Beijing Smarter Eye Technology Co. Ltd.

Yongcai Liu

Zhao Sun

Feng Cui

Haitao Zhu

Shanshan Pei

Jian Li

Qiwei Xie

Xinliang Wang

The present disclosure provides a method for distance measurement based on a binocular camera, a system for distance measurement based on a binocular camera, a device and a computer-readable storage medium. The method includes: taking N images of a distance measurement marker placed at each of Z positions in a depth direction of the binocular camera; calculating an average disparity of the distance measurement marker at the middle position, the left side position and the right side position at each of the Z positions; calculating a distance measurement value at each of the Z positions in the depth direction; calculating a distance measurement error value at the middle position, the left side position and the right side position at each of the Z positions, and acquiring a total error cost function; and calculating extrinsic parameters, so as to acquire a distance measurement result in the depth direction.

Method and system for distance measurement based on binocular camera, device and computer-readable storage medium

The present disclosure provides a method for calibrating a binocular camera, including: Sof extracting feature points from an image set 1 and an image set 2 taken at two points separated from each other by a predetermined distance; Sof fitting Gaussian distribution parameters of each feature point, and extracting a desired value as a theoretical disparity; Sof selecting a common feature point, and calculating the predetermined quantity of frames at a first theoretical distance and the predetermined quantity of frames at a second theoretical distance; Sof performing Gaussian fitting on a difference between the theoretical distances of the common feature point, and extracting a variance as an evaluation index; Sof determining whether the evaluation index is smaller than a threshold, if yes, terminating the calibration, and otherwise, proceeding to S; and Sof adjusting posture parameters of the binocular camera, and returning to S

Method and device for calibrating binocular camera

Provided is a road surface information-based imaging environment evaluation method, an imaging environment evaluation device, an imaging environment evaluation system, and a storage medium. The imaging environment evaluation method includes: acquiring a disparity information matrix and pixel coordinates of a vanishing point in the disparity information matrix; subjecting the disparity information matrix to matrix partition and projection in accordance with the pixel coordinates of the vanishing point so as to acquire a disparity projection image; acquiring a road surface model-based statistic model in accordance with the disparity projection image; and acquiring an evaluation result of a current imaging environment in accordance with a relationship between the statistic model and a predetermined threshold.

Road surface information-based imaging environment evaluation method, device and system, and storage medium

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Beijing, China

Yongcai Liu