction angle α _p ;

The incident angle α _o calculation module is used to utilize the functional relationship shown in the formula (9) between the incident angle α _o and the refraction angle γ _o of the omnidirectional visual sensor,

α _o =tan ⁻¹ [(b ² +c ² )sinγ _o −2bc]/(b ² +c ² )cosγ _o (9)

There is a functional relationship between the refraction angle γ _o and a point (x, y) on the imaging plane as shown in formula (10),

$\mathrm{<span\; class="notranslate">\; \&gamma;</span>}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; the\; tan</span>}}^{<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; [</span>\mathrm{<span\; class="notranslate">\; f</span>}<span\; class="notranslate">\; /</span>\sqrt{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>}<span\; class="notranslate">\; ]</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 10</span>}<span\; class="notranslate">\; )</span>$

The functional relationship between a point (x, y) on the imaging plane and the angle of incidence α _o can be obtained by formulas (9) and (10);

The distance calculation unit is used to calculate the distance R1 between the space object point and the real focus O _m of the omnidirectional visual sensor, and the distance R1 between the space object point and the real focus O _p of the panoramic color structured light sending unit by using formulas (11) to (14). The distance R2, the distance R between the space object point and the central eye, and the incident angle φ of the space object point,

$\mathrm{<span\; class="notranslate">\; <figure-callout\; id="1"\; label="R"\; filenames="HYZ000005978562400071.png"\; state="\{\{state\}\}">R</figure-callout></span>}\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; =</span>\stackrel{<span\; class="notranslate">\; \&OverBar;</span>}{{\mathrm{<span\; class="notranslate">\; o</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}\mathrm{<span\; class="notranslate">\; A</span>}}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}<span\; class="notranslate">\; )</span>}{\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; )</span>}\mathrm{<span\; class="notranslate">\; B</span>}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 11</span>}<span\; class="notranslate">\; )</span>$

$\mathrm{<span\; class="notranslate">\; R</span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; =</span>\stackrel{<span\; class="notranslate">\; \&OverBar;</span>}{{\mathrm{<span\; class="notranslate">\; o</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}\mathrm{<span\; class="notranslate">\; A</span>}}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; )</span>}{\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; )</span>}\mathrm{<span\; class="notranslate">\; B</span>}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 12</span>}<span\; class="notranslate">\; )</span>$

$\mathrm{<span\; class="notranslate">\; R</span>}<span\; class="notranslate">\; =</span>\stackrel{<span\; class="notranslate">\; \&OverBar;</span>}{\mathrm{<span\; class="notranslate">\; OA</span>}}<span\; class="notranslate">\; =</span>\sqrt{{\mathrm{<span\; class="notranslate">\; R</span>}\mathrm{<span\; class="notranslate">\; 2</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; B</span>}<span\; class="notranslate">\; /</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; R</span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; B</span>}<span\; class="notranslate">\; /</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 90</span>}<span\; class="notranslate">\; )</span>}$

$<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; B</span>}\sqrt{{<span\; class="notranslate">\; [</span>\frac{\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; )</span>}{\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; )</span>}<span\; class="notranslate">\; ]</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 0.25</span>}<span\; class="notranslate">\; +</span>\frac{\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; )</span>}{\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; )</span>}\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; )</span>}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 13</span>}<span\; class="notranslate">\; )</span>$

$\mathrm{<span\; class="notranslate">\; \&phi;</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; arcsin</span>}<span\; class="notranslate">\; [</span>\frac{\mathrm{<span\; class="notranslate">\; B</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; R</span>}}\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; ]</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 14</span>}<span\; class="notranslate">\; )</span>$

In the formula: B is the baseline distance, α _o is the angle of incidence, α _p is the refraction angle, R1 is the distance between the object point A and the real focus O _m of the omnidirectional vision sensor, R2 is the distance between the object point A and the panoramic color structured light generator The distance of the real focal point _Op of , R is the distance between the object point A and the central eye, and φ is the incident angle of the spatial object point relative to the central eye.

Further, in the spatial information calculation module, an optical encoding table is set to realize the mapping relationship between a certain light wavelength λ and a certain refraction angle α _p , and an incident angle calculation table is used to realize a certain The mapping relationship between the coordinate data of a point and the incident angle α _o corresponding to the point, the calculation of the refraction angle α _p and the incident angle α _o is realized by looking up the table; first, according to the order of the point coordinates of the imaging plane of the omnidirectional vision sensor Read the wavelength λ value of a certain point, use the point coordinate value to retrieve the incident angle calculation table to obtain the incident angle α _o corresponding to the point, and then use the light wavelength λ value of the point to search the optical code table to obtain the corresponding light wavelength λ The refraction angle α _p of ; finally, the distance information of a certain point in space is calculated by formula (11) or formula (12) or formula (13).

The technical idea of the present invention is: to realize the content of the above invention, two core problems must be solved: (1) realize a panoramic color light encoder, which can provide an active panoramic structured light source for the active three-dimensional panoramic vision sensor; (2) Realize a panoramic vision sensor capable of obtaining a scene depth and color map corresponding to an actual object one by one.

The realization of a panoramic color light encoder is mainly achieved through a color light encoding technology that can generate a panoramic view, so that each pixel in a two-dimensional panoramic video image itself has the depth information of the scene, This technology can improve the quality of the signal source in the image space to solve the problem of fast matching in stereo vision measurement; to realize active three-dimensional stereo panoramic vision sensing, it is necessary to develop a method that can obtain the depth and color of the scene corresponding to the actual object one-to-one. Corresponding to the panoramic vision sensor of the figure, an active stereoscopic panoramic vision sensor is constructed by integrating a panoramic color structured light generator and an omnidirectional vision sensor, so that any pixel unit on the imaging plane of the panoramic vision sensor has the depth, orientation and Color information, and ultimately achieve a panoramic image to directly perceive, express and reconstruct a 3D panoramic scene.

The working principle of the omnidirectional vision sensor is: the light entering the center of the hyperboloid mirror is refracted toward its virtual focus according to the specular characteristics of the hyperboloid. The image of the real object is reflected by the hyperboloid mirror into the condenser lens for imaging, and a point P (x, y) on the imaging plane corresponds to the coordinate A (X, Y, Z) of a point of the real object in space;

2-1-hyperbolic mirror in Fig. 7, 12-incident light, the real focal point Om(0,0,c) of 13-hyperbolic mirror, the imaginary focal point of 14-hyperbolic mirror, i.e. the center of camera unit 6 Oc(0,0,-c), 15-reflected light, 16-imaging plane, 17-space coordinates A(X, Y, Z) of the real object image, 18-space coordinates of the image incident on the hyperboloid mirror surface, 19 - Point P(x,y) reflected on the imaging plane.

The optical system that the hyperboloid mirror shown in Fig. 7 constitutes can be expressed by following 5 equations;

((X ² +Y ² )/a ² )-((Zc) ² /b ² )=-1 When Z>0 (1)

$\mathrm{<span\; class="notranslate">\; c</span>}<span\; class="notranslate">\; =</span>\sqrt{{\mathrm{<span\; class="notranslate">\; a</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; b</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; )</span>$

β=tan ^-1 (Y/X) (3)

α=tan ^-1 [(b ² +c ² )sinγ-2bc]/(b ² +c ² )cosγ (4)

$\mathrm{<span\; class="notranslate">\; \&gamma;</span>}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; the\; tan</span>}}^{<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; [</span>\mathrm{<span\; class="notranslate">\; f</span>}<span\; class="notranslate">\; /</span>\sqrt{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>}<span\; class="notranslate">\; ]</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 5</span>}<span\; class="notranslate">\; )</span>$

In the formula, X, Y, and Z represent the space coordinates, c represents the focal point of the hyperbolic mirror, 2c represents the distance between the two focal points, a, b are the lengths of the real axis and imaginary axis of the hyperbolic mirror, respectively, and β represents the incident light The angle between the X-axis and the X-axis on the XY projection plane is the azimuth angle. α represents the angle between the incident light and the X-axis on the XZ projection plane. Here, α is called the incident angle, and when α is greater than or equal to 0, it is called the depression angle. When α is less than 0, it is called the elevation angle, f represents the distance from the imaging plane to the virtual focus of the hyperbolic mirror, and γ represents the angle between the refraction light and the Z axis; x, y represent a point on the imaging plane;

In order to obtain a relatively large stereoscopic vision range, it is necessary to increase the elevation angle of the hyperboloid mirror as much as possible during the design of the hyperboloid mirror 2, and to increase the ratio of the real axis a and the imaginary axis b of the hyperboloid mirror to increase the hyperboloid For the elevation angle of the curved mirror surface, an appropriate ratio between the real axis a and the imaginary axis b should be selected according to the range of stereoscopic vision and the diameter of the hyperboloid mirror. The maximum elevation angle limit is the angle between the asymptotic line of the hyperbola and the X axis ;

The working principle of the panoramic color structured light generator is: the substrate of the LED light source 9 is a circular plate, and each LED is fixed on the circular plate, as shown in Figure 5; LEDs with different central wavelengths are based on the central wavelength Arrange from the inner diameter to the outer diameter of the circular plate from small to large, LEDs with the same central wavelength are arranged on the same diameter of the circular plate, the divergence angle of each LED is selected at about 10°, each The LEDs are all facing the second hyperboloid mirror 2-2; when the power supply of the LED light source is in the ON state, each LED emits the light of its own center wavelength, and the light of these specific wavelengths passes through the second hyperboloid mirror 2-2 catadioptric reflection, because the hyperboloid mirror surface has the function of a single viewpoint, all the rays of refracted light are refracted and reflected outwards through the real focus O _m of the hyperboloid mirror surface, thus producing circles of circles on the entire hemispherical surface Color structured light, and each wavelength of light corresponds to a certain refraction angle α _p on the second hyperbolic mirror surface 2-2;

The operating principle of the active three-dimensional panoramic vision sensor based on the full-color panoramic LED light source is: from the LED light source 9 directly opposite to the second hyperboloid mirror 2-2 of the panoramic color structured light generator, the power supply of the LED light source When in the ON state, the LED light source 9 emits circles of colored light with successively increasing peak wavelengths from the center of the garden to the outer diameter of the circle, and these circles of colored light are projected onto the second hyperbolic mirror surface of the panoramic color structured light generator After 2-2 is on, the real focal point of the second hyperboloid mirror surface 2-2 is refracted around the center, and 360° in the horizontal direction forms a circle of refracted light with a peak wavelength that changes in a hyperbolic function relationship. A point A (X, Y, Z) in space receives light of a certain wavelength, the light point continues to reflect to the hyperbolic mirror 2-1 of the omnidirectional vision sensor, and the light is directed towards the hyperboloid mirror 2-1 of the omnidirectional vision sensor The real focal point of 1, according to the specular characteristic of hyperboloid toward the virtual focal point 14 refractions of omnidirectional vision sensor, as shown in Figure 7; Each light spot with certain wavelength that reflects physical image passes through the hyperboloid mirror 2 of omnidirectional visual sensor 1 is reflected into the condenser lens for imaging, and a point P (x, y) on the imaging plane corresponds to the coordinates A (X, Y, Z) of a point in space of the real object. The light path diagram is shown in Figure 6 As shown in the thick solid line; in fact, the feature selection and image matching steps in the original stereo camera measurement are simplified through the joint action of two identical hyperboloid mirror surfaces and the LED light source 9, through two hyperboloid mirror surfaces with the same parameters and The joint effect of LED light sources 9 determines the incidence angle and azimuth angle of a point A (X, Y, Z) on the imaging plane point P (x, y) on the space, which is called the point A (X) on the determined space. , Y, Z) constraints; this is because the panoramic color structured light generator and the omnidirectional vision sensor have two hyperboloid mirrors with the same parameters, and the two hyperboloid mirrors with the same parameters are on the same axis , so it is very easy to determine the azimuth angle of point A (X, Y, Z). Regarding the emission angle, it can be determined by the light wavelength determined by the LED light source 9. Regarding the incident angle, it can be determined by the point P(x, y) on the imaging plane. ) to determine, so that the spatial position relationship between the point A (X, Y, Z) and the observation point is determined;

In the present invention, the "central eye" visual mode is used to describe the information (R, φ, β, r, g, b, t) of a certain object point A in space. The so-called central eye is the midpoint of the stereoscopic vision baseline distance, It is calculated by the center point of the line between the omnidirectional vision sensor and the viewpoint of the panoramic color structured light transmitter. Here, the coordinates of the central eye are taken as the origin O of the Gaussian spherical coordinates, as shown in Figure 8; In the information (R, φ, β, r, g, b, t) of object point A, R is set by the calculation result of formula (13), φ is set by the calculation result of formula (14), and β is set by formula (3) The calculation result setting of r, g, b are respectively set with the actual color component value of the pixel on the imaging plane of the omnidirectional vision sensor when the power supply of the LED light source is in OFF state, and t is set with the clock of the microprocessor; In this way, the information of any point in space can be expressed by (R, φ, β, r, g, b, t) 7 component values, as shown in Fig. 9 .

The beneficial effects of the present invention are mainly manifested in:

1) Obtain real-time panoramic stereoscopic video images, and the tracked monitoring objects will not be lost. The panoramic stereoscopic video design of the hyperboloid mirror with a large elevation angle solves the real-time tracking of fast-moving target objects in a large space and provides a complete solution Theoretical systems and models;

2) Provide a brand-new stereo vision acquisition method, through active panoramic color structured light generation, color light emission technology based on hyperboloid mirror and omni-directional imaging technology based on hyperboloid mirror catadioptric reflection, to achieve fast Panoramic stereo camera measurement;

3) No need for cumbersome camera calibration work, feature extraction, stereo image matching and other steps, providing a new method for fast panoramic stereo camera measurement;

4) The panoramic stereo image generated by the panoramic color structured light generator itself has a sense of three-dimensionality and distance;

5) Making full use of the advantages of pure light color and concentrated beam of LED light, each LED that constitutes the panoramic color structured light generator has a separate spectrum with narrow spectral lines, rich and bright colors, and most of the LED light is concentrated in the center , the divergence angle is small, and it provides a high-resolution, high-definition color projection device for accurate stereoscopic camera measurement;

6), making full use of the characteristics of fast response and high efficiency of the LED, through the control of the LED power supply, not only the depth and distance information of the spatial object point within the panoramic range can be obtained in one imaging chip, but also the spatial object point can be obtained Color information, while high luminous efficiency does not require any cooling device;

7) As an active light source, LED has the advantages of miniaturization, light weight, super long life and low brightness attenuation, and has obvious advantages in performance indicators such as portability, reliability, service life, and maintenance cost;

8) Using the same polar spherical coordinate processing method, the calculation method of digital geometry can be used to easily realize three-dimensional image reconstruction and three-dimensional object measurement. It can be widely used in various industrial inspections, geographic surveys, medical cosmetic surgery, orthopedic orthopedics, cultural relics reproduction, criminal investigation and evidence collection, security identification, robot vision, mold rapid prototyping, gifts, virtual reality, anthropometry, animation films, games and many other applications field.

Description of drawings

Fig. 1 is a structural diagram of an omnidirectional vision sensor;

Fig. 2 is a structural diagram of a panoramic color structured light generator;

Fig. 3 is a schematic diagram of a face-to-face active three-dimensional panoramic vision sensor based on a full-color panoramic LED light source;

Fig. 4 is a schematic diagram of the stereo measurement range of a face-to-face active three-dimensional stereo panoramic vision sensor based on a full-color panoramic LED light source;

Fig. 5 is a schematic diagram of the light emitting principle of the panoramic color structured light generator;

Fig. 6 is the block diagram of the processing structure of the active three-dimensional panoramic vision sensor based on the full-color panoramic LED light source of the back-to-back type;

Fig. 7 is the imaging principle diagram of omnidirectional vision sensor;

Fig. 8 is a schematic diagram of the relationship between Gaussian spherical coordinates and three-dimensional Cartesian coordinates;

Fig. 9 is a conceptual diagram of the central eye in binocular vision;

Fig. 10 is the configuration diagram of the hyperboloid mirror facing the back-type active three-dimensional panoramic vision sensor;

Fig. 11 is the configuration diagram of the hyperbolic mirror of the face-to-face active three-dimensional panoramic vision sensor;

Fig. 12 is the configuration diagram of the hyperbolic mirror of the back-to-back active three-dimensional panoramic vision sensor;

Fig. 13 is the configuration diagram of the hyperbolic mirror of the back-to-face active three-dimensional panoramic vision sensor;

Fig. 14 is a schematic diagram of a face-to-face stereo camera measurement of an active three-dimensional stereo panoramic vision sensor based on a full-color panoramic LED light source;

Fig. 15 is a schematic diagram of the omnidirectional vision sensor and the panoramic color structured light generator having the same polar plane.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings.

Example 1

Referring to Figures 1 to 5, Figures 7 to 9, Figures 11, and Figures 14 to 15, an active three-dimensional panoramic vision sensor based on a full-color panoramic LED light source includes an omnidirectional vision sensor, a panoramic color structured light generator, and a A microprocessor for three-dimensional camera measurement of omnidirectional images, the omnidirectional visual sensor and the panoramic color structured light generator are arranged on the same axis; the omnidirectional visual sensor includes a first hyperbolic mirror surface 2-1, the first upper cover 1-1, the first transparent semicircular cover 3-1, the first lower fixing seat 4-1, the camera unit fixing seat 5-1, the camera unit 6, the first connection unit 7- 1. Upper cover 8, as shown in Figure 1; the first hyperboloid mirror 2-1 is fixed on the first upper cover 1-1, and the first connection unit 7-1 connects the first The first lower fixing seat 4-1 and the first transparent semicircular cover 3-1 are connected into one body, and the first transparent semicircular cover 3-1 is connected with the first upper cover 1-1 and The upper cover 8 is fixed together by screws, the camera unit 6 is fixed on the camera unit fixing seat 5-1 with screws, and the camera unit fixing seat 5-1 is fixed on the camera unit fixing seat 5-1 with screws. On the first lower fixing seat 4-1, the output of the camera unit 6 in the omnidirectional vision sensor is connected to the microprocessor; the panoramic color structured light generator includes a second hyperboloid mirror surface 2 -2. The second upper cover 1-2, the second transparent semicircular cover 3-2, the second lower fixing seat 4-2, the second connecting unit 7-2, and the LED light source 9, as shown in Figure 2; The second hyperboloid mirror surface 2-2 is fixed on the second upper cover 1-2, and the second connecting unit 7-2 connects the second lower fixing base 4-2 and the second The transparent semicircular cover 3-2 is connected as a whole, the second transparent semicircular cover 3-2 and the second upper cover 1-2 are fixed together by screws, and the LED light source 9 is fixed on On the second connecting unit 7-2; the second hyperboloid mirror 2-2 and the first hyperboloid mirror 2-1 have the same imaging parameters; the panoramic color structured light generator and the omnidirectional The vision sensor is connected by screws, as shown in Figure 3;

The LED light source 9 is composed of several groups of LEDs with different central wavelengths, the divergence angle of each LED is selected at about 10°, the substrate of the LED light source 9 is a circular flat plate, and each LED is fixed on the circular plate. On the flat plate, as shown in Figure 5; LEDs with different central wavelengths are arranged from the inner diameter to the outer diameter of the circular flat plate from small to large central wavelengths, and LEDs with the same central wavelength are arranged on the circular flat plate on the same diameter; each LED is facing the second hyperboloid mirror 2-2, so that the light of a specific wavelength emitted by each LED is refracted and reflected by the second hyperboloid mirror 2-2, due to the hyperboloid mirror With the function of a single viewpoint, all light rays of refraction and reflection are refracted and reflected outward by the real focus O _m of the hyperboloid mirror surface, so that circles of colored structured light are produced on the entire hemispherical surface, which is panoramic colored structured light The light emitting principle of the generator; there is a certain functional relationship between the formed colored structured light and the refraction angle αp of the panoramic colored structured light generator, so as long as the wavelength of a certain light is obtained, the occurrence of panoramic colored structured light can be estimated. The refraction angle αp of device; Accompanying drawing 5 is the schematic diagram of the colored structured light that produces circles on the whole hemispherical surface after the refraction and reflection of the second hyperboloid mirror surface 2-2, from the second hyperboloid mirror surface 2-2 For the focal point O _m , the circles of colored structured light produced continuously change from the depression angle of the refraction angle αp to the elevation angle of the refraction angle αp from the shorter wavelength to the longer wavelength;

Described hyperboloid mirror surface, the optical system that hyperboloid mirror forms is represented by following 5 equations;

((X ² +Y ² )/a ² )-((Zc) ² /b ² )=-1 When Z>0 (1)

$\mathrm{<span\; class="notranslate">\; c</span>}<span\; class="notranslate">\; =</span>\sqrt{{\mathrm{<span\; class="notranslate">\; a</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; b</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; )</span>$

β=tan ^-1 (Y/X) (3)

α=tan ^-1 [(b ² +c ² )sinγ-2bc]/(b ² +c ² )cosγ (4)

$\mathrm{<span\; class="notranslate">\; \&gamma;</span>}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; the\; tan</span>}}^{<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; [</span>\mathrm{<span\; class="notranslate">\; f</span>}<span\; class="notranslate">\; /</span>\sqrt{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>}<span\; class="notranslate">\; ]</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 5</span>}<span\; class="notranslate">\; )</span>$

In the formula, X, Y, and Z represent the space coordinates, c represents the focal point of the hyperbolic mirror, 2c represents the distance between the two focal points, a, b are the lengths of the real axis and imaginary axis of the hyperbolic mirror, respectively, and β represents the incident light The angle between the X-axis and the X-axis on the XY projection plane is the azimuth angle. α represents the angle between the incident light and the X-axis on the XZ projection plane. Here, α is called the incident angle, and when α is greater than or equal to 0, it is called the depression angle. When α is less than 0, it is called the elevation angle, f represents the distance from the imaging plane to the virtual focus of the hyperbolic mirror, γ represents the angle between the refraction light and the Z axis; x, y represent a point on the imaging plane.

Further, a face-to-face connection is adopted between the omnidirectional vision sensor and the panoramic color structured light generator, as shown in accompanying drawings 3, 4 and 11, the second of the panoramic color structured light generator The connection unit 7-2 is connected with the first connection unit 7-1 of the omnidirectional vision sensor by screws;

According to the luminescence principle of the panoramic color structured light generator, the wavelength of a certain wavelength of light has a one-to-one correspondence with the refraction angle αp. In other words, the wavelength of this wavelength of light determines the viewpoint Op of the panoramic color structured light generator. The polar direction of the polar line, because the mirror surface of the omnidirectional visual sensor and the mirror surface of the panoramic color structured light generator adopt the same parameters in the present invention, and the axes of the two mirror surfaces are arranged on the same axis line, as shown in Figure 15 , this structure can ensure that the refraction of a certain wavelength of light on the mirror surface of the panoramic color structured light generator and the refraction and reflection on the mirror surface of the omnidirectional vision sensor must be on the same polar plane, that is, have the same azimuth angle, so This structure simplifies the epipolar line matching problem in binocular stereo vision.

A point with a specific wavelength will have a corresponding point on the imaging plane of the omnidirectional vision sensor, that is, P(x, y). According to the catadioptric imaging principle of the hyperbolic mirror, the The angle γo between the refraction light and the Z axis; with the refraction angle γo, the incident angle αo of a point with a certain wavelength can be calculated by formula (7),

${\mathrm{<span\; class="notranslate">\; \&gamma;</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; the\; tan</span>}}^{<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; [</span>\mathrm{<span\; class="notranslate">\; f</span>}<span\; class="notranslate">\; /</span>\sqrt{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>}<span\; class="notranslate">\; ]</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 6</span>}<span\; class="notranslate">\; )</span>$

α _o =tan ^-1 [(b ² +c ² )sinγ _o -2bc]/(b ² +c ² )cosγ _o (7)

The refraction angle αp and the incident angle αo of the wavelength of a certain wavelength of light are on the same polar plane. With these two data, the position, depth and angle information of the space point and the observation point can be easily obtained, that is, in the omnidirectional visual sensor The position of a certain pixel on the imaging plane represents the information of the incident angle αo, and the color of the pixel represents the information of the refraction angle αp.

In order to obtain the actual color information of the imaging point, the active three-dimensional panoramic vision sensor based on the full-color panoramic LED light source is designed using time-sharing control technology, that is, by controlling the light emission of the panoramic color structured light generator, that is, controlling the power supply of the LED light source , when the LED light source is powered, the depth and azimuth angle information of a certain point in space is obtained; when the power supply of the LED light source is cut off, due to the fast response speed of the LED light source, the color information of the object point is obtained through natural light; time The information is determined by the clock time of the microprocessor; therefore, the depth, angle, color and time information of any spatial object point A (R, φ, β, r, g, b, t) as shown in Fig. Can be expressed in a Gaussian spherical coordinate system. It is realized that the stereoscopic video information obtained in the active stereoscopic panoramic vision sensor has a one-to-one corresponding map of scene depth and color with the actual object.

The microprocessor includes: LED light source control unit, video image reading module, spatial information calculation module, three-dimensional image reconstruction module and storage device;

The LED light source control unit is used to control the panoramic color structured light generator to emit full-color panoramic structured light. When the LED light source control unit makes the power supply of the LED light source in the ON state, the imaging unit of the omnidirectional visual sensor directly Obtain the depth and azimuth angle information of a certain point in space; when the LED light source control unit makes the power supply of the LED light source in the OFF state, directly obtain the actual color information of a certain point in space in the imaging unit of the omnidirectional vision sensor; the actual LED The power supply switch control of the light source is realized by electronic switch;

The video image reading module is used to read the video image of the omnidirectional visual sensor and store it in the storage device, and its output is connected to the spatial information calculation module; when the power supply of the LED light source is in The color of each pixel in the panoramic video image read in the ON state has the depth and azimuth angle information of a certain point; the color band of each pixel in the panoramic video image read when the power supply of the LED light source is in the OFF state There is actual color information of a certain point; as shown in Figure 13;

The space information calculation module is used to calculate the distance and the incident angle from the object point on the space to the central point of the stereo vision measuring device, and calculate the distance R1, the space object point and the real focal point _Om of the omnidirectional visual sensor respectively. The distance R2 between the point and the real focal point _O of the panoramic color structured light generator, the distance R between the space object point and the central eye, and the incident angle φ of the space object point; its output is connected with the three-dimensional image reconstruction module;

The three-dimensional image reconstruction module is used to carry out columnar expansion operation on the panoramic image acquired in the omnidirectional visual sensor, the abscissa in the expanded figure represents the azimuth, and the ordinate represents the angle of incidence; when unfolding the omnidirectional image, it needs Separate the image of the central part separately, and then expand the omni-directional image. The calculation step size in the horizontal direction in the expansion algorithm is, Δβ=2π/l, where l is the horizontal expansion range; the calculation step size in the vertical direction is Δm=(α _o-max -α _o-min )/m; where, α _o-max is the scene light incident angle corresponding to the maximum effective radius Rmax of the original panoramic image, and α _o-min is the minimum effective radius Rmin of the original panoramic image Corresponding scene light incident angle;

The coordinates of point A in the spherical expansion mode corresponding to the original image point A (Φ, β) in the original panorama image represented by polar coordinates are:

x=β/Δβ, y=(α _o -α _o-min )/Δm (8)

In the formula: Δβ is the calculation step in the horizontal direction, β is the azimuth angle, Δm is the calculation step in the vertical direction, α _{o is} the scene light incident angle corresponding to the effective radius R of the original panorama image, and α _o-min is the minimum of the original panorama image The scene light incident angle corresponding to the effective radius Rmin;

When performing columnar expansion on a panoramic image, two different columnar expansion diagrams will be generated for the power supply of the LED light source in the ON/OFF state; when the power supply of the LED light source is in the ON state, the columnar expansion diagram with Panoramic video images illuminated by panoramic color structured light; when the power supply of the LED light source is OFF, the panoramic video images projected by natural light on the columnar expansion diagram;

As another preferred solution: the spatial information calculation unit includes a refraction angle αp calculation unit, an incident angle αo calculation unit and a distance calculation unit;

The refraction angle α _p calculation unit is used to calculate the refraction angle α _p of the panoramic color structured light generator and the wavelength of light emitted by the LED device. When the power supply of the LED light source is in the ON state When , there is a one-to-one correspondence between the color components of the pixels on the imaging plane and the refraction angle α _p , and use this relationship to obtain the refraction angle α _p ;

The incident angle α _o calculation unit is used to utilize the functional relationship shown in the formula (9) between the incident angle α _o and the refraction angle γ _o of the omnidirectional visual sensor,

α _o =tan ⁻¹ [(b ² +c ² )sinγ _o −2bc]/(b ² +c ² )cosγ _o (9)

There is a functional relationship between the refraction angle γ _o and a point (x, y) on the imaging plane as shown in formula (10),

$\mathrm{<span\; class="notranslate">\; \&gamma;</span>}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; the\; tan</span>}}^{<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; [</span>\mathrm{<span\; class="notranslate">\; f</span>}<span\; class="notranslate">\; /</span>\sqrt{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>}<span\; class="notranslate">\; ]</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 10</span>}<span\; class="notranslate">\; )</span>$

The functional relationship between a point (x, y) on the imaging plane and the angle of incidence α _o can be obtained by formulas (9) and (10);

The distance calculation unit is used to calculate the distance R1 between the space object point and the real focus O _m of the omnidirectional visual sensor, and the distance R1 between the space object point and the real focus O _p of the panoramic color structured light sending unit by using formulas (11) to (14). The distance R2, the distance R between the space object point and the central eye, and the incident angle φ of the space object point,

$\mathrm{<span\; class="notranslate">\; <figure-callout\; id="1"\; label="R"\; filenames="HYZ000005978562400071.png"\; state="\{\{state\}\}">R</figure-callout></span>}\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; =</span>\stackrel{<span\; class="notranslate">\; \&OverBar;</span>}{{\mathrm{<span\; class="notranslate">\; o</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}\mathrm{<span\; class="notranslate">\; A</span>}}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}<span\; class="notranslate">\; )</span>}{\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; )</span>}\mathrm{<span\; class="notranslate">\; B</span>}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 11</span>}<span\; class="notranslate">\; )</span>$

$\mathrm{<span\; class="notranslate">\; R</span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; =</span>\stackrel{<span\; class="notranslate">\; \&OverBar;</span>}{{\mathrm{<span\; class="notranslate">\; o</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}\mathrm{<span\; class="notranslate">\; A</span>}}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; )</span>}{\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; )</span>}\mathrm{<span\; class="notranslate">\; B</span>}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 12</span>}<span\; class="notranslate">\; )</span>$

$\mathrm{<span\; class="notranslate">\; R</span>}<span\; class="notranslate">\; =</span>\stackrel{<span\; class="notranslate">\; \&OverBar;</span>}{\mathrm{<span\; class="notranslate">\; OA</span>}}<span\; class="notranslate">\; =</span>\sqrt{{\mathrm{<span\; class="notranslate">\; R</span>}\mathrm{<span\; class="notranslate">\; 2</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; B</span>}<span\; class="notranslate">\; /</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; R</span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; B</span>}<span\; class="notranslate">\; /</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 90</span>}<span\; class="notranslate">\; )</span>}$

$<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; B</span>}\sqrt{{<span\; class="notranslate">\; [</span>\frac{\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; )</span>}{\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; )</span>}<span\; class="notranslate">\; ]</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 0.25</span>}<span\; class="notranslate">\; +</span>\frac{\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; )</span>}{\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; )</span>}\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; )</span>}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 13</span>}<span\; class="notranslate">\; )</span>$

$\mathrm{<span\; class="notranslate">\; \&phi;</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; arcsin</span>}<span\; class="notranslate">\; [</span>\frac{\mathrm{<span\; class="notranslate">\; B</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; R</span>}}\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; ]</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 14</span>}<span\; class="notranslate">\; )</span>$

In the formula: B is the baseline distance, α _o is the angle of incidence, α _p is the refraction angle, R1 is the distance between the object point A and the real focus O _m of the omnidirectional vision sensor, R2 is the distance between the object point A and the panoramic color structured light generator The distance of the real focal point _Op of , R is the distance between the object point A and the central eye, and φ is the incident angle of the spatial object point relative to the central eye.

Further, in the spatial information calculation module, an optical encoding table is set to realize the mapping relationship between a certain light wavelength λ and a certain refraction angle α _p , and an incident angle calculation table is used to realize a certain The mapping relationship between the coordinate data of a point and the incident angle α _o corresponding to the point, the calculation of the refraction angle α _p and the incident angle α _o is realized by looking up the table; firstly, when the power supply of the LED light source is in the ON state, press the full The point coordinates of the imaging plane of the azimuth vision sensor read the wavelength λ value of a certain pixel point sequentially, use the point coordinate value to retrieve the incident angle calculation table to obtain the incident angle α _o corresponding to the point, and then use the light wavelength λ value of the point Retrieve the optical code table to obtain the refraction angle α _p corresponding to the light wavelength λ; finally use formula (11) or formula (12) or formula (13) to calculate the distance information of a certain point in space; Figure 14 (a) is When the power supply of the LED light source is in the ON state, a schematic diagram of the information of a certain pixel point P(i, j) on the imaging plane of the omnidirectional vision sensor, where the position of i, j can be used to determine the incident angle α _o ,, The color of P(i, j) can be used to determine the refraction angle α _p ; Figure 14(b) is a pixel point P(i, j) Schematic diagram of the information possessed, where the position of i, j can be used to determine the color of the incident angle α _o ,, P(i, j) to determine the actual color of the spatial object point;

The working principle of the omnidirectional vision sensor is: the light entering the center of the hyperboloid mirror is refracted toward its virtual focus according to the specular characteristics of the hyperboloid. The image of the real object is reflected by the hyperboloid mirror into the condenser lens for imaging, and a point P (x, y) on the imaging plane corresponds to the coordinate A (X, Y, Z) of a point of the real object in space;

2-1-hyperbolic mirror in Fig. 7, 12-incident light, the real focal point Om(0,0,c) of 13-hyperbolic mirror, the imaginary focal point of 14-hyperbolic mirror, i.e. the center of camera unit 6 Oc(0,0,-c), 15-reflected light, 16-imaging plane, 17-space coordinates A(X, Y, Z) of the real object image, 18-space coordinates of the image incident on the hyperboloid mirror surface, 19 - Point P(x,y) reflected on the imaging plane.

The optical system that the hyperboloid mirror shown in Fig. 7 constitutes can be expressed by following 5 equations;

((X ² +Y ² )/a ² )-((Zc) ² /b ² )=-1 When Z>0 (1)

$\mathrm{<span\; class="notranslate">\; c</span>}<span\; class="notranslate">\; =</span>\sqrt{{\mathrm{<span\; class="notranslate">\; a</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; b</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; )</span>$

β=tan ^-1 (Y/X) (3)

α=tan ^-1 [(b ² +c ² )sinγ-2bc]/(b ² +c ² )cosγ (4)

$\mathrm{<span\; class="notranslate">\; \&gamma;</span>}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; the\; tan</span>}}^{<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; [</span>\mathrm{<span\; class="notranslate">\; f</span>}<span\; class="notranslate">\; /</span>\sqrt{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>}<span\; class="notranslate">\; ]</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 5</span>}<span\; class="notranslate">\; )</span>$

In the formula, X, Y, and Z represent the space coordinates, c represents the focal point of the hyperbolic mirror, 2c represents the distance between the two focal points, a, b are the lengths of the real axis and imaginary axis of the hyperbolic mirror, respectively, and β represents the incident light The angle between the X-axis and the X-axis on the XY projection plane is the azimuth angle. α represents the angle between the incident light and the X-axis on the XZ projection plane. Here, α is called the incident angle, and when α is greater than or equal to 0, it is called the depression angle. When α is less than 0, it is called the elevation angle, f represents the distance from the imaging plane to the virtual focus of the hyperbolic mirror, and γ represents the angle between the refraction light and the Z axis; x, y represent a point on the imaging plane;

In order to obtain a relatively large stereoscopic vision range, it is necessary to increase the elevation angle of the hyperboloid mirror as much as possible during the design of the hyperboloid mirror 2, and to increase the ratio of the real axis a and the imaginary axis b of the hyperboloid mirror to increase the hyperboloid For the elevation angle of the curved mirror surface, an appropriate ratio between the real axis a and the imaginary axis b should be selected according to the range of stereoscopic vision and the diameter of the hyperboloid mirror. The maximum elevation angle limit is the angle between the asymptotic line of the hyperbola and the X axis ;

The working principle of the panoramic color structured light generator is: the substrate of the LED light source 9 is a circular plate, and each LED is fixed on the circular plate, as shown in Figure 5; LEDs with different central wavelengths are based on the central wavelength From small to large, they are arranged from the inner diameter to the outer diameter of the circular flat plate, LEDs with the same central wavelength are arranged on the same diameter of the circular flat plate, and a total of 12 LEDs are arranged on different diameters in Figure 5 For LEDs with different central wavelengths, the central wavelengths are evenly distributed on different diameters from 425nm to 623nm, the divergence angle of each LED is selected at about 10°, and each LED is facing the second hyperbolic mirror 2 -2; When the power supply of the LED light source is in the ON state, each LED emits light of its own center wavelength, and the light of these specific wavelengths is reflected by the second hyperboloid mirror 2-2, because the hyperboloid mirror has a single viewpoint The function of all refracted and reflected light is refracted outward through the real focus O _m of the hyperboloid mirror, so that a circle of colored structured light is produced on the entire hemispherical surface. According to the characteristics of the hyperboloid mirror, the color structure The light forms an arrangement within the hemisphere with the center wavelength being 425nm to 623nm from the minimum depression angle to the maximum elevation angle, as shown in Figure 5, so that the light of each wavelength corresponds to the light on the second hyperbolic mirror surface 2-2. a certain angle of refraction α _p ;

The operating principle of the active three-dimensional panoramic vision sensor based on the full-color panoramic LED light source is: from the LED light source 9 directly opposite to the second hyperboloid mirror 2-2 of the panoramic color structured light generator, the power supply of the LED light source When in the ON state, the LED light source 9 emits circles of colored light with successively increasing peak wavelengths from the center of the garden to the outer diameter of the circle, and these circles of colored light are projected onto the second hyperbolic mirror surface of the panoramic color structured light generator After 2-2 is on, the real focal point of the second hyperboloid mirror surface 2-2 is refracted around the center, and 360° in the horizontal direction forms a circle of refracted light with a peak wavelength that changes in a hyperbolic function relationship. A point A (X, Y, Z) in space receives light of a certain wavelength, the light point continues to reflect to the hyperbolic mirror 2-1 of the omnidirectional vision sensor, and the light is directed towards the hyperboloid mirror 2-1 of the omnidirectional vision sensor The real focal point of 1, according to the specular characteristic of hyperboloid toward the virtual focal point 14 refractions of omnidirectional vision sensor, as shown in Figure 7; Each light spot with certain wavelength that reflects physical image passes through the hyperboloid mirror 2 of omnidirectional visual sensor 1 is reflected into the condenser lens for imaging, and a point P (x, y) on the imaging plane corresponds to the coordinates A (X, Y, Z) of a point in space of the real object. The light path diagram is shown in Figure 6 As shown in the thick solid line; in fact, the feature selection and image matching steps in the original stereo camera measurement are simplified through the joint action of two identical hyperboloid mirror surfaces and the LED light source 9, through two hyperboloid mirror surfaces with the same parameters and The joint effect of LED light sources 9 determines the incidence angle and azimuth angle of a point A (X, Y, Z) on the imaging plane point P (x, y) on the space, which is called the point A (X) on the determined space. , Y, Z) constraints; this is because the panoramic color structured light generator and the omnidirectional vision sensor have two hyperboloid mirrors with the same parameters, and the two hyperboloid mirrors with the same parameters are on the same axis , so it is very easy to determine the azimuth angle of point A (X, Y, Z). Regarding the emission angle, it can be determined by the light wavelength determined by the LED light source 9. Regarding the incident angle, it can be determined by the point P(x, y) on the imaging plane. ) to determine, so that the spatial position relationship between the point A (X, Y, Z) and the observation point is determined;

In the present invention, the "central eye" visual mode is used to describe the information (R, φ, β, r, g, b, t) of a certain object point A in space. The so-called central eye is the midpoint of the stereoscopic vision baseline distance, It is calculated by the center point of the line between the omnidirectional vision sensor and the viewpoint of the panoramic color structured light transmitter. Here, the coordinates of the central eye are taken as the origin O of the Gaussian spherical coordinates, as shown in Figure 8; In the information (R, φ, β, r, g, b, t) of object point A, R is set by the calculation result of formula (13), φ is set by the calculation result of formula (14), and β is set by formula (3) The calculation result setting of r, g, b are respectively set with the actual color component value of the pixel on the imaging plane of the omnidirectional vision sensor when the power supply of the LED light source is in OFF state, and t is set with the clock of the microprocessor; In this way, the information of any point in space can be expressed by (R, φ, β, r, g, b, t) 7 component values, as shown in Fig. 9 .

Example 2

Referring to Figure 6, Figure 12, and Figures 13 to 14, this embodiment adopts a back-to-back connection in the connection mode between the panoramic color structured light generator and the omnidirectional visual sensor, as shown in Figure 6 and Figure 12 of the accompanying drawings, so The first upper cover 1-1 of the omni-directional vision sensor is connected with the second upper cover 1-2 of the panoramic color structured light generator; this connection method combines the concave pairs of two hyperboloid mirrors with the same parameter Concave surface, and it is necessary to ensure that the axes of the two first hyperboloid mirror surfaces 2-1, 2-2 coincide, as shown in Figure 6; it can be seen from Figure 6 that the back-to-back active three-dimensional based on full-color panoramic LED light source The baseline distance B of the stereo panoramic vision sensor is the shortest, and the measurement range of the stereo vision is the smallest, but its structure is the most compact.

The other structures and working process of this embodiment are the same as those of Embodiment 1.

Example 3

Referring to Figure 10 and Figures 14 to 15, this embodiment adopts a face-to-back connection mode between the panoramic color structured light generator and the omnidirectional visual sensor, as shown in Figure 10, the panoramic color structured light generator The second upper cover 1-2 is connected with the first connection unit 7-1 of the omnidirectional vision sensor; in this connection mode, the convex surface of two hyperboloid mirrors with the same parameter faces the concave surface, wherein the convex surface is the full The first hyperboloid mirror surface 2-1 of the azimuth vision sensor, the concave surface is the second hyperboloid mirror surface 2-2 of the panoramic color structured light generator, and the axes of the two first hyperboloid mirror surfaces 2-1, 2-2 must be guaranteed at the same time The center line coincides; the baseline distance B and the stereo measurement range of the active three-dimensional panoramic vision sensor based on the full-color panoramic LED light source of this face-to-back type are in the active three-dimensional based on the full-color panoramic LED light source shown in Figure 11 and Figure 12. The intermediate state of the stereo panoramic vision sensor.

The other structures and working process of this embodiment are the same as those of Embodiment 1.

Example 4

Referring to Figures 13-15, this embodiment adopts a back-to-face connection mode between the panoramic color structured light generator and the omnidirectional visual sensor. As shown in Figure 13, the first upper cover of the omnidirectional visual sensor 1- 1 is connected to the second connection unit 7-2 of the panoramic color structured light generator; in this connection mode, the concave surface of two hyperboloid mirrors with the same parameter faces the convex surface, wherein the concave surface is the first omnidirectional visual sensor A hyperboloid mirror surface 2-1, the convex surface is the second hyperboloid mirror surface 2-2 of the panoramic color structured light generator, and it is necessary to ensure that the axis lines of the two first hyperboloid mirror surfaces 2-1, 2-2 coincide; this The baseline distance B and the stereo measurement range of the active three-dimensional panoramic vision sensor based on the full-color panoramic LED light source of a back-to-face type are in the middle of the active three-dimensional panoramic vision sensor based on the full-color panoramic LED light source shown in Figure 11 and Figure 12 state. ,

The other structures and working process of this embodiment are the same as those of Embodiment 1.

Example 5

Referring to Figures 1 to 15, in terms of the selection of the spectral range of the LED light source in this embodiment, in some special occasions, if the panoramic color structured light generator is required to emit the infrared spectrum, the spectral range of the LED device is selected between 700nm and 2000nm.

Other structures and working processes of this embodiment are the same as those of Embodiment 1.

Claims (10)

1. an active three-dimensional stereoscopic panoramic vision sensor based on full-color panoramic LED light source, it is characterized in that: described active three-dimensional stereoscopic panoramic vision sensor comprises omnidirectional vision sensor, panoramic color structured light generator and is used for omnidirectional image A microprocessor for three-dimensional stereo camera measurement, the omnidirectional visual sensor and the panoramic color structured light generator are arranged on the same axis; The omnidirectional visual sensor includes a first hyperboloid mirror, a first upper cover, a first transparent semicircular outer cover, a first lower fixing seat, a first camera unit fixing seat, a camera unit, a first connecting unit and an upper cover; The first hyperboloid mirror is fixed on the first upper cover, the first connection unit connects the first lower fixing seat and the first transparent semicircular outer cover into one body, and the The first transparent semicircular outer cover is fixed together with the first upper cover and the upper cover, the camera unit is fixed on the fixing base of the first camera unit, and the first camera unit The fixing seat is fixed on the first lower fixing seat, and the output of the camera unit in the omnidirectional vision sensor is connected with the microprocessor; The panoramic color structured light generator includes a second hyperboloid mirror, a second upper cover, a second transparent semicircular cover, a second lower fixing seat, a second connection unit and an LED light source; the second hyperboloid mirror fixed on the second upper cover, the second connecting unit connects the second lower fixing seat and the second transparent semicircular cover into one body, and the second transparent semicircular cover is connected with the second transparent semicircular cover The second upper cover is fixed together by screws, and the LED light source is fixed on the second connection unit; The second hyperboloid mirror and the first hyperboloid mirror have the same imaging parameters; The microprocessor includes: LED light source control unit, video image reading unit, spatial information calculation unit, 3D image reconstruction unit and storage device; The LED light source control unit is used to control the panoramic color light coding generator to emit full-color panoramic structured light. When the LED light source control unit makes the power supply of the LED light source in the ON state, the imaging unit of the omnidirectional visual sensor can directly obtain a certain space. The depth and azimuth angle information of the object point; when the LED light source control unit makes the power supply of the LED light source in the OFF state, the actual color information of a certain object point in space is directly obtained in the imaging unit of the omnidirectional visual sensor; the power supply of the actual LED light source The power switch control is realized by electronic switch; The video image reading unit is used to read the video image of the omnidirectional visual sensor and store it in the storage device, and its output is connected to the spatial information calculation unit; when the power supply of the LED light source is in the ON state The color of each pixel in the read panoramic video image has the depth and azimuth angle information of a certain point; when the power supply of the LED light source is in the OFF state, the color of each pixel in the read panoramic video image contains The actual color information of the point; The spatial information calculation unit is used to calculate the distance and incident angle from the object point in space to the center point of the stereo vision measuring device, and calculate the distance R1 between the object point in space and the real focal point _Om of the omnidirectional visual sensor, the object point in space and the panorama The distance R2 of the real focus _Op of the color structured light modulation unit, the distance R between the space object point and the central eye, and the incident angle φ of the space object point; its output is connected to the three-dimensional image reconstruction unit; The three-dimensional image reconstruction unit is used to carry out columnar expansion operation on the panoramic image acquired in the omnidirectional vision sensor. Part of the image is separated separately, and then the omni-directional image is expanded. The calculation step size in the horizontal direction in the expansion algorithm is Δβ=2π/l, where l is the horizontal expansion range; the calculation step size in the vertical direction is Δm=( α _o-max -α _o-min )/m; where α _o-max is the scene light incident angle corresponding to the maximum effective radius Rmax of the original panoramic image, and α _o-min is the scene corresponding to the minimum effective radius Rmin of the original panoramic image angle of incidence of light; The coordinates of point A in the spherical expansion mode corresponding to the original image point A (φ, β) in the original panorama image represented by polar coordinates are: (8) x=β/Δβ, y=(α _o -α _o-min )/Δm In the formula: Δβ is the calculation step in the horizontal direction, β is the azimuth angle, Δm is the calculation step in the vertical direction, α _{o is} the scene light incident angle corresponding to the effective radius R of the original panorama image, and α _o-min is the minimum of the original panorama image The scene light incident angle corresponding to the effective radius Rmin; When performing columnar expansion on a panoramic image, two different columnar expansion diagrams will be generated for the power supply of the LED light source in the ON/OFF state; when the power supply of the LED light source is in the ON state, the columnar expansion diagram with Panoramic video images illuminated by panoramic color structured light; when the power supply of the LED light source is in the OFF state, the panoramic video images projected by natural light are displayed on the columnar expansion diagram. 2. the active three-dimensional stereo panoramic vision sensor based on full-color panoramic LED light source as claimed in claim 1, is characterized in that: described LED light source is made up of the LED of multiple groups of different center wavelengths, and the divergence angle of each LED Selected at 10°, the substrate of the LED light source is a circular plate, and each LED is fixed on the circular plate; LEDs with different central wavelengths are from the small to large central wavelengths of the circular plate. Arranged from the inner diameter to the outer diameter, LEDs with the same central wavelength are arranged on the same diameter of the circular flat plate; each LED faces the second hyperbolic mirror. 3. The active three-dimensional panoramic vision sensor based on full-color panoramic LED light sources as claimed in claim 1 or 2, characterized in that: the full-color panoramic LED light source adopts time-sharing control technology, and the panoramic color structured light is controlled by electronic switches Whether the generator emits light or not, when the LED light source control unit makes the power supply of the LED light source in the ON state, the depth and azimuth angle information of a certain point in space can be directly obtained in the imaging unit of the omnidirectional visual sensor; When the unit makes the power supply of the LED light source in the OFF state, the actual color information of a certain point in space is directly obtained in the imaging unit of the omnidirectional vision sensor. 4. the active three-dimensional stereo panoramic vision sensor based on full-color panoramic LED light source as claimed in claim 1 or 2, is characterized in that: the optical system that described first hyperboloid mirror and the second hyperboloid mirror constitutes by following 5 an equation expresses; ((X ² +Y ² )/a ² )-((Zc) ² /b ² )=-1 When Z>0 (1) $\mathrm{<span\; class="notranslate">\; c</span>}<span\; class="notranslate">\; =</span>\sqrt{{\mathrm{<span\; class="notranslate">\; a</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; b</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; )</span>$ β=tan ^-1 (Y/X) (3) α=tan ^-1 [(b ² +c ² )sinγ-2bc]/(b ² +c ² )cosγ (4) $\mathrm{<span\; class="notranslate">\; \&gamma;</span>}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; the\; tan</span>}}^{<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; [</span>\mathrm{<span\; class="notranslate">\; f</span>}<span\; class="notranslate">\; /</span>\sqrt{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>}<span\; class="notranslate">\; ]</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 5</span>}<span\; class="notranslate">\; )</span>$ In the formula, X, Y, and Z represent space coordinates, c represents one-half of the distance between the two focal points, 2c represents the distance between the two focal points, a, b are the real axis and imaginary axis of the hyperbolic mirror respectively β represents the angle between the incident light on the XY projection plane and the X axis, that is, the azimuth angle, and α represents the angle between the incident light on the XZ projection plane and the X axis. Here, α is called the incident angle, and α is greater than or When it is equal to 0, it is called the depression angle, when α is less than 0, it is called the elevation angle, f represents the distance from the imaging plane to the virtual focus of the hyperbolic mirror, γ represents the angle between the refraction light and the Z axis; x, y represent the imaging plane of a point. 5. The active three-dimensional panoramic vision sensor based on full-color panoramic LED light source as claimed in claim 1 or 2, characterized in that: the back-to-back connection is adopted between the omnidirectional vision sensor and the panoramic color structured light generator , the first upper cover of the omnidirectional vision sensor is connected with the second upper cover of the panoramic color structured light generator; the concave surfaces of the two hyperboloid mirrors with the same parameters face the concave surfaces. 6. The active three-dimensional panoramic vision sensor based on full-color panoramic LED light source as claimed in claim 1 or 2, characterized in that: face-to-face connection is adopted between the omnidirectional vision sensor and the panoramic color structured light generator, The second connection unit of the panoramic color structured light generator and the first connection unit of the omnidirectional vision sensor are connected by screws. 7. The active three-dimensional panoramic vision sensor based on full-color panoramic LED light sources as claimed in claim 1 or 2, wherein: a face-to-back sensor is used between the omnidirectional vision sensor and the panoramic color structured light generator. The connection method is to connect the second upper cover of the panoramic color structured light generator with the first connection unit of the omnidirectional visual sensor; the convex surface of two hyperboloid mirrors with the same parameter faces the concave surface, wherein the convex surface is the first hyperboloid mirror of the omnidirectional vision sensor, and the concave surface is the second hyperboloid mirror of the panoramic color structured light generator. 8. The active three-dimensional panoramic vision sensor based on full-color panoramic LED light source as claimed in claim 1 or 2, characterized in that: the omnidirectional vision sensor and the panoramic color structured light generator adopt back-to-face connection way, the first upper cover of the omni-directional vision sensor is connected with the second connection unit of the panoramic color structured light generator; the concave surface of two hyperboloid mirrors with the same parameter faces the convex surface, wherein the concave surface is The first hyperboloid mirror of the omnidirectional vision sensor, the convex surface is the second hyperboloid mirror of the panoramic color structured light generator. 9. the active three-dimensional stereo panoramic vision sensor based on full-color panoramic LED light source as claimed in claim 1, is characterized in that: described spatial information calculation unit comprises refraction angle α _p calculation unit, incident angle α _o calculation unit and distance computing unit; where, The refraction angle α _p calculation unit is used to calculate the refraction angle α _p of the panoramic color structured light generator and the wavelength of light emitted by the LED light source. When the power supply of the LED light source is in the ON state When , there is a one-to-one correspondence between the color components of the pixels on the imaging plane and the refraction angle α _p , and use this relationship to obtain the refraction angle α _p ; The incident angle α _o calculation unit is used to utilize the functional relationship shown in the formula (9) between the incident angle α _o and the refraction angle γ _o of the omnidirectional visual sensor, α _o =tan ⁻¹ [(b ² +c ² )sinγ _o −2bc]/(b ² +c ² )cosγ _o (9) Wherein, b is the length of the imaginary axis of the hyperbolic mirror, and c represents one-half of the distance between the two focal points; There is a functional relationship between the refraction angle γ _o and a point (x, y) on the imaging plane as shown in formula (10), ${\mathrm{<span\; class="notranslate">\; \&gamma;</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; the\; tan</span>}}^{<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; [</span>\mathrm{<span\; class="notranslate">\; f</span>}<span\; class="notranslate">\; /</span>\sqrt{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span>}<span\; class="notranslate">\; ]</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 10</span>}<span\; class="notranslate">\; )</span>$ f represents the distance from the imaging plane to the virtual focus of the hyperbolic mirror; The functional relationship between a point (x, y) on the imaging plane and the angle of incidence α _o can be obtained by formulas (9) and (10); The distance calculation unit is used to calculate the distance R1 between the space object point and the real focus O _m of the omnidirectional visual sensor, and the distance R1 between the space object point and the real focus O _p of the panoramic color structured light sending unit by using formulas (11) to (14). The distance R2, the distance R between the space object point and the central eye, and the incident angle φ of the space object point, $\mathrm{<span\; class="notranslate">\; R</span>}\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; =</span>\stackrel{<span\; class="notranslate">\; \&OverBar;</span>}{{\mathrm{<span\; class="notranslate">\; o</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}\mathrm{<span\; class="notranslate">\; A</span>}}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}<span\; class="notranslate">\; )</span>}{\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; )</span>}\mathrm{<span\; class="notranslate">\; B</span>}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 11</span>}<span\; class="notranslate">\; )</span>$ $\mathrm{<span\; class="notranslate">\; R</span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; =</span>\stackrel{<span\; class="notranslate">\; \&OverBar;</span>}{{\mathrm{<span\; class="notranslate">\; o</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}\mathrm{<span\; class="notranslate">\; A</span>}}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; )</span>}{\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; )</span>}\mathrm{<span\; class="notranslate">\; B</span>}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 12</span>}<span\; class="notranslate">\; )</span>$ $\mathrm{<span\; class="notranslate">\; R</span>}<span\; class="notranslate">\; =</span>\stackrel{<span\; class="notranslate">\; \&OverBar;</span>}{\mathrm{<span\; class="notranslate">\; OA</span>}}<span\; class="notranslate">\; =</span>\sqrt{{\mathrm{<span\; class="notranslate">\; R</span>}\mathrm{<span\; class="notranslate">\; 2</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; B</span>}<span\; class="notranslate">\; /</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; R</span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; B</span>}<span\; class="notranslate">\; /</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 90</span>}<span\; class="notranslate">\; )</span>}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 13</span>}<span\; class="notranslate">\; )</span>$ $<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; B</span>}\sqrt{{<span\; class="notranslate">\; [</span>\frac{\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; )</span>}{\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; )</span>}<span\; class="notranslate">\; ]</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 0.25</span>}<span\; class="notranslate">\; +</span>\frac{\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; )</span>}{\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; )</span>}\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}<span\; class="notranslate">\; )</span>}$ $\mathrm{<span\; class="notranslate">\; \&phi;</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; arcsin</span>}<span\; class="notranslate">\; [</span>\frac{\mathrm{<span\; class="notranslate">\; B</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; R</span>}}\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; o</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; ]</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 14</span>}<span\; class="notranslate">\; )</span>$ In the formula: B is the baseline distance, α _o is the angle of incidence, α _p is the refraction angle, R1 is the distance between the object point A and the real focus O _m of the omnidirectional vision sensor, R2 is the distance between the object point A and the panoramic color structured light generator The distance of the real focal point _Op of , R is the distance between the object point A and the central eye, and φ is the incident angle of the spatial object point relative to the central eye. 10. The active three-dimensional stereoscopic panoramic vision sensor based on full-color panoramic LED light source as claimed in claim 9, is characterized in that: in the described spatial information calculation unit, a light encoding table is set to realize a certain light wavelength λ The mapping relationship between the coordinate data of a certain point and the incident angle α _o corresponding to _the point is realized by an incident angle calculation table, the refraction angle α _p , The calculation of incident angle α _o is realized by look-up table; First read the wavelength λ value of a certain point according to the point coordinates of the imaging plane of the omnidirectional vision sensor, retrieve the incident angle calculation table with the point coordinate value to obtain the incident angle α _o corresponding to the point, and then use the light wavelength of the point The λ value retrieves the optical code table to obtain the refraction angle α _p corresponding to the light wavelength λ; finally, the distance information of a certain point in space is calculated by using formula (11) or formula (12) or formula (13).

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