Distance measurement model correction method, distance measurement method and device and automatic driving system

Abstract

The invention provides a distance measurement model correction method of a binocular camera, a distance measurement method and device and an automatic driving system, which are used for accurate distance measurement of the binocular camera. The distance measurement model correction method comprises the following steps of: defining optical axes of a left camera and right camera of the binocular camera, which are parallel to each other, as a first optical axis and a second optical axis respectively; deviating the first optical axis to obtain a third optical axis, wherein the first optical axis and the third optical axis form an included angle of alpha 1 degrees, deviating from the second optical axis to obtain a fourth optical axis, wherein the second optical axis and the fourth optical axisform an included angle of alpha 2 degrees; and obtaining a first distance measurement model based on the first optical axis and the second optical axis, and deducing a second distance measurement model according to the first distance measurement model, the included angle of alpha 1 degrees and the included angle alpha 2 degrees. According to the invention, the distance measurement precision of the binocular camera is further improved by correcting and compensating the ideal model of the binocular camera.

Description

technical field [0001] The invention relates to the field of binocular cameras, in particular to a ranging model correction method, a ranging method, a device and an automatic driving system of the binocular camera. Background technique [0002] The binocular camera consists of two parallel and equal cameras on the left and right. The ranging process is as follows: two cameras image the same target; obtain the "parallax" (difference in the horizontal coordinates of the two images) of the target imaged by the two cameras; calculate the binocular camera distance through the geometric relationship of similar triangles. The actual distance to the target. [0003] Usually, due to the limitations of manufacturing precision and processing technology, it is impossible to manufacture a binocular camera according to the ideal binocular camera ranging model. For example, there is no guarantee that the optical axes of two cameras are absolutely parallel. Usually, the distance measure...

AI Technical Summary

Problems solved by technology

[0006] The present invention proposes a distance measurement model correction method, a distance measurement method, a device and an automatic driving system of a binocular camera, which are used to solve the distance measurement caused by the deviation between the ideal optical axis and the actual optical axis of the binocular camera in the prior art The problem of insufficient precision

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