公开(公告)号：US11445162B2

公开(公告)日：2022-09-13

申请号：US17123999

申请日：2020-12-16

Applicant: Beijing Smarter Eye Technology Co. Ltd.

Inventor： Zhao Sun ,  Haitao Zhu ,  Yongcai Liu ,  Shanshan Pei ,  Xinliang Wang

IPC: H04N13/246 ,  G06T7/80 ,  G06T7/73 ,  H04N13/239 ,  B60R11/04

Abstract: The present disclosure provides a method for calibrating a binocular camera, including: S2 of 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; S3 of fitting Gaussian distribution parameters of each feature point, and extracting a desired value as a theoretical disparity; S4 of 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; S5 of performing Gaussian fitting on a difference between the theoretical distances of the common feature point, and extracting a variance as an evaluation index; S6 of determining whether the evaluation index is smaller than a threshold, if yes, terminating the calibration, and otherwise, proceeding to S7; and S7 of adjusting posture parameters of the binocular camera, and returning to S3.

公开(公告)号：US12183026B2

公开(公告)日：2024-12-31

申请号：US17643289

申请日：2021-12-08

Applicant: Beijing Smarter Eye Technology Co. Ltd.

Inventor： Zhipeng Xiao ,  Xinliang Wang ,  Feng Cui ,  Haifeng Lai

IPC: G06T7/70 ,  G06T7/10 ,  G06T7/60 ,  G06V10/25

Abstract: A method and a system for detecting a long-distance target through a binocular camera, and an intelligent terminal are provided. The method includes the steps of: acquiring original images generated by the binocular camera at a target region, acquiring a disparity map in accordance with the original images, and converting the disparity map into a space information point cloud map; partitioning a predetermined target detection range into a plurality of sub-ranges in accordance with the space information point cloud map, and acquiring a disparity threshold segmentation image for each sub-range; calculating an integral image in accordance with each disparity threshold segmentation image, and acquiring a heatmap of an obstacle in accordance with the integral images; and reversely mapping a maximum matching region in the heatmap to the original image, so as to acquire a target ROI for the obstacle, thereby to acquire a position of the obstacle.

公开(公告)号：US11057603B2

公开(公告)日：2021-07-06

申请号：US16721056

申请日：2019-12-19

Applicant: Beijing Smarter Eye Technology Co. Ltd.

Inventor： Qiwei Xie ,  Xinliang Wang ,  An Jiang ,  Yuan Hao ,  Jian Li

IPC: H04N13/128 ,  H04N13/271 ,  H04N13/246 ,  H04N13/00

Abstract: Provided is a binocular camera depth calibration method, a binocular camera depth calibration device, a binocular camera depth calibration system and a storage medium. The method includes: acquiring a plurality of groups of images of a 2D code calibration board at different positions so as to acquire disparity maps of the 2D code calibration board; acquiring a 2D code template image of a target region; matching the 2D code template image, so as to determine and store matching region information; determining a position of the 2D code template image in each disparity map in accordance with the matching region information, and calculating an average disparity value of the 2D code template image at the position; acquiring a plurality of groups of average disparity values, and calculating a final disparity value; and calibrating a depth of a binocular camera.