CN117768634B - Vehicle-mounted stereo vision camera and imaging method based on binocular camera and laser radar - Google Patents
Vehicle-mounted stereo vision camera and imaging method based on binocular camera and laser radar Download PDFInfo
- Publication number
- CN117768634B CN117768634B CN202410195339.5A CN202410195339A CN117768634B CN 117768634 B CN117768634 B CN 117768634B CN 202410195339 A CN202410195339 A CN 202410195339A CN 117768634 B CN117768634 B CN 117768634B
- Authority
- CN
- China
- Prior art keywords
- lens
- laser
- visible light
- camera
- receiver
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Optical Radar Systems And Details Thereof (AREA)
Abstract
本发明公开了一种基于双目相机与激光雷达的车载立体视觉相机及成像方法，属于双目相机技术领域，其中车载立体视觉相机包括相机本体，相机本体的内部设置有可见光激光接收共光路镜头、可见光接收装置以及激光发射装置，可见光激光接收共光路镜头与激光发射装置之间设置有激光接收器，可见光激光接收共光路镜头包括透镜一、分光镜、可见光接收器，激光发射装置包括激光发射器、准直器、衍射镜、透镜二，可见光接收装置包括可见光接收器和透镜三。本发明采用上述基于双目相机与激光雷达的车载立体视觉相机及成像方法，能够场景深度图像，解决场景中弱纹理或重复纹理区域以及遮挡区域成像不佳的问题。
The present invention discloses a vehicle-mounted stereoscopic vision camera and imaging method based on binocular camera and laser radar, belonging to the field of binocular camera technology, wherein the vehicle-mounted stereoscopic vision camera comprises a camera body, a visible light laser receiving common optical path lens, a visible light receiving device and a laser emitting device are arranged inside the camera body, a laser receiver is arranged between the visible light laser receiving common optical path lens and the laser emitting device, the visible light laser receiving common optical path lens comprises lens one, a beam splitter, and a visible light receiver, the laser emitting device comprises a laser emitter, a collimator, a diffraction mirror, and a lens two, and the visible light receiving device comprises a visible light receiver and a lens three. The present invention adopts the above-mentioned vehicle-mounted stereoscopic vision camera and imaging method based on binocular camera and laser radar, which can image the depth of the scene and solve the problem of poor imaging in weak texture or repeated texture areas and occluded areas in the scene.
Description
Technical Field
The invention relates to the technical field of binocular cameras, in particular to a vehicle-mounted stereoscopic vision camera based on a binocular camera and a laser radar and an imaging method.
Background
Unlike a binocular of human being, a depth camera based on the principle of TOF, structured light, which does not project a light source actively to the outside, calculates depth by entirely relying on two pictures taken (color RGB or gray-scale images), and is therefore sometimes referred to as a passive binocular depth camera.
Binocular stereoscopic vision simulates the three-dimensional perception of the human visual system to the environment, acquires the parallax of two images by performing stereoscopic matching on corrected left and right images, calculates the depth of a scene according to the triangulation principle, is a research hotspot in the field of computer vision in the last decades, and has made a series of progress. The traditional stereo matching method adopts the characteristics of manual design to carry out stereo matching, and researches show that the method has poor performance on the weak texture or repeated texture area and the shielding area. The information is collected by using visible light or laser radar in the camera of the same kind, so that a depth image of a scene cannot be obtained, and poor imaging is caused.
Disclosure of Invention
The invention aims to provide a vehicle-mounted stereoscopic vision camera based on a binocular camera and a laser radar and an imaging method, which solve the problem of poor imaging of a weak texture or repeated texture region and a shielding region in a scene.
In order to achieve the above purpose, the invention provides a vehicle-mounted stereoscopic vision camera based on a binocular camera and a laser radar, which comprises a camera body, wherein a visible light laser receiving common-path lens, a visible light receiving device and a laser transmitting device are arranged in the camera body, the visible light laser receiving common-path lens and the visible light receiving device are respectively arranged on two sides of the laser transmitting device, a laser receiver is arranged between the visible light laser receiving common-path lens and the laser transmitting device, the visible light laser receiving common-path lens comprises a first lens, a spectroscope and a visible light receiver, the laser transmitting device comprises a laser emitter, a collimator, a diffraction mirror and a second lens, the visible light receiving device comprises a third lens and a third lens, the visible light receiver comprises a lens group, a lens base and a lens cone, the lens group comprises a plurality of lenses, the lenses are respectively arranged on different lens bases, and the lens base is arranged in the lens cone.
Preferably, the visible light receiver in the visible light laser receiving common-path lens is arranged below the spectroscope, and the spectroscope is arranged below the first lens.
Preferably, the visible light receiver in the visible light receiving device is disposed below the third lens.
Preferably, the diffraction mirror is arranged below the second lens, and the collimator and the laser transmitter are arranged below the diffraction mirror.
Preferably, the laser receiver is disposed on the right side of the beam splitter.
Preferably, the first lens, the second lens and the third lens are all connected with the camera body through the lens base.
The invention also provides an imaging method of the vehicle-mounted stereoscopic vision camera based on the binocular camera and the laser radar, which comprises the following steps:
Step one, visible light on the right side of a camera body enters a visible light receiver in a visible light laser receiving common-path lens, the visible light is processed, and external information is collected;
Step two, the laser emitter at the middle part of the camera body emits laser, the laser passes through the collimator, reaches the diffraction mirror to diffract and expand the laser range, and then the laser is emitted to the outside through the lens II;
step three, the laser emitted by the middle part of the camera body is refracted back to the left side of the camera body through an external object, the common light path of the visible light and the laser is split through a spectroscope, the light is split to a visible light receiver in a lens of the common light path of the laser receiver and the visible light laser receiving, and external information is collected;
And step four, finally, summarizing the overall information to obtain a depth image of the scene.
The invention has the following beneficial effects:
When the camera acquires information to acquire an image, the left side of the camera is subjected to visible light and laser common light path processing, a light path enters the camera from the outside of the camera, passes through a lens to reach a spectroscope, the spectroscope splits light, the visible light enters a visible light receiving device through the spectroscope, the laser enters the laser receiving device through the spectroscope refraction, finally, information is converged to obtain a depth image of a scene, and the problem that a weak texture or repeated texture area and a shielding area are not well represented is solved.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
FIG. 1 is a cross-sectional view of an embodiment of a vehicle-mounted stereoscopic camera based on a binocular camera and a lidar of the present invention;
FIG. 2 is a schematic view of a visible light laser receiving common-path lens structure of an embodiment of a vehicle-mounted stereoscopic camera based on a binocular camera and a laser radar;
FIG. 3 is a schematic diagram of a left-side visible light receiver of an embodiment of a vehicle-mounted stereoscopic camera based on a binocular camera and a lidar of the present invention;
FIG. 4 is a schematic view of a laser receiver of an embodiment of a vehicle-mounted stereoscopic camera based on a binocular camera and a lidar according to the present invention;
fig. 5 is a schematic diagram of a right visible light receiver of an embodiment of a vehicle-mounted stereoscopic camera based on a binocular camera and a lidar according to the present invention.
1. The camera comprises a camera body, a first lens, a3, a spectroscope, a4, a visible light receiver, a 5, a laser receiver, a 6, a second lens, a 7, a diffraction mirror, a 8, a collimator, a 9, a laser emitter, a 10, a third lens, a 11, a diffraction mirror base, a 12, a diffraction lens barrel, a 13, a collimator shell, a 14, a lens group, a 15 and a lens barrel.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application more apparent, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the detailed description and specific examples, while indicating the embodiment of the application, are intended for purposes of illustration only and are not intended to limit the scope of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application. Examples of the embodiments are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements throughout or elements having like or similar functionality.
It should be noted that the terms "comprises" and "comprising," along with any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "upper", "lower", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or those that are conventionally put in use, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements to be referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, integrally connected, mechanically connected, electrically connected, directly connected, indirectly connected through an intermediate medium, or in communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
As shown in fig. 1, the vehicle-mounted stereoscopic vision camera based on the binocular camera and the laser radar provided by the invention comprises a camera body 1, wherein a visible light laser receiving common-path lens, a visible light receiving device and a laser emitting device are arranged in the camera body 1.
As shown in fig. 2, the left-side visible laser light receiving common-path lens includes a lens 2, a beam splitter 3, a visible light receiver 4, and a laser receiver 5. The visible light receiver 4 in the visible light laser receiving common-path lens is arranged below the spectroscope 3, the spectroscope 3 is arranged below the first lens 2, and the laser receiver 5 is arranged on the right side of the spectroscope 3. The first lens 2 is connected with the camera body 1 through a lens base.
The middle laser emitting device comprises a laser emitter 9, a collimator 8, a diffraction mirror 7 and a second lens 6. The diffraction mirror 7 is arranged below the second lens 6, and the collimator 8 and the laser emitter 9 are arranged below the diffraction mirror 7. The second lens 6 is connected to the camera body 1 through a lens mount, and the diffraction mirror 7 is connected to the camera body 1 through a diffraction mount 11. The lens mount and the diffraction mount 11 are fixed in the diffraction lens barrel 12, the collimator 8 is fixed in the collimator housing 13, the laser transmitter 9 is connected with the collimator housing 13, and the diffraction lens barrel 12 and the collimator housing 13 are fixed in the camera body 1.
The right visible light receiving device includes a visible light receiver 4 and a lens three 10. The visible light receiver 4 in the visible light receiving device is disposed below the lens three 10. The visible light laser receiving common-path lens and the visible light receiving device are respectively arranged at two sides of the laser transmitting device. The visible light receiver 4 comprises a lens group 14, lens seats and a lens cone 15, the lens group 14 comprises a plurality of lenses, the lenses are respectively arranged on different lens seats, and the lens seats are arranged in the lens cone 15.
The invention discloses an imaging method of a vehicle-mounted stereoscopic vision camera based on a binocular camera and a laser radar, which comprises the following steps of:
Step one, the visible light on the right side of the camera body 1 enters a visible light receiver 4 in a visible light laser receiving common-path lens, and the visible light is processed to acquire external information.
Step two, the laser emitter 9 at the middle part of the camera body 1 emits laser, the laser reaches the diffraction mirror 7 through the collimator 8 to diffract and expand the laser range, and the laser is emitted to the outside through the lens two 6.
And thirdly, the laser emitted by the middle part of the camera body 1 is refracted back to the left side of the camera body 1 through an external object, the common light path of the visible light and the laser is split through the spectroscope 3, the light is split to the visible light receiver 4 in the lens of the common light path of the laser receiver and the visible light laser receiving, and external information is collected.
And step four, finally, summarizing the overall information to obtain a depth image of the scene.
Therefore, the vehicle-mounted stereoscopic vision camera and the imaging method based on the binocular camera and the laser radar can obtain the scene depth image, and solve the problem of poor imaging of weak texture or repeated texture areas and shielding areas in the scene.
It should be noted that the above-mentioned embodiments are merely for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solution of the present invention may be modified or substituted by the same, and the modified or substituted technical solution may not deviate from the spirit and scope of the technical solution of the present invention.
Claims (1)
1. The vehicle-mounted stereoscopic vision camera based on the binocular camera and the laser radar is characterized by comprising a camera body, wherein a visible light laser receiving common-path lens, a visible light receiving device and a laser emitting device are arranged in the camera body, the visible light laser receiving common-path lens and the visible light receiving device are respectively arranged on two sides of the laser emitting device, a laser receiver is arranged between the visible light laser receiving common-path lens and the laser emitting device, the visible light laser receiving common-path lens comprises a first lens, a spectroscope and a visible light receiver, the laser emitting device comprises a laser emitter, a collimator, a diffraction mirror and a second lens, the laser emitter is the laser radar, the visible light receiving device comprises a visible light receiver and a third lens, the visible light receiver comprises a lens group, a lens base and a lens cone, the lens group comprises a plurality of lenses, the lenses are respectively arranged on different lens bases, and the lens bases are arranged in the lens cone, the visible light receiving common-path lens is arranged below the spectroscope, the spectroscope is arranged below the first lens, the visible light receiver is arranged below the third lens, the diffraction mirror is arranged below the second lens, the second lens is arranged below the third lens, the collimator is arranged below the second lens, the second lens is arranged below the third lens, the second lens is arranged below the collimator, the second lens is connected with the first lens, the first lens is connected with the first lens and the second lens, and the first lens is connected with the first lens, and the second lens is arranged in the collimating case, and the case is fixed;
the imaging method of the vehicle-mounted stereoscopic vision camera based on the binocular camera and the laser radar comprises the following steps of:
Step one, visible light on the left side of a camera body enters a visible light receiver in a visible light laser receiving common-path lens, the visible light is processed, and external information is collected;
Step two, the laser emitter at the middle part of the camera body emits laser, the laser passes through the collimator, reaches the diffraction mirror to diffract and expand the laser range, and then the laser is emitted to the outside through the lens II;
step three, the laser emitted by the middle part of the camera body is refracted back to the left side of the camera body through an external object, the common light path of the visible light and the laser is split through a spectroscope, the light is split to a visible light receiver in a lens of the common light path of the laser receiver and the visible light laser receiving, and external information is collected;
And step four, finally, summarizing the overall information to obtain a depth image of the scene.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410195339.5A CN117768634B (en) | 2024-02-22 | 2024-02-22 | Vehicle-mounted stereo vision camera and imaging method based on binocular camera and laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410195339.5A CN117768634B (en) | 2024-02-22 | 2024-02-22 | Vehicle-mounted stereo vision camera and imaging method based on binocular camera and laser radar |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117768634A CN117768634A (en) | 2024-03-26 |
| CN117768634B true CN117768634B (en) | 2025-01-03 |
Family
ID=90314798
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410195339.5A Active CN117768634B (en) | 2024-02-22 | 2024-02-22 | Vehicle-mounted stereo vision camera and imaging method based on binocular camera and laser radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117768634B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108650447A (en) * | 2018-07-06 | 2018-10-12 | 上海图漾信息科技有限公司 | Imaging sensor, depth data measurement head and measuring system |
| CN115462735A (en) * | 2021-06-10 | 2022-12-13 | 珠海市迪谱医疗科技有限公司 | High-precision monocular endoscopic stereo imaging system and imaging method |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106254796A (en) * | 2016-10-11 | 2016-12-21 | 公安部第研究所 | A kind of iraser laser spot detection imaging device based on iconoscope and method |
| CN108917645A (en) * | 2018-07-20 | 2018-11-30 | 清华大学苏州汽车研究院（吴江） | Binocular vision system based on laser modulation |
| CN111289995B (en) * | 2018-11-21 | 2025-04-08 | 武汉万集光电技术有限公司 | Three-dimensional laser radar device and system |
| CN209787294U (en) * | 2019-01-11 | 2019-12-13 | 南京理工大学 | A Multispectral Stereo Imaging System |
| CN111757086A (en) * | 2019-03-28 | 2020-10-09 | 杭州海康威视数字技术股份有限公司 | Active binocular camera, RGB-D image determination method and device |
| CN114624723B (en) * | 2020-12-11 | 2025-07-25 | 宁波舜宇车载光学技术有限公司 | Lidar, combination system, vehicle and method for operating a combination system |
| CN116413681A (en) * | 2021-12-30 | 2023-07-11 | 武汉万集光电技术有限公司 | Laser radar and vision fusion system and detection method |
| WO2024027709A1 (en) * | 2022-08-01 | 2024-02-08 | 合肥英睿系统技术有限公司 | Multi-mode handheld optical device |
| WO2024026631A1 (en) * | 2022-08-01 | 2024-02-08 | 合肥英睿系统技术有限公司 | Multi-mode handheld optical device |
| CN220381291U (en) * | 2023-07-21 | 2024-01-23 | 中国科学院理化技术研究所 | Laser radar system of common light path |
-
2024
- 2024-02-22 CN CN202410195339.5A patent/CN117768634B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108650447A (en) * | 2018-07-06 | 2018-10-12 | 上海图漾信息科技有限公司 | Imaging sensor, depth data measurement head and measuring system |
| CN115462735A (en) * | 2021-06-10 | 2022-12-13 | 珠海市迪谱医疗科技有限公司 | High-precision monocular endoscopic stereo imaging system and imaging method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117768634A (en) | 2024-03-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR102751018B1 (en) | Beam angle sensor in virtual/augmented reality systems | |
| US10482663B2 (en) | Virtual cues for augmented-reality pose alignment | |
| JP6480441B2 (en) | Time-of-flight camera system | |
| CN110095870B (en) | Optical display system, display control device and augmented reality equipment | |
| KR101194521B1 (en) | A system for acquiring and displaying three-dimensional information and a method thereof | |
| JP3214682B2 (en) | Display device | |
| US10382699B2 (en) | Imaging system and method of producing images for display apparatus | |
| KR101799522B1 (en) | 3D image acquisition apparatus employing interchangeable lens type | |
| CN108718406B (en) | Variable-focus 3D depth camera and imaging method thereof | |
| CN105791800B (en) | Three-dimensional display system and stereo display method | |
| JP2010538313A (en) | Realistic image display device with wide viewing angle | |
| CN110187506B (en) | Optical display system and augmented reality device | |
| US12366744B2 (en) | 3D mapping in 2D scanning display | |
| US20180299683A1 (en) | Image presenting apparatus, optical transmission type head-mounted display, and image presenting method | |
| CN107209949A (en) | Method and system for producing amplification 3D rendering | |
| EP3428720A1 (en) | Intelligent device and method for outputting a depth image | |
| CN204578692U (en) | Three-dimensional display system | |
| CN117768634B (en) | Vehicle-mounted stereo vision camera and imaging method based on binocular camera and laser radar | |
| CN215416101U (en) | Display device and wearable display equipment | |
| CN113109947A (en) | Display device and wearable display equipment | |
| CN110012280B (en) | TOF module for VSLAM system and VSLAM calculation method | |
| EP4443379A1 (en) | Three-dimensional recognition apparatus, terminal, image enhancement method and storage medium | |
| CN114898440B (en) | Driving method of liquid crystal grating, display device and display method thereof | |
| CN213091888U (en) | Depth measurement system and electronic device | |
| CN210321610U (en) | Three-dimensional scanning system in single camera mouth |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |