Mirror-image stereo camera apparatus and method

Abstract

The embodiment of the invention discloses mirror image stereo videography equipment and a method thereof, belonging to the field of image processing. The method comprises the steps as follows: an incoming ray enters from a first left lens into an image acquisition device after being reflected by a left reflecting mirror and a left triple prism; the incoming ray enters from a second left lens into the image acquisition device through the left triple prism; at the same time, the incoming ray enters from a first right lens into the image acquisition device after being reflected by a right reflecting mirror and a right triple prism; the image acquisition device carries out processing on the collected incoming ray to obtain the distance of the three-dimensional space. The equipment comprises: a second left / right lens, at least a left reflecting module, at least a right reflecting module and the image acquisition device. The embodiment of the invention can simultaneously measure long distance and short distance.

Description

technical field [0001] The invention relates to the field of image processing, in particular to a mirror image stereo camera device and method. Background technique [0002] In today's society, cars have become an indispensable means of transportation. While people are enjoying the convenience and speed brought by automobiles, automobile traffic accidents have become an increasingly severe global social problem. The on-board environment perception system uses various sensors to detect information such as the vehicle itself, the surrounding environment, and the driver's state. By comparing with preset standards, it can judge whether the vehicle is in a dangerous state and the degree of danger. etc. to warn the driver. [0003] In the prior art, the camera system for vehicle-mounted stereo environment perception mainly uses a binocular stereo camera to measure information such as three-dimensional space coordinates and obstacle positions. The most simple and commonly used b...

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Problems solved by technology

[0009] In prior art 1, due to installation requirements, the camera focal length and baseline length of the vehicle-mounted binocular stereo camera are fixed, that is, the relationship between the parallax and the distance Z in the three-dimensional space is fixed, so it is impossible to simultaneously perform distance measurement ( Such as vehicle detection 100 to 200 meters ahead during high-speed driving) and short-range detection (such as obstacle detection 2 meters ahead);

[0010] Although the insensitivity of the horizontal stereo camera system to horizontal feature information (such as the top or bottom of the vehicle) can be avoided in the second prior art, the L-shaped configuration scheme usually cannot be assembled to the front or top of the vehicle, and the second prior art Can't solve the problem of taking both far and near measurements at the same time

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