Monocular narrowband multispectral stereoscopic vision system and application method thereof

Abstract

The invention provides a monocular narrowband multispectral stereoscopic vision system and an application method thereof. The system includes an optical imaging lens with axial chromatic aberration, anarrowband multispectral image sensor with a channel number N (greater than 4), and an image processing unit for processing and analyzing narrowband multispectral images. The system provided by the invention can obtain a plurality of narrowband spectrum images with different focusing resolution values through one exposing operation, wherein the natural calibration of the spatial position of an image plane XY is achieved. The system employs a matched defocusing blurring degree algorithm for obtaining the depth Z information of any spatial position XY of the image, irons out the defects that binocular stereoscopic vision is large in calculation burden and a laser 3D vision system is high in price, and has a high application value for the moving of an intelligent robot, the navigation of anunmanned automobile and the obstacle avoidance.

Description

technical field [0001] The present invention relates to machine vision, and more specifically relates to the technical field of 3D sensor measurement. Background technique [0002] The natural world is three-dimensional, with plane (X, Y) position information and Z depth information. There are three main methods for people to recognize depth information: through the parallax information of the left and right eyes, through the motion information of the eyes relative to the movement of the object, and through the surface color information of the object. There are also those that detect depth through object surface texture information. In the past 20 to 30 years, the 3D vision methods studied by the academic circle mainly include obtaining depth information by analyzing the disparity information of the left and right eyes. Although 3D vision has been discussed for a long time in the literature, most machine vision systems today often rely on the analysis of two two-dimensiona...

AI Technical Summary

Problems solved by technology

[0003] The main technical problem to be solved by the present invention is to provide a monocular narrow-band multi-spectral stereo vision system and its application method, which can overcome the shortcomings of the existing machine vision methods, especially the dual-camera stereo vision method, which have a large amount of calculation and poor real-time performance. The 3D laser vision system is expensive. The detection result is a sparse cloud and cannot have realistic 2D image information.