Three-dimensional camera assembly, terminal apparatus and ranging method

Patent metadata

Field	Value
Publication number	US-10291902-B2
Application number	US-201514608495-A
Country	US
Kind code	B2
Filing date	Jan 29, 2015
Priority date	Jan 15, 2015
Publication date	May 14, 2019
Grant date	May 14, 2019

Abstract

Embodiments of the present invention provide a three-dimensional camera assembly, a terminal apparatus and a ranging method. The three-dimensional camera assembly comprises: a substrate; a first camera and a second camera, mounted on the substrate and facing a first direction, wherein first and second optical axes of the first and second cameras are oblique with respect to a connection line between lens centers of the first and second cameras, the first optical axis has a first included angle with respect to the connection line, the second optical axis has a second included angle with respect to the connection line, and at least one of the first included angle and the second included angle is not 90°.

First claim

What is claimed is:

1. A ranging method, comprising:
capturing images of an object to be ranged by using a first image pickup device and a second image pickup device, respectively; and
determining a vertical distance h from the object to be ranged to a connection line between a lens center of the first image pickup device and a lens center of the second image pickup device, according to a coordinate difference Δx or Δy between a first image point and a second image point of the object to be ranged formed in the first image pickup device and the second image pickup device,
wherein the first image pickup device and the second image pickup device face the same direction, and a first optical axis of the first image pickup device and a second optical axis of the second image pickup device are oblique with respect to the connection line between the lens center of the first image pickup device and the lens center of the second image pickup device, the first optical axis has a first constant included angle with respect to the connection line, and the second optical axis has a second constant included angle with respect to the connection line, and at least one of the first included angle and the second included angle is not 90°, and
wherein the determining the vertical distance h from the object to be ranged to the connection line between the lens center of the first image pickup device and the lens center of the second image pickup device, according to the coordinate difference Δx or Δy between the first image point and the second image point of the object to be ranged formed in the first image pickup device and the second image pickup device, includes:
determining the distance h by a formula of

h
=

d
*
f

(

x
L

-

x
R

)

*
cos
⁢

⁢
θ

-
f

=

d
*
f

Δ
⁢

⁢
x
*
cos
⁢

⁢
θ

-

f
⁢

⁢
or

h
=

d
*
f

(

y
L

-

y
R

)

*
cos
⁢

⁢
θ

-
f

=

d
*
f

Δ
⁢

⁢
y
*
cos
⁢

⁢
θ

-
f

,

where x L and y L are a horizontal coordinate and a vertical coordinate of the first image point, x R and y R are a horizontal coordinate and a vertical coordinate of the second image point, d is a distance between the lens center of the first image pickup device and the lens center of the second image pickup device, f is a focal distance of the first image pickup device and the second image pickup device, θ is a complementary angle of the first included angle, the first included angle is equal to the second included angle, and the first image pickup device and the second image pickup device are completely identical.

2. A three-dimensional camera assembly applicable for performing the ranging method according to claim 1 , comprising:
a substrate;
a first camera, mounted on the substrate and facing a first direction; and
a second camera, mounted on the substrate and facing the first direction,
wherein a first optical axis of the first camera and a second optical axis of the second camera are oblique with respect to a connection line between a lens center of the first camera and a lens center of the second camera, the first optical axis has a first constant included angle with respect to the connection line, the second optical axis has a second constant included angle with respect to the connection line, and at least one of the first included angle and the second included angle is not 90°.

3. The three-dimensional camera assembly according to claim 2 , wherein the first included angle is equal to the second included angle.

4. The three-dimensional camera assembly according to claim 3 , wherein the first camera and the second camera are disposed symmetrically with respect to an axis passing through a midpoint of the connection line between the lens center of the first camera and the lens center of the second camera and being perpendicular to the connection line.

5. The three-dimensional camera assembly according to claim 3 , wherein the first included angle is more than 70° and less than 90°.

6. The three-dimensional camera assembly according to claim 2 , wherein the first camera includes: a first lens group and a first image sensor; and
the second camera includes: a second lens group and a secon

Assignees

• Boe Technology Group Co Ltd

Inventors

• Zhao Xingxing
• Mou Xinxin

Classifications

• G01B11/026

  by measuring distance between sensor and object (G01B11/0608 takes precedence) · CPC title

• G01C3/14

  with binocular observation at a single point, e.g. stereoscopic type (G01C3/20 takes precedence) · CPC title

• G03B35/10

  having single camera with stereoscopic-base-defining system · CPC title

• G01B11/245

  using a plurality of fixed, simultaneously operating transducers ({G01B11/2408 - G01B11/2425, } G01B11/255 take precedence) · CPC title

• H04N13/239 Primary

  using two two-dimensional [2D] image sensors having a relative position equal to or related to the interocular distance (H04N13/243 takes precedence) · CPC title