雙目攝像頭工作原理及應(yīng)用WorkingPrincipleandApplicationofBinocularCamera看清遠(yuǎn)近的立體視覺StereoscopicVisiontoSeeFarandNearClearly雙目攝像頭到底是如何工作的？它的測距原理又是什么呢？Howdoesabinocularcamerawork?Whatisitsrangingprinciple?雙目相機(jī)

BinocularcameraPART01雙目攝像頭工作原理三步解析Three-stepAnalysisoftheWorkingPrincipleofBinocularCamera左相機(jī)右相機(jī)左相機(jī)右相機(jī)近目標(biāo)遠(yuǎn)目標(biāo)雙目攝像頭工作原理的三個(gè)關(guān)鍵步驟ThreeKeyStepsintheWorkingPrincipleofBinocularCameraImageacquisition圖像采集Imageregistration圖像配準(zhǔn)3Dreconstruction三維重建030102-圖像采集-Imageacquisition雙目攝像頭工作原理的三個(gè)關(guān)鍵步驟ThreeKeyStepsintheWorkingPrincipleofBinocularCamera雙目攝像頭工作原理的三個(gè)關(guān)鍵步驟ThreeKeyStepsintheWorkingPrincipleofBinocularCamera-圖像配準(zhǔn)-Imageregistration雙目攝像頭工作原理的三個(gè)關(guān)鍵步驟ThreeKeyStepsintheWorkingPrincipleofBinocularCamera-三位重建-3Dreconstruction雙目攝像頭工作原理的三個(gè)關(guān)鍵步驟ThreeKeyStepsintheWorkingPrincipleofBinocularCamera總結(jié)Summary雙目攝像頭的工作本質(zhì)是“通過視差算距離，通過匹配建三維”，相比單目攝像頭，它無需依賴預(yù)設(shè)的目標(biāo)尺寸或地圖數(shù)據(jù)，能直接獲取環(huán)境的立體信息。Theworkingessenceofbinocularcamerasisto"calculatedistancethroughparallaxandbuild3Dmodelthroughmatching".Comparedwithmonocularcamera,thebinocularcameradoesnotneedtorelyonpresettargetsizeormapdataandcandirectlyobtain3Dinformationabouttheenvironment.PART02雙目攝像頭測距原理RangingPrincipleofBinocularCamera雙目攝像頭的測距原理RangingPrincipleofBinocularCamera測距核心功能CorefunctionsRanging幾何光學(xué)原理基礎(chǔ)PrinciplebasisGeometricoptics雙目攝像頭的測距原理RangingPrincipleofBinocularCamera核心公式CoreformulaD=B×f÷dB：基線長度（硬件固定，10-20cm）B:baselinelength(hardwarefixed,10–20cm)f：攝像頭焦距（鏡頭固有參數(shù)）f:camerafocallength(inherentparametersoflens)d：視差（左右圖像像素坐標(biāo)差值）d:parallax(differenceinpixelcoordinatesofleftandrightimages)核心邏輯Corelogic視差d與距離D成反比：目標(biāo)越近，d越大；目標(biāo)越遠(yuǎn)，d越小TheparallaxdisinverselyproportionaltothedistanceD:aclosertargethasagreaterd,andafarthertargethasasmallerd精度：±5%以內(nèi)（滿足輔助駕駛需求）Precision:within±5%(meetingtheneedsofaideddriving)雙目攝像頭的測距原理RangingPrincipleofBinocularCamera汽車

Vehicle人

Person5米

5m視差d=30像素

Parallaxd=30pixels汽車

Vehicle人

Person2.5米

2.5m視差d=60像素

Parallaxd=60pixels生活中，看近處的物體，差異明顯；看遠(yuǎn)處的物體，差異較小。Inlife,whenyoulookatobjectsclosetoyou,thedifferencesareobvious;whenyoulookatobjectsfaraway,thedifferencesaresmall.雙目攝像頭的測距原理RangingPrincipleofBinocularCamera實(shí)際應(yīng)用中的精度控制Precisioncontrolinpracticalapplications工業(yè)界中，雙目攝像頭的測距精度通常在±5%以內(nèi)，滿足輔助駕駛需求。Intheindustry,therangingprecisionofbinocularcamerasisusuallywithin±5%,meetingtheneedsofaideddriving.基線長度越長，測距精度越高（比如自動(dòng)駕駛卡車的雙目攝像頭基線長度比乘用車更長）Alongerbaselinelengthresultsinahigherrangingprecision(forexample,thebaselinelengthofbinocularcamerasinautonomoustrucksislongerthanthatofpassengercars)注意事項(xiàng)Precautions視差計(jì)算的準(zhǔn)確性直接影響測距結(jié)果，因此圖像配準(zhǔn)算法是技術(shù)核心，目前主流采用深度學(xué)習(xí)算法提升匹配精度。Theprecisionofparallaxcalculationdirectlyaffectstherangingresults,sotheimageregistrationalgorithmisthecoretechnology.Atpresent,thedeeplearningalgorithmsaremainlyusedtoimprovematchingprecision.雙目攝像頭的測距原理RangingPrincipleofBinocularCamera靜態(tài)，身高170cmStatic,height:170cm奔跑行人Runningpedestrian雙目攝像頭與單目攝像頭測距的區(qū)別DifferencebetweenBinocularCameraRangingandMonocularCameraRanging單目攝像頭需要通過目標(biāo)的“已知尺寸”估算距離，誤差較大Themonocularcameraneedstoestimatethedistancebasedonthe"knownsize"ofthetarget,withalargeerror.雙目攝像頭通過物理視差計(jì)算，無需依賴目標(biāo)尺寸，精度更高，尤其適合動(dòng)態(tài)目標(biāo)測距。Thebinocularcamerausesphysicalparallaxcalculation,whichdoesnotneedtorelyonthetargetsize,soithashigherprecision,particularlysuitablefordynamictargetranging.PART03典型應(yīng)用場景TypicalApplicationScenarios典型應(yīng)用場景TypicalApplicationScenarios自適應(yīng)巡航控制系統(tǒng)（ACC）

AdaptiveCruiseControl(ACC)1功能：測量前車距離，實(shí)現(xiàn)跟車行駛Function:Itmeasuresthedistancetothefrontvehicleandrealizesthecar-followingoperation自適應(yīng)巡航控制系統(tǒng)

AdaptiveCruiseControl(ACC)典型應(yīng)用場景TypicalApplicationScenarios前車碰撞預(yù)警系統(tǒng)（FCW）Forwardcollisionwarning(FCW)2功能：監(jiān)測安全距離，觸發(fā)碰撞預(yù)警Function:Itmonitorssafetydistanceandtriggerscollisionwarning前車碰撞預(yù)警ForwardCollisionWarning典型應(yīng)用場景TypicalApplicationScenarios自動(dòng)緊急制動(dòng)系統(tǒng)（AEB）Automaticemergencybraking(AEB)3功能：精準(zhǔn)測距+測速，自動(dòng)觸發(fā)制動(dòng)Function:Itrealizesaccurateranging+speedmeasurement,andautomatictriggeringofbraking自動(dòng)緊急制動(dòng)AutomaticEmergencyBraking典型應(yīng)用場景TypicalApplicationScenarios復(fù)雜路況感知Perceptionofcomplexroadconditions4功能：識別行人/騎行者，計(jì)算運(yùn)動(dòng)軌跡Function:Itidentifiespedestrians/cyclistsandcalculatesthemovementtrack復(fù)雜路況感知PerceptionofComplexRoadConditions核心要點(diǎn)KeyPoints?工作原理：圖像采集→配準(zhǔn)→三維重建1.Workingprinciple:imageacquisition→registration→3Dreconstruction?測距公式：D=B×f÷d（視差與距離成反比）2.Rangingformula:D=B×f÷d(parallaxisinverselyproportionaltodistance)?核心應(yīng)用：ACC/FCW/AEB等需要精準(zhǔn)測距的場景3.Coreapplications:ACC/FCW/AEBandotherscenariosrequiringaccurateranging關(guān)鍵提醒KeyReminders關(guān)鍵提醒KeyReminders偽裝為正常Ultra-large-scaletrainingdatasetsgeneratedintheInternetera需與毫米波雷達(dá)融合，提升環(huán)境適應(yīng)性Itneedstobei