Single-unit beam-splitting short-baseline parallel-optical-axis binocular stereo imaging method and device thereof

Abstract

The invention discloses a single-unit beam-splitting short-baseline parallel-optical-axis binocular stereo imaging method and a device thereof. The method and the device are realized by additionally arranging a beam-splitting fitting in front of an objective. Part of light beams emitted by a photographed body passes by a subjacent biconvex lens and sequentially passes by an inverting prism, a cubic prism, an inverting prism and the biconvex lens with the light inlet surface and light outlet surface glued with flat convex lenses, and is gathered at the objective, thus forming clear images on the right half part of the CCD target surface of the camera. The other part of light beam emitted by the same object passes by the biconvex lens above and sequentially passes by the inverting prisms and the biconvex lens with three light inlet surfaces and light outlet surfaces glued with flat convex lenses, and is gathered at the objective, thus forming clear images at the left half part of the CCD target surface. The method and the device have the benefits that the image pairs can be collected precisely and synchronously compared with a dual-unit system; the binocular optical axis is paralleland the baseline is short; the beam-splitting light has the same light stroke and consistent image depth; and the upper optical structure and the lower optical structure of the beam-splitting fittingare consistent and have symmetry; and the pixel is easy to optimize.

Description

technical field [0001] The invention relates to a stereoscopic imaging technology, in particular to a single-machine binocular short-baseline parallel optical axis stereoscopic imaging method and a device thereof. Background technique [0002] In binocular stereo vision, in order to accurately obtain dense 3D reconstructed point cloud information, it is usually first necessary to build a parallel optical axis system with a short baseline for image acquisition, so as to satisfy the assumption that the small neighborhoods around the conjugate points can be regarded as mutual translation . Then, the precise registration of conjugate points is realized through the theory of image translation invariance in frequency domain. A Chinese patent discloses a fast three-dimensional face recognition method based on binocular passive stereo vision (publication number: CN101398886), which follows the above assumptions. Stereoscopic photography of non-stationary objects is generally achie...

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Problems solved by technology

[0005] The purpose of the present invention is to overcome the difficulties that the existing binocular system uses a dual-machine structure to reduce the reconstruction robustness or the single-machine beam splitting structure cannot satisfy the translation assumption of the matching graph. The present invention provides a single-machine binocular short-baseline parallel Optical axis stereoscopic imaging method and its device, the device has the characteristics of simple installation, equal beam splitting optical path, same structure, full symmetry of optical system, easy aberration optimization, parallel optical axes, short baseline, conforming to translational assumptions, etc.

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