Method and device for determining external parameter of stereoscopic camera
US-2019236807-A1 · Aug 1, 2019 · US
Stereo camera and height acquisition method thereof and height acquisition system
US11024052B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-11024052-B2 |
| Application number | US-201916548721-A |
| Country | US |
| Kind code | B2 |
| Filing date | Aug 22, 2019 |
| Priority date | Feb 23, 2017 |
| Publication date | Jun 1, 2021 |
| Grant date | Jun 1, 2021 |
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Abstract
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Disclosed are systems and methods for acquiring height of a stereo camera, applied to the stereo camera. An example method includes acquiring angle information of a stereo camera, with the angle information including a pitch angle and a tilt angle. A ground image of a scenario where the stereo camera is deployed is captured and depth information of each pixel on the ground image is determined. A three-dimensional point set based on depth information of each pixel on the ground image is established, with the three-dimensional point set including coordinate information of each three-dimensional point corresponding to each pixel of the ground image. Height of the stereo camera is determined based on the angle information and the three-dimensional point set.
First claim
Opening claim text (preview).
What is claimed is: 1. A method for acquiring a height of a stereo camera, applied to the stereo camera, the method comprising: acquiring angle information of a stereo camera, wherein the angle information includes a pitch angle and a tilt angle; capturing a ground image of a scenario where the stereo camera is deployed; determining depth information of each pixel on the ground image; establishing a three-dimensional point set based on the depth information of each pixel on the ground image, wherein the three-dimensional point set includes coordinate information of each three-dimensional point corresponding to each pixel of the ground image; and determining the height of the stereo camera based on the angle information and the three-dimensional point set, wherein determining the height of the stereo camera comprises: determining, based on the pitch angle and the tilt angle, a reference plane equation corresponding to a reference plane, wherein the reference plane is parallel to a horizon plane in a world coordinate system, and a center point of a lens of the stereo camera is within the reference plane; calculating distances between each three-dimensional point in the three-dimensional point set and the reference plane to obtain a distance set; and determining the height of the stereo camera based on the calculated distances in the distance set, and wherein the determining, based on the pitch angle and the tilt angle, a reference plane equation corresponding to a reference plane, comprises: determining the reference plane equation ax+by+cz=0 based on the pitch angle θ and the tilt angle φ, such that a point (a, b, c) in a camera coordinate system meets an angle conversion equation: [ y ] = [ T - 1 ] [ x ] ; wherein [ x ] = [ x r y r z r ] , [ y ] = [ x c y c z c ] , [ T ] = [ cos φ cos θsin φ - sin θsin φ - sin φ cos θcosφ - sin θcos
Assignees
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Classifications
Remote control of cameras or camera parts, e.g. by remote control devices · CPC title
- G06T7/70Primary
Determining position or orientation of objects or cameras (camera calibration G06T7/80) · CPC title
Median filtering · CPC title
using stereoscopic image cameras (stereoscopic photography G03B35/00) · CPC title
Graph-based image processing · CPC title
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- What does patent US11024052B2 cover?
- Disclosed are systems and methods for acquiring height of a stereo camera, applied to the stereo camera. An example method includes acquiring angle information of a stereo camera, with the angle information including a pitch angle and a tilt angle. A ground image of a scenario where the stereo camera is deployed is captured and depth information of each pixel on the ground image is determined. …
- Who is the assignee on this patent?
- Hangzhou Hikvision Digital Tec
- What technology area does this patent fall under?
- Primary CPC classification G06T7/70. Mapped technology areas include Physics.
- When was this patent published?
- Publication date Tue Jun 01 2021 00:00:00 GMT+0000 (Coordinated Universal Time) (B2). Legal status and post-grant events are not shown on this page.
- What related patents are in patentsdb?
- We list 5 related publications on this page (citations in our corpus or others sharing the same primary CPC).