CN103090846B - A kind of range unit, range-measurement system and distance-finding method thereof - Google Patents
A kind of range unit, range-measurement system and distance-finding method thereof Download PDFInfo
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- CN103090846B CN103090846B CN201310015213.7A CN201310015213A CN103090846B CN 103090846 B CN103090846 B CN 103090846B CN 201310015213 A CN201310015213 A CN 201310015213A CN 103090846 B CN103090846 B CN 103090846B
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Abstract
The invention discloses a kind of range unit, including the first image pickup part and the second image pickup part, wherein the first image pickup part includes one or more pick-up lens and the image sensor corresponding with pick-up lens, and the second image pickup part includes multiple pick-up lens and the image sensor corresponding with pick-up lens；The pick-up lens of the first image pickup part and the pick-up lens of the second image pickup part are respectively arranged on two surfaces, angle known to the angulation of the two surface；Also include signal processor, be connected with each image pickup part.The invention also discloses a kind of range-measurement system, including two range units cooperated, it is achieved the effect of real time distance.The invention also discloses a kind of distance-finding method, the baseline real-time computing technique having flexibly and expanding, thus obtain high-precision range measurements.
Description
Technical field
The present invention relates to the technical field of range measurement, be specifically related to a kind of range unit, range-measurement system and distance-finding method thereof.
Background technology
About method and the instrument of mensuration distance, substantially can be divided into two classes, i.e. adjust time-of-flight method and axonometric chart continuously
As method.
The modulating apparatus adjusting time-of-flight method continuously includes light source emitter and light source receiver.Receptor receives from object
The light that body reflects, and measuring the time that light is required between target object to receptor, and thus computing equipment and
Distance between target object.The advantage of this method is that the distance of each object in scene can accurately be measured.
Being limited in that, the power of light emitters has the biggest restriction to measuring while measuring distance or multiple target, and this
The method of kind belongs to invasive and measures.So-called invasive is measured, and refers to that measurement means has influence on measurement target, thus measured target
Perceive；Such as laser, radar, acoustic measurement etc., by measure the signal such as target generation laser with measure target away from
From, but the laser signal sent has influence on measurement target, and also easily measured target perceives.
The image instrument of stereo-picture method generally comprises two photographic head, is used for catching target image.The difference of two width images exists
In parallax angle and equity, these two indexs can be used to measure distance.The advantage of this method is quickly to measure
All target ranges in scene, and be non-invasive measurement.But, this method, in prior art, is the most only used
In the spacing measuring closer object.But, when measure target farther out time, certainty of measurement is not enough.
It is known that triangulation method can be used to measure distance, height and related angle.As far back as 263 years Christian eras, also
Before being exactly about 1800, being proved in drawing as Liu Hui mono-width, the method that this application sight line measures angle has been built
Erect.But, this method can only measure point-to-point situation, and can not measure the institute in scene fast automaticly
There is the distance of object.Photogrammetric method utilizes shooting instrument to survey and draw and monitor, but this method is frequently not real
Time, it is not to be specifically designed to distance correction function.
Utilize digital camera to measure on a large scale, remote advantage has a lot.This method can capture all of information,
Thus calculate in scene the distance between nearly all object, and, this measuring method is non-invasive.And along with meter
Calculating machine technology and the development of great scale integrated circuit, the operand produced therefrom is also inappreciable.
Digital camera is it is well known that and be applied to mobile phone the most more and more and other move and set in prior art
In Bei.The invention of many camera lenses multisensor digital camera has obtained mandate (grant number: the No.6,611,289 of United States Patent (USP)
Title: use the digital camera of many camera lenses multisensor).Inventor: Yu Yanbin et al..In January, 1999, this is first
Individual application utilizes many camera lenses, multi-sensor technology to obtain the patent of digital picture.In this patent, multiple image data
Obtained by multisensor, many camera lenses, and after being processed by image processor, export final image.The many sensings of many camera lenses
The advantage of device technology is a lot, such as high-resolution, HDR, flexible and broad visual angle etc., and can be in the present invention
Obtain best application.
It will be apparent that three below key element will make computer vision scheme based on range finding become feasible: stereo vision method and three
The super large-scale integration of the advanced algorithm of angle, high-speed computer and low-power consumption, and carry the many sensings of many camera lenses
The high digital performance camera of device.This use many camera lenses multisensor carries out distance correction, measures, survey and survey and draw function
New architecture and example, will gradually highlight, and make unprecedented achievement.
Summary of the invention
An object of the present invention is to design a kind of range unit being convenient for measuring.
The two of the purpose of the present invention are that designing one is convenient for measuring, and has the range-measurement system of the expansible length of base.
The three of the purpose of the present invention are to design a kind of distance-finding method being convenient for measuring
By realizing the technical scheme that an object of the present invention is used: a kind of range unit, take the photograph including the first image pickup part and second
Picture portion, wherein the first image pickup part includes one or more pick-up lens and the image sensor corresponding with pick-up lens, second
Image pickup part includes multiple pick-up lens and the image sensor corresponding with pick-up lens；The pick-up lens of the first image pickup part and
The pick-up lens of two image pickup parts is respectively arranged on two surfaces, and two surfaces are positioned at two pedestals or are positioned on same pedestal, and
Angle known to angulation between the two surface；Including signal processor, it is connected with each image pickup part, is used for controlling shooting
The shooting action in portion, and receive the picture signal of sensor shooting and calculate the distance of target object.
Preferably, the angle that said two surface is formed is acute angle, right angle or obtuse angle；Pick-up lens is located at the lateral surface of angle,
Outside towards angle.
Preferably, including identifying device, it is connected with the dismounting of described pedestal.
Preferably, described identification device can be the structures such as spherical, star, polygon, acts primarily as labelling effect, convenient identifies.
Identify that device is connected to the top of the first pedestal by support bar.When calculating the distance between two range units, with two marks
Note device position is for calculating point, thus avoids the excessive problem being inconvenient to identify of range unit.
Preferably, described pedestal is mobile communication terminal.
Preferably, described mobile communication terminal is mobile phone；Described mobile phone is clamshell handset, the pick-up lens of the first image pickup part
It is respectively arranged on fuselage and the lid of clamshell handset with the pick-up lens of the second image pickup part；Or, described mobile phone is straight-plate-type hands
Machine, the pick-up lens of the first image pickup part and the pick-up lens of the second image pickup part are respectively arranged in two stick-type phone, these two
Stick-type phone is connected by snap-in structure.
Preferably, when described mobile phone is stick-type phone, between two stick-type phone, the physical medium by contacting with each other passes
Defeated signal, or wirelessly transmit signal；Real-time or semireal time mode is used to transmit between two stick-type phone
Signal.
Wherein, the physical medium contacted with each other is construed as visible, tangible physical medium.
Mean the transmission of picture rather than the transmission of video semireal time.In field of signal transmissions, the synchronization of photography is required,
General use real-time mode to transmit signal, but the mutual transmission means of image can be non real-time.The transmission one of video
As be real-time, picture is usually non real-time or semireal time.
The either signal transmission form of which kind of mode, reception equipment receives the time of signal, and its time delay is affirmative.Right
For real-time mode, such as voice communication, its time delay is affected by what some parameter limited.But for semireal time, by
Uncertain in the condition of its communication channel, the time every time receiving signal can be different, it is seen that its time delay is uncertain.
As a example by SMS, SMS is a kind of storage and forwards service, say, that the transmission of information is not directly to set from transmission
Preparation delivers to reception equipment, and is forwarded by SMS center all the time.If reception equipment is in not-connected status, then
Information will send when reception equipment is again coupled to.
By realizing the two of the purpose of the present invention technical schemes used it is: a kind of range-measurement system, by two described range units
Composition, the first image pickup part of each range unit is towards target to be measured, and the second image pickup part is towards another range unit；Each survey
Also include that away from device wireless signal transmission receives device, be connected with signal processor, transmission letter between two range units
Number.
Preferably, each range unit all includes identifying device, is connected with pedestal dismounting；Second image pickup part is found range towards another
The identification device of device.
Preferably, the first image pickup part of two range units all includes multiple pick-up lens and the shooting corresponding with pick-up lens
Sensor, different pick-up lenss have different focal lengths.
By realizing the two of the purpose of the present invention technical schemes used it is: a kind of range-measurement system, including two described range finding dresses
Putting and labelling apparatus, the first image pickup part of each range unit is towards target to be measured, and the second image pickup part is towards labelling apparatus；
Each range unit also includes that wireless signal transmission receives device, is connected with signal processor, between two range units
Transmission signal.
Preferably, the first image pickup part of two range units all includes that multiple pick-up lens and the shooting corresponding with pick-up lens pass
Sensor, different pick-up lenss have different focal lengths.
Preferably, described labelling apparatus is provided with multiple label, and different labels have different colours.Label can be
The structures such as spherical, star, polygon, act primarily as labelling effect, convenient identify.
By realizing the three of the purpose of the present invention technical schemes used it is:
Scheme one
A kind of distance-finding method, including range unit, the method comprises the steps:
Step one, choosing the first shooting point, range unit is placed in the first shooting point, the first image pickup part is towards target to be measured, place
Reason device controls the first image pickup part shooting, it is thus achieved that the shooting image of target to be measured；
Step 2, choose the second shooting point, range unit be placed in the second shooting point, the first image pickup part towards target to be measured,
Two image pickup parts are towards the first shooting point, and processor controls the first image pickup part and the second image pickup part shoots simultaneously, it is thus achieved that target to be measured
Shooting image with the first shooting point；
Step 3, processor calculate the first shooting point and the second shooting point according to the image of the first shooting point that step 2 obtains
Distance, draws the first shooting point and the length of base of the second shooting point.
Step 4, processor according to the shooting image of the target to be measured obtained in step one, calculate with the first shooting point as summit,
The size of the angle as limit with baseline and target direction to be measured；Processor is according to the shooting figure of the target to be measured obtained in step 2
Picture, calculates the size of the angle as limit with the second shooting point as summit, with baseline and target direction to be measured；
Corner dimension that step 5, processor calculate according to above-mentioned steps and the length of base, utilize the principle of triangle edges angular dependence
Calculate the distance between target to be measured and two shooting points.
Scheme two
A kind of distance-finding method, including range unit and identification device, the method comprises the steps:
Step one, choose the first shooting point and the second shooting point；
Step 2, range unit being placed in the first shooting point, and identify that device is placed in the second shooting point, the first image pickup part is towards treating
Surveying target, the second image pickup part is towards identifying device；Processor controls the first image pickup part and the second image pickup part shoots simultaneously, it is thus achieved that
First group of target to be measured and the shooting image of identification device；
Step 3, range unit being placed in the second shooting point, and identify that device is placed in the first shooting point, the first image pickup part is towards treating
Surveying target, the second image pickup part is towards identifying device；Processor controls the first image pickup part and the second image pickup part shoots simultaneously, it is thus achieved that
Second group of target to be measured and the shooting image of identification device；
Step 4, processor calculate the first shooting point and second according to the shooting image of first group or second group identification device respectively
The distance of shooting point, takes the meansigma methods of twice calculating, draws the first shooting point and the length of base of the second shooting point；
Step 5, processor, according to the shooting image of first group of target to be measured, calculate with the first shooting point as summit, with baseline
Size with the angle that target direction to be measured is limit；Processor, according to the shooting image of second group of target to be measured, calculates with the
Two shooting points are summit, the size of the angle as limit with baseline and target direction to be measured；
The size of two angles that step 6, processor calculate according to step 5, and the length of base that step 4 calculates, utilize
The principle of triangle edges angular dependence calculates the distance between target to be measured and two shooting points.
Preferably, described identification device is pointing object, or article known to length.Wherein pointing object, such as spherical shape or near
Object like spherical shape.Article known to length, as shaft-like or approximate shaft-like object, on it, the distance between 2 is
Know.Pointing object can also be located on length known object, such as the two ends of rhabodoid.
Scheme three
A kind of distance-finding method, including range-measurement system, range-measurement system includes the first range unit and the second range unit, the method bag
Include following steps:
Step one, choose the first shooting point and the second shooting point；
Step 2, the first range unit are placed in the first shooting point, and the second range unit is placed in the second shooting point；Two range units
The first image pickup part towards target to be measured, the second image pickup part is towards another range unit；
Step 3, processor control all image pickup parts of two range units and shoot simultaneously, it is thus achieved that shooting image；
The picture signal that shooting is obtained by step 4, one of them range unit is by the physical medium contacted with each other or by wireless
Signal sending and receiving apparatus is transferred to another range unit, and this range unit receiving shooting image is main range unit；
The figure that step 5, main range unit obtain according to the second image pickup part shooting of the first range unit or the second range unit respectively
As calculating the first shooting point and the distance of the second shooting point, take the meansigma methods of twice calculating, draw the first shooting point and second
The length of base of shooting point；
Step 6, main range unit obtain according to the first image pickup part shooting of the counted length of base of step 5 and two range units
The image of target to be measured, calculate target to be measured and the distance of two shooting points.The computational methods of this step are with reference to above-mentioned side
The step 5 of distance-finding method described in case two and step 6.
Preferably, including the step of correction: before shooting, each image pickup part is corrected, record its focal length and focal aperture
The actual measurement angle that in parameter, and sensor, location of pixels is corresponding；The data of correction entries are transferred to range unit, are used for
Revise the result of calculation of main range unit.
Preferably, according to the length of counted baseline and target to be measured and the distance of two shooting points, the first shooting point is again chosen
With the second shooting point, make the length of baseline more than target to be measured and 1/10th of two shooting point distances, repeat step 2 extremely
Step 6, is now surveyed as final result.
Scheme four
A kind of distance-finding method, including range-measurement system, range-measurement system includes the first range unit, the second range unit and labelling dress
Putting, the method comprises the following steps:
Step one, choose the first shooting point and the second shooting point；
Step 2, the first range unit are placed in the first shooting point, and the second range unit is placed in the second shooting point, and labelling apparatus is placed in
Between two shooting points；First image pickup part of two range units is towards target to be measured, and the second image pickup part is towards labelling apparatus；
Step 3, processor control all image pickup parts of two range units and shoot simultaneously, it is thus achieved that shooting image；
The picture signal that shooting is obtained by step 4, one of them range unit is by the physical medium contacted with each other or by wireless
Signal sending and receiving apparatus is transferred to another range unit, and this range unit receiving shooting image is main range unit；
The image of the labelling apparatus that step 5, main range unit obtain according to two range unit shootings, calculates the first shooting point
The length of base with the second shooting point；
Step 6, main range unit obtain according to the first image pickup part shooting of the counted length of base of step 5 and two range units
The image of target to be measured, calculate target to be measured and the distance of two shooting points.The computational methods of this step are with reference to above-mentioned side
The step 5 of distance-finding method described in case two and step 6.
Preferably, including the step of correction: before shooting, each image pickup part is corrected, record its focal length and focal aperture
The actual measurement angle that in parameter, and sensor, location of pixels is corresponding；The data of correction entries are transferred to range unit, are used for
Revise the result of calculation of main range unit.
Preferably, according to the length of counted baseline and target to be measured and the distance of two shooting points, the first shooting point is again chosen
With the second shooting point, make the length of baseline more than target to be measured and 1/10th of two shooting point distances, repeat step 2 extremely
Step 6, is now surveyed as final result.
Preferably, described labelling apparatus is pointing object, or article known to length.Wherein pointing object, such as spherical shape or approximation
The object of spherical shape.Article known to length, as shaft-like or approximate shaft-like object, on it, the distance between 2 is known
's.Pointing object can also be located on length known object, such as the two ends of rhabodoid.
Preferably, image pickup part described herein obtains the image of target to be measured and includes, obtains by the way of taking pictures, or logical
Cross the mode of image in camera shooting and video that intercepts to obtain；For example, it is possible to shooting video limit, limit intercepts the image in video, the most in fact
The effect of existing real time distance is more preferable.
The present invention is to have distance-finding method and the distance-measuring equipment of many camera lenses multisensor.Range unit is by two or more
Camera lens and sensor group composition, and complete multiple triangle according to the image sets of image produced by equipment or many group instrument generations
Operation calculates.This instrument gathers the image of target object and reference point simultaneously, can accurately measure and encoding target object again
And the angle between datum line.This instrument can be automatically found corresponding point and use trigonometric calculations distance.The method is the tightest
Sincerely, quickly, accurately, and can high accuracy, efficiently perform range finding in wide-measuring range.
The present invention is the invention of a shooting range-measurement system, which overcomes by multiple devices and the solid of numeral signal processing mode
The problem of the short baseline of vision measurement system.It is one based on digital camera and the Range Measurement System of non-intrusive measurement, should
The baseline real-time computing technique that system has flexibly and expands, thus obtain the measurement data of high-precision distance or other information.
Expand baseline can by the multi-lens camera of two or more with consistent mode collaborative work, and by measure in real time with
Calculate and obtain.
Accompanying drawing explanation
Fig. 1 is the front view of embodiment of the present invention range unit
Fig. 2 is the rear view of embodiment of the present invention range unit
Fig. 3 is the structural representation of embodiment of the present invention range unit
Fig. 4 is the range measurement principle schematic diagram of embodiment of the present invention range unit
Fig. 5 is the range measurement principle schematic diagram of embodiment of the present invention range unit
Fig. 6 is the range measurement principle schematic diagram of embodiment of the present invention range unit
Fig. 7 is the fundamental diagram that embodiment of the present invention range unit application label calculates the length of base
Fig. 8 is the structural representation of this labelling apparatus
Fig. 9 is the fundamental diagram that embodiment of the present invention range unit application label calculates the length of base
Figure 10 is the principle schematic that embodiment of the present invention range unit calculates visual angle value
Detailed description of the invention
Below in conjunction with the accompanying drawings the detailed description of the invention of the present invention is described further:
As depicted in figs. 1 and 2, for a kind of embodiment of the present invention, the structural representation of range unit, including the first pedestal 1
With the second pedestal 2, in the present embodiment, the first pedestal 1 and the second pedestal 2 are plate-like structure, and are arranged in a mutually vertical manner.Two bases
The outside of seat is equipped with multiple photographic head, is respectively the first described image pickup part and the second image pickup part.
As it is shown in figure 1, be uniformly provided with five photographic head on the lateral surface of the first pedestal 1, including two long-focus shootings
4 and three short focus photographic head 3；Also it is uniformly provided with five photographic head 5 on the lateral surface of the second pedestal 2, is short focus
Photographic head.Fig. 1 also including, one identifies device 6, specially one spherical identification device, is located at the upper of the first pedestal 1
Side, as calculating the end points of the length of base between two range units.
As in figure 2 it is shown, the medial surface of the first pedestal 1 is provided with LCD display 8, it is used for showing, operating, touch-control etc..Aobvious
Display screen is arranged over operating the button 7 of this range unit work.
As it is shown on figure 3, be the simplification structural representation of Fig. 1 and embodiment illustrated in fig. 2, in figure, four camera lenses and sensor divide
Become two groups, be operated in the face of different directions.First pedestal 1 and the second pedestal 2 are mutually perpendicular to, on the first pedestal 1
Photographic head includes lens 31 and sensor 32, and the photographic head on the second pedestal also includes lens 51 and sensor 52, all takes the photograph
Process as the data of head shooting are all transferred to signal processor 9 centralized computing.In figure, label 10 is photographic subjects, dotted arrow
12 is opticpath, and solid arrow 11 is data wire；Photographic subjects 10 by lens imaging on a sensor, sensor with
Signal processor 9 connects, and the picture signal received is transferred to signal processor 9.
The range unit of Fig. 3 has the function of the image information of two views in acquisition of same time both direction.Wherein one
Camera lens and sensor group on individual pedestal are used for measuring the length of base, the distance between i.e. two range units, usually two groups
Camera lens and sensor work measurement baseline simultaneously, in some cases, only needs one of which camera lens and sensor can measure base
The length of line.When multiple lens focus are at single body, they cooperate in harmony, to obtain property more more preferable than individual equipment
Energy.Signal processor 9 in figure receives and processes the data from four sensors.When two range units work simultaneously,
Need exist for a view data transmitting device wirelessly or non-wirelessly, view data is sent to all two or one of them
In range unit.
Specifically, signal processor 9, it is responsible for view data is processed, in the present embodiment, it is right that processor 9 is also responsible for
Many camera lenses and the control of multisensor video camera, the photographic head on two pedestals is respectively directed to different directions, these two groups shootings
Angle between Tou can be fixing, it is also possible to carries out high-precision configuration or adjustment.If in order to obtain higher spatial discrimination
Rate, this operating mechanism can be easy to be extended to the configuration mode of more camera lens, more multisensor, as used length simultaneously
Zoom lens and the situation of wide-angle lens.
The range unit of the present embodiment also has Synchronization Control, to guarantee that two range units can be taken pictures simultaneously.At specific mould
Under formula, only use a wherein table apparatus, now static to liking.Other function of the present embodiment photographic head is commonplace,
Such as auto-exposure control, auto-focusing (or manually focusing) etc..
For other embodiment, the range unit of the present invention, at least should there be two groups of camera lenses and sensor, be distributed in two
In individual plane (the first and second pedestals of corresponding previous embodiment)；At least a part of which has one group of camera lens and sensor to focus on to be measured
In target；Angle between camera lens and two planes at sensor place is fixing or set in advance, or is adjustable mould
Formula.Can be more than two for said two plane, the camera lens of each plane and the number of sensor group；As a rule,
It is responsible for performing camera lens and the number at least two of sensor group of that plane that baseline calculates, therefore, it can with for the moment
Between directly measure the angle and distance between two devices, calculate baseline；Additionally, be responsible for that of shooting calculating target to be measured
Plane, needs one or more camera lens and sensor group, in order to preferably measure elevation information.
First and second pedestals of the present embodiment range unit can be two turnover panels of clamshell phone in the market, is turning over
The lateral surface of lid mobile phone arranges camera lens and identifies device, has conveniently, practical, the effect easily promoted the use of.Additionally, first
Can also is that two bar phones or panel computer are connected by the assembling mode of engaging with the second pedestal to be formed, existing directly
On the basis of wrench machine or panel computer, buckle is set so that it can be used in combination, now, can specify when processing data
A wherein bar phone or panel computer centralized calculation；Additionally, while buckle is set, it is also possible to data-interface is set and enters
The communication that row is mutual, the most also can use the mode communication being wirelessly transferred.
It is known that the distance that two camera lenses utilize the principle of parallax and Triangle Model calculating can measure target object, but by
In equipment and human factors, the precision of the distance measured by the camera lens of two fixed bases, the change with distance is big and is deteriorated.
That is, the most remote when target object distance camera lens, the distance Size Error that camera lens records is the biggest.Just look like the situation of eye-observation,
When estimating the object within 10 meters, it is possible to accurately estimate its distance；But when estimating the object beyond a kilometer, estimate
It is the biggest that the error calculated becomes.
Inventor analyzes through calculation, finds that the distance (referring to so-called baseline) between two camera lenses is the biggest, under square one
The error of the target object distance measured is the least.The present embodiment is a portable range unit.Consult relevant when us now
Pattern time, we are it is found that on different views, have the most similar number corresponding with similar master drawing.
Obviously, triangulation can utilize below equation to calculate distance:
Z=c* (f*p)/b (1)
Wherein, coefficient c is determined by multiple factors, can determine at correction link；F is the focal length of camera lens；P is same target
The observation check value of two images；B is the distance between two camera lenses, such as the length of baseline.
Corresponding one group of given parameter, then being expressed as follows of single order deviation:
δ z=(c*f/b) * δ p-(c*f*f*p/b2)*δb (2)
Here, other several methods are had can to improve the degree of accuracy of range measurement.Wherein, check value the deviation caused is
Cause the main cause of final error.Calculating depth distance, and when measuring when distant, one or the fewest
Check value in a pixel can cause great calculating error.We can extend focal distance f, to improve odd even measurement verification
Accuracy.But, so long focal length the most also can the visual field of confining device, further become simultaneously heavy and cannot be flexible
Use.Such as, conventional camera lens has the visual angle of 60 °.If using the telephoto lens of 100 multiples, then its visual angle
Also 1/10th of the most conventional camera lens, the visual angle of the most only 6 °.The most on the other hand, this long-focus
Method can also be applied by appropriateness, or and other mode be used in combination.As in the present embodiment, the many biographies of camera lens more than
Sensor camera can ensure that big observation visual angle and high-precision observation effect.This camera can use at different directions simultaneously
Different focal, as a direction uses standard focal length, another direction uses the focal length (zoom factor of 2-3 times) of 4-10X.
And odd even resolution can also rise to fine definition from single-definition, as risen to 3000 from 512.
Here there is the detailed description of the stereo matching algorithm of the shorter baseline of a set of employing.
The performance parameter of a kind of existing system is described as follows:
Configuration: 22cm baseline, the visual angle of 512 × 372,40 °
Effective working range: 2.7 meters 35 meters；
Range resolution ratio: reach 0.01 meter when 3 meters, reaches 1.1 meters when 38 meters；
Spatial resolution: reach 0.004 meter when 3 meters, reaches 0.05 meter when 38 meters；
Imaging: Micron MT9V022 cmos imager；
Use global shutter.
Wherein, range resolution ratio refers to the resolution in depth direction, and spatial resolution refers to horizontal resolution.
It can be seen that when the distance of object of finding range becomes big, error increases the most simultaneously.Here there are two reasons:
Even if 1 angular resolution is constant, spatial resolution also reduces；
2, longer distance, parallax becomes more and more less.For a given baseline (such as 22cm), when distance is from 3 meters
Changing to 38 meters, spatial resolution is also changed to 0.05 meter by 0.004 meter, the most about 12 times.But distance now
Resolution but changes to 1.1 meters from 0.01 meter, the most about 110 times.By contrasting identical data, can push away easily
Go out, if using varifocal camera lens (camera lens of direction employing a 4X, 2X wherein) and the high-resolution of 6 mega pixels
Degree sensor (3000 × 2000), then in the case of not changing baseline, resolution can be improved 12 times.Such as,
If baseline to be increased to 22 meters, then it is remote that range finding distance will be added to a few km.As it is shown in figure 1, in the many sensings of many camera lenses
In the configuration of device, the camera lens of different focal can be used simultaneously, and all advantages that Radix Rumicis and High-precision angle are measured can
Had simultaneously.
From formula (2) it can be seen that the parallax caused by verification measurement error is inversely proportional to the length of baseline.So, base
Line is the longest, and final error will be the least.Further, it is seen that, verification the error ratio caused by baseline itself cause final
Error wants sensitivity much.It practice, final error only square being directly proportional with baseline self.Therefore, we can draw one
Individual conclusion, that is, the more effective way improving range measurement is the baseline of expansion system.
The range measurement principle of the present embodiment:
What Fig. 4 described is the schematic diagram of stereo-visiuon measurement distance.If two camera lenses 13 and sensor 14 are installed to same
On one device, then setting angle α, β and distance R between two sensors are known.Therefore, just can easily count
Calculate the distance measuring target 10.It practice, here it is utilize stereocamera to measure the basic framework of distance.But, by
In being limited by the limited length of base, this kind of device only has limited resolution of ranging.
Fig. 5 is shown that the range unit of the improvement of a baseline R having flexibly and extend, one of which lens 13 and biography
Sensor 14 can around another group lens and sensor rotation, the most also can rotation, thus visual angle is adjusted flexibly.As Fig. 4's
One improvement project, if angle [alpha] and angle beta can be measured accurately, then just can calculate the distance measuring target 10.
Owing to extending baseline R, therefore the certainty of measurement of distance is also enhanced.But, when two camera lenses 13 and sensor 14 do not exist
Time on same range unit, how to measure angle [alpha] and angle beta is only the thing of true difficulty.Although in some sense, two
Individual range unit can record high-precision angle value with additive method, such as uses astronomical observation.
Range unit shown in Fig. 6 is the use example in actual environment, uses series system between two range units in figure
Work.Each range unit has one to identify device, observes for another equipment.The range unit on the left side and the right is same
Same object 10 is respectively taken a picture by one time.View data is concentrated in one of them range unit and processes.Base
Line 15 can be recorded by any of which device, or jointly recorded to reduce mistake by two devices as far as possible.It is then possible to
By angle [alpha] and angle beta, measure the distance between object 10 and range unit.In Fig. 6,13 is lens, and 14 is sensor.
In the example of Fig. 6, lens and sensor group towards object 10 only have one group.
Fig. 7 is the schematic diagram of a 2D plane interior extension baseline, i.e. assumes that all of object is at same plane.Here
Having two independent range units, two labelling point 10-2 and 10-3 are positioned at the middle part of two devices, two labelling points it
Between length L1 it is known that for calculating the length of baseline 15.When being concentrated in wherein one from the view data of two devices
When processing in individual device, the value of baseline 15 will be first calculated and obtain.Then, object 10-1 to be measured and arbitrary range finding dress
Distance between putting also can measured obtain.In Fig. 7,13 is lens, and 14 is sensor；Angle [alpha] and angle beta are respectively treated
Survey object 10-1, angle between range unit and labelling point 10-2, angle, θ and angle γ be respectively two range units and
Labelling point angle between 10-2,10-3；L2 is that labelling point 10-2 is to base on the direction of two labelling point place straight lines
The distance of line 15.
Fig. 8 is a 3D labelling apparatus 10, and it is with 3 marker a, b, c that can be used to do distance correction, in figure
Known to distance between those identification points and the angle between line.It is as the aid of range finding, when using it to find range, and will
It is placed between two range units, and each range unit independent measurement calculates the distance between itself and each label and angle,
Thus calculate the parallax range between two range units further.
Shown in Fig. 9 is that the situation of 3D range finding, highly (z) also should be considered into.Two, left and right range unit obtains labelling
Point 10a, 10b and 10c, the image of object 10d the most to be measured.Distance and angle between labelling point are all known,
The situation of 3D, if two range units are not in same level, it is necessary to obtain the length of 10a-10b and 10b-10c,
Thus calculate the length of base between two range units.Based on the survey calculation to L1, L2 and L3, just can calculate
The value of the datum line between C1 and C2.Then, it is possible to according to the angle [alpha] recorded and angle beta, try to achieve to be measured to be measured right
Distance as 10d.In figure, angle, θ and angle γ are respectively two range units and labelling point angle between 10a, 10b.
Figure 10 illustrates in sensor plane (measuring object plane is also) upper association between pixel compensation and angle.Permissible
The value at the visual angle between two objects corresponding in pixel compensation image is calculated with this association.In Figure 10,13 is lens, 14
For sensor.
Digital camera is considered a kind of extended capability of the mankind, is used for measuring the angle of two objects in Same Scene.
Shown in Figure 10, the pixel differences (compensation) that the angle of triangle relevant with object in image is corresponding.It can be seen that this
A little angle difference are not consistent, but by the pixel decision of position relatively in image.If two figures are by two, one group of band
The device picked-up of camera lens and sensor, then the pixel verification differential seat angle of same target will be consistent.
Angular surveying and the relation of pixel compensation measurement method in Figure 10 can be described as follows:
A small objects Δ for object plane, it is assumed that the angle of its correspondence is α, in sensor plane, correspondence is little partially
Shifting amount is δ.
Δ=R* (tg (γ+α)-tg (γ))
=R*sin (α)/(cos (γ) * cos (γ+α))
=R*sin (α)/(cos (γ) * (cos (γ) cos (α)-sin (γ) sin (α)))
When γ=0, then:
Δ=R*sin (α)/cos (α)
=R*sin (α) is if the value of α is the least
So, α=sin-1(Δ/R)
When the standard viewing angle of γ=30 ° camera lens, then:
Δ=R*sin (α)/(√ 3)/4* (((√ 3) cos (α)-sin (α))
=R*sin (α)/(3/4) is if the value of α is the least
Therefore, α=sin-1(4Δ/3R)
Wherein, √ 3 represents the meaning to 3 extracting operations, sin-1For arcsin function.
It means that for any pixel of sensor plane, if visual angle increases, then corresponding Space Angle also increases.Logical
Often, geometric distortion (TV distortion) scope of camera lens is 2-0.1%, is greater than the distortion factor of a pixel.Therefore, Wo Menke
To use other mechanism control and minimize aliasing, such as electronic calibration etc..
The precision of above-mentioned angular surveying and pixel compensation measurement result is affected by camera lens and sensor mass, therefore, it can
The more preferable equipment of suitable use is to obtain higher performance.Such as, the amount of pixels of horizontal direction can be from single-definition
640px is adjusted to 3000px.
The parameter of a kind of Typical Disposition of the present embodiment range unit is:
Configuration: 60 ° of baseline 6.5-30cm visual angle；
Effective range: 1-3500 rice；
Spatial resolution: 0.001m3m to 0.5m3500m；
Resolution of ranging: 0.01m3m to 3m3500m (baseline is 350 meters)；
Optics: focal length: 6-25mm；
Imaging device: many cmos imagers (2000 × 3000) of 6 mega pixels.
The present embodiment has multiple function, according to the precision needed for measuring, selects different occupation modes.
When needing the distance measuring closer object, within 100 meters, the range unit only needing a present embodiment is independent
Work, measured the distance of the object meeting required precision by the cooperation of two camera lenses, as shown in Figure 4 and Figure 5.
When needing the distance measuring remote object, beyond 1 kilometer, for reaching preferably certainty of measurement, need to increase
The length of baseline between two camera lenses, now can use the range unit of two the present embodiment, these two range unit phase interworkings
Closing and use, the distance between it is the length of baseline.So can obtain the length of base of extension within such as 100 meters,
Compare the baseline of original single range unit, substantially increase the precision of range finding.In existing equipment, the length of base is subjected to
The shape of equipment itself, the restriction of size, for portable set, the length of its baseline generally not more than 10 meters.As needed
Being further added by the length of baseline, this is that existing equipment is out of the question.The range unit using the present embodiment obtains bigger base length
When spending, the first pedestal of range unit is towards object under test, for shooting the image of object to be checked；Second pedestal is towards another
Individual range unit, the second pedestal of two range units is relative to each other, for measuring the distance between two range units.With
The image of the photographic head shooting on the first pedestal of one range unit can be used for deblurring and processes, the first base of different range units
The image of seat shooting can be used for calculating the distance of object under test.The length of base between two range units is to identify between device
Distance is as the criterion.The mode that two range units work simultaneously, simple, quick, real-time, it is particularly suited for the survey of moving object
Away from work.As shown in Figure 6.
If remote object to be measured is static, user can also be only with the range unit an of the present embodiment
Complete the task of precision distance measurement.Operating as follows, user first takes the photograph to obtain the image of object under test at A point, then goes to B point
The image of picked-up object under test, it is thus achieved that the distance of A, B point, and shooting angle, calculates through computer and can draw determinand
The distance of body.The mode obtaining A, B point distance has, and artificially measures, but this mode is the most inconvenient；More excellent, can be by
Identification device on range unit takes off and is put in A point, then uses the photographic head on the second pedestal of range unit to clap at B point
Take the photograph, utilize range unit itself to record the distance of A, B point.
When needing further exist for measuring farther distance, beyond 10 kilometers, the precision good for continuing holding, need into one
Step increases the length of baseline, as the length of base increases to even more than 1 kilometer of hundreds of rice, upper two sections of described measurement baselines
Method be not suitable with.Label, as shown in Figure 7, Figure 8 and Figure 9, mark can have been set in advance between two range units
If the distance between each reference point of note thing is it is known that the reference point of more than three, then angle between reference point it is known that
Second pedestal of two range units all towards label, measure respectively the angle each and between the reference point of label and away from
From, more comprehensively calculate the distance between two range units, so substantially increase precision when measuring baseline.Arrange multiple
Reference point, can cooperate with each other and calculate and reduce error further.
When big object measured by needs, such as building, mountain etc., now need the camera lens of long and short focal length simultaneously with the use of.Mirror
The focal length of head has the relation of contradiction, the camera lens of longer focal length with the visual angle of camera lens and range resolution ratio, has preferable distance
Resolution, but its visual angle is less, if desired for the object measured bigger time, even can not completely object be filmed；But
Although the camera lens of shorter focal length has wider visual angle, but its range resolution ratio is poor, when Measuring Object hypertelorism, and nothing
Method meets the requirement of precision.Photographic head on range unit first pedestal of the present embodiment has different focal lengths, different focal
Photographic head can work simultaneously, cooperating each other, visual angle is little and the impact of Range resolution rate variance to reduce.
The detailed description of the invention of distance-finding method of the present invention is as follows:
For each many camera lenses and multisensor group, the number of camera lens and sensor can be more than two.As a rule,
It is responsible for performing camera lens of that group of baseline calculating and the number of sensor has two, the most.Therefore, it can same
Time directly measures the angle and distance between two devices.In addition it is also necessary to one or several camera lenses many and sensor are used for
Measure the distance of target, in order to preferably elevation information is measured.
This device has synchronization mechanism, to guarantee that two table apparatus can be taken pictures simultaneously.Under specific circumstances, wherein one is only used
Table apparatus is now static to liking.Other camera apparatus is commonplace, such as auto-exposure control, auto-focusing (or
Artificial focusing) etc..
Wirelessly photo opporunity is synchronized between two range units, and exchange image data upon taking a picture.By
The real-time clock of oneself is had, it is possible to pre-set program performs all operations in each device.
In other embodiment, it is also adopted by wireless mode, such as high-precision GPS or similar system, Local wireless network or phase
Like system, time-of-flight method and optical triangulation can be used to measure and confirm the value of baseline.Reference known to other
Point, as the sun, the moon, geometry reference point and control point, or mutual reference point can be used to accurately obtain between device
Angle value between position and angle, or object apparatus relatively.Accordingly, it is capable to thus perform more preferable range operation.Additionally,
Shooting of the present invention obtains the image of range finding object, and its style of shooting should include the photo directly shooting range finding object, with
And intercept the picture in the video of shooting range finding object.
Method describes: in the present embodiment, the most first correct range unit.After calibration, user can be set by an object
Good one of which camera lens and the parameter of sensor, base line measurement is then carried out by another group camera lens and sensor by other device
Arrange.After taking pictures simultaneously, intercourse view data between two groups of devices, thus calculate the value of baseline and distance.In detail
Operating process be described as follows:
1, calibration: for a given setting, such as focal length and the parameter of focal aperture, need each pixel to sensor
It is corrected, and records.The actual measurement angle that location of pixels is corresponding also can be recorded, and is embodied in final calculating.
All of error, as the factors such as lens aberration, systematic error and installation deviation are all recorded.Need in horizontal and vertical
Direction corrects respectively.Two groups or more camera lens and sensor can be used in measurement in space, before computed range, also want
It is corrected by the measurement of actual range.Some parameter, as the distance between camera lens and sensor will set and school especially
Just.The numerical value of correction is using the built-in storage data as device.
2, configuration equipment: for the range finding of object in scene, using two range units, two range units work in series connection
Pattern.The length of base between two range units at least should by range finding from 1/10th, guarantee is preferably surveyed
Accuracy of measurement.One group of camera lens of range unit and sensor facing to range finding object, another group then facing to another range unit (or
Person's labelling apparatus, reference point).
3, object and other range units are taken pictures: guarantee that all relevant camera lenses and sensor are all adjusted to good suitable
State.Generally, shoot two groups of camera lenses of same target and be preferably provided with same or analogous parameter and arrange, such as time of exposure,
To reduce the pixel matching process in later stage.In specific time, place, two range unit totally four groups of camera lenses are taken pictures simultaneously.
4, by wireless or other modes, view data is transferred in processor: the picture number that one of them range unit is obtained
According to, together with relevant description, error with arrange parameter, during such as the angle between two groups of camera lenses, aperture, zoom factor, exposure
Between, correction data etc., be transferred to together on another range unit.Carried out data collection by a range unit and performed
Data process.
5, calculate baseline value: first pass through this range unit obtain image data information to calculate baseline, then by another
The view data of range unit is verified and confirms.
6, computed range: to a given object, first pass through stereo matching algorithm, such as estimation, finds out two
The respective pixel collection of the target of range unit shooting.Then the angle between baseline and object is calculated.And then calculate object
Distance.
Return to the 3rd step, then calculate once, thus verify and improve ranging data.
The announcement of book and teaching according to the above description, above-mentioned embodiment can also be entered by those skilled in the art in the invention
Row change and amendment.Therefore, the invention is not limited in detailed description of the invention disclosed and described above, to the present invention
A little modifications and changes should also be as falling in the scope of the claims of the present invention.Although additionally, this specification employing
Some specific terms, but these terms are merely for convenience of description, and the present invention does not constitute any restriction.
Claims (18)
1. a range unit, it is characterised in that: including the first image pickup part and the second image pickup part, wherein the first image pickup part includes
One or more pick-up lenss and the image sensor corresponding with pick-up lens, the second image pickup part include multiple pick-up lens with
And the image sensor corresponding with pick-up lens；
The pick-up lens of the first image pickup part and the pick-up lens of the second image pickup part are respectively arranged on two surfaces, and two surfaces are positioned at two
Pedestal or be positioned on same pedestal, and angle known to angulation between the two surface；
Including signal processor, it is connected with each image pickup part, for controlling the shooting action of image pickup part, and receives sensor shooting
Picture signal and calculate the distance of target object；
The angle that said two surface is formed is acute angle, right angle or obtuse angle；Pick-up lens is located at the lateral surface of angle, towards angle
Outside.
Range unit the most according to claim 1, it is characterised in that: include identifying device, with the dismounting of described pedestal even
Connect.
Range unit the most according to claim 1, it is characterised in that: described pedestal is mobile communication terminal.
Range unit the most according to claim 3, it is characterised in that: described mobile communication terminal is mobile phone；
Described mobile phone is clamshell handset, and the pick-up lens of the first image pickup part and the pick-up lens of the second image pickup part are respectively arranged on and renovate
On the fuselage of formula mobile phone and lid；Or,
Described mobile phone is stick-type phone, and the pick-up lens of the first image pickup part and the pick-up lens of the second image pickup part are respectively arranged on two
In stick-type phone, these two stick-type phone are connected by snap-in structure.
Range unit the most according to claim 4, it is characterised in that: when described mobile phone is stick-type phone, two are straight
By the physical medium transport signal contacted with each other between board-like mobile phone, or wirelessly transmit signal；Two straight plates
Real-time or semi-real time processing mode is used to transmit signal between formula mobile phone.
6. the range-measurement system of the range unit applied described in claim 1, it is characterised in that: by two described range findings
Device forms, and the first image pickup part of each range unit is towards target to be measured, and the second image pickup part is towards another range unit；Often
Individual range unit also includes that wireless signal transmission receives device, is connected with signal processor, passes between two range units
Defeated signal.
Range-measurement system the most according to claim 6, it is characterised in that: each range unit all includes identifying device, with
Pedestal dismounting connects；Second image pickup part is towards the identification device of another range unit.
8. the range-measurement system of the range unit applied described in claim 1, it is characterised in that: include two described surveys
Away from device and labelling apparatus, the first image pickup part of each range unit fills towards target to be measured, the second image pickup part towards labelling
Put；Each range unit also includes that wireless signal transmission receives device, is connected with signal processor, for two range units
Between transmit signal.
9. according to the range-measurement system described in claim 6 or 8, it is characterised in that: the first image pickup part of two range units is equal
Including multiple pick-up lenss and the image sensor corresponding with pick-up lens, different pick-up lenss have different focal lengths.
Range-measurement system the most according to claim 8, it is characterised in that: described labelling apparatus is provided with multiple labelling
Thing, different labels have different colours.
11. 1 kinds of distance-finding methods, application range unit described in claim 1, it is characterised in that the method includes as follows
Step:
Step one, choosing the first shooting point, range unit is placed in the first shooting point, the first image pickup part is towards target to be measured, place
Reason device controls the first image pickup part shooting, it is thus achieved that the shooting image of target to be measured；
Step 2, choose the second shooting point, range unit be placed in the second shooting point, the first image pickup part towards target to be measured,
Two image pickup parts are towards the first shooting point, and processor controls the first image pickup part and the second image pickup part shoots simultaneously, it is thus achieved that target to be measured
Shooting image with the first shooting point；
Step 3, processor calculate the first shooting point and the second shooting point according to the image of the first shooting point that step 2 obtains
Distance, draws the first shooting point and the length of base of the second shooting point；
Step 4, processor according to the shooting image of the target to be measured obtained in step one, calculate with the first shooting point as summit,
The size of the angle as limit with baseline and target direction to be measured；Processor is according to the shooting figure of the target to be measured obtained in step 2
Picture, calculates the size of the angle as limit with the second shooting point as summit, with baseline and target direction to be measured；
Corner dimension that step 5, processor calculate according to above-mentioned steps and the length of base, utilize the principle of triangle edges angular dependence
Calculate the distance between target to be measured and two shooting points.
12. 1 kinds of distance-finding methods, application range unit described in claim 1, this range unit also includes identifying device,
It is characterized in that the method comprises the steps:
Step one, choose the first shooting point and the second shooting point；
Step 2, range unit being placed in the first shooting point, and identify that device is placed in the second shooting point, the first image pickup part is towards treating
Surveying target, the second image pickup part is towards identifying device；Processor controls the first image pickup part and the second image pickup part shoots simultaneously, it is thus achieved that
First group of target to be measured and the shooting image of identification device；
Step 3, range unit being placed in the second shooting point, and identify that device is placed in the first shooting point, the first image pickup part is towards treating
Surveying target, the second image pickup part is towards identifying device；Processor controls the first image pickup part and the second image pickup part shoots simultaneously, it is thus achieved that
Second group of target to be measured and the shooting image of identification device；
Step 4, processor calculate the first shooting point and second according to the shooting image of first group or second group identification device respectively
The distance of shooting point, takes the meansigma methods of twice calculating, draws the first shooting point and the length of base of the second shooting point；
Step 5, processor, according to the shooting image of first group of target to be measured, calculate with the first shooting point as summit, with baseline
Size with the angle that target direction to be measured is limit；Processor, according to the shooting image of second group of target to be measured, calculates with the
Two shooting points are summit, the size of the angle as limit with baseline and target direction to be measured；
The size of two angles that step 6, processor calculate according to step 5, and the length of base that step 4 calculates, utilize
The principle of triangle edges angular dependence calculates the distance between target to be measured and two shooting points.
13. distance-finding methods according to claim 12, it is characterised in that: described identification device is pointing object, or
Article known to length.
14. 1 kinds of distance-finding methods, application range-measurement system described in claim 6, range-measurement system includes the first range unit
With the second range unit, it is characterised in that the method comprises the following steps:
Step one, choose the first shooting point and the second shooting point；
Step 2, the first range unit are placed in the first shooting point, and the second range unit is placed in the second shooting point；Two range units
The first image pickup part towards target to be measured, the second image pickup part is towards another range unit；
Step 3, processor control all image pickup parts of two range units and shoot simultaneously, it is thus achieved that shooting image；
The picture signal that shooting is obtained by step 4, one of them range unit is by the physical medium contacted with each other or by wireless
Signal sending and receiving apparatus is transferred to another range unit, and this range unit receiving shooting image is main range unit；
The figure that step 5, main range unit obtain according to the second image pickup part shooting of the first range unit or the second range unit respectively
As calculating the first shooting point and the distance of the second shooting point, take the meansigma methods of twice calculating, draw the first shooting point and second
The length of base of shooting point；
Step 6, main range unit obtain according to the first image pickup part shooting of the counted length of base of step 5 and two range units
The image of target to be measured, calculate target to be measured and the distance of two shooting points.
15. 1 kinds of distance-finding methods, application range-measurement system described in claim 8, range-measurement system includes the first range unit
With the second range unit, it is characterised in that the method comprises the following steps:
Step one, choose the first shooting point and the second shooting point；
Step 2, the first range unit are placed in the first shooting point, and the second range unit is placed in the second shooting point, and labelling apparatus is placed in
Between two shooting points；First image pickup part of two range units is towards target to be measured, and the second image pickup part is towards labelling apparatus；
Step 3, processor control all image pickup parts of two range units and shoot simultaneously, it is thus achieved that shooting image；
The picture signal that shooting is obtained by step 4, one of them range unit is by the physical medium contacted with each other or by wireless
Signal sending and receiving apparatus is transferred to another range unit, and this range unit receiving shooting image is main range unit；
The image of the labelling apparatus that step 5, main range unit obtain according to two range unit shootings, calculates the first shooting point
The length of base with the second shooting point；
Step 6, main range unit obtain according to the first image pickup part shooting of the counted length of base of step 5 and two range units
The image of target to be measured, calculate target to be measured and the distance of two shooting points.
16. according to the distance-finding method described in claims 14 or 15, it is characterised in that include the step of correction: shooting
Before, each image pickup part is corrected, records the parameter of its focal length and focal aperture, and on sensor, location of pixels is corresponding
Actual measurement angle；The data of correction entries are transferred to range unit, for revising the result of calculation of main range unit.
17. according to the distance-finding method described in claims 14 or 15, it is characterised in that: according to the length of counted baseline
With the distance of target to be measured Yu two shooting points, again choose the first shooting point and the second shooting point, make the length of baseline be more than
Target to be measured and 1/10th of two shooting point distances, repetition step 2, to step 6, is now surveyed as final result.
18. distance-finding methods according to claim 15, it is characterised in that: described labelling apparatus is pointing object, or
Article known to length shapes.
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| JP6316568B2 (en) | 2013-10-31 | 2018-04-25 | 株式会社トプコン | Surveying system |
| JP6326237B2 (en) | 2014-01-31 | 2018-05-16 | 株式会社トプコン | Measuring system |
| CN104596474A (en) * | 2015-01-30 | 2015-05-06 | 中国科学院地质与地球物理研究所 | Laser ranging measurement base |
| CN105983183A (en) * | 2015-02-27 | 2016-10-05 | 苏州雷泰医疗科技有限公司 | Radiation therapy device |
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| CN106846311B (en) * | 2017-01-21 | 2023-10-13 | 吴东辉 | Positioning and AR methods and systems and applications based on image recognition |
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