《智能传感器装调与测试（双语）》课件-4.单目摄像头工作原理及应用

单目摄像头工作原理及应用WorkingPrincipleandApplicationofMonocularCamera智能网联汽车如何“看见”世界HowIntelligentConnectedVehicles"See"theWorld单目摄像头究竟是如何实现这些功能的？它的工作原理背后又蕴含着哪些技术细节？Howexactlydomonocularcamerasachievethesefunctions?Whattechnicaldetailsarebehinditsworkingprinciple?PART01工作原理WorkingPrinciple光信号到数字图像的旅程JourneyfromOpticalSignalstoDigitalImages核心部件：单目摄像头由镜头、图像传感器（CCD或CMOS）和图像处理芯片组成。这些部件协同工作，将光信号转化为数字图像。Corecomponents：Amonocularcameraconsistsofalens,animagesensor(CCDorCMOS)andanimageprocessingchip.Thesecomponentsworktogethertoconvertopticalsignalsintodigitalimages.工作流程：光线经过镜头聚焦后，到达图像传感器，将光信号转换为电信号。随后，电信号进入图像处理芯片，进行降噪、白平衡等处理。Workflow：Afterthelightisfocusedbythelens,itreachestheimagesensor,whichconvertsopticalsignalsintoelectricalsignals.Theelectricalsignalsthenentertheimageprocessingchipfornoisereduction,whitebalanceandotherprocessing.光信号到数字图像的旅程JourneyfromOpticalSignalstoDigitalImages数字图像生成：经过处理的电信号最终生成数字图像，并传输至车辆控制系统。车辆控制系统对图像进行分析，判断路况并辅助决策。Digitalimagegeneration：Theprocessedelectricalsignalseventuallygenerateadigitalimage,whichistransmittedtothevehiclecontrolsystem.Thevehiclecontrolsystemanalyzestheimage,judgestheroadconditionsandassistsindecision-making.协同作用：镜头、传感器和芯片的协同工作是单目摄像头能够将光信号转化为数字图像的关键，为车辆的智能驾驶提供了基础。Coordinatedoperation：Thecoordinatedoperationoflenses,sensorsandchipsisthekeytothecapacityofmonocularcamerastoconvertopticalsignalsintodigitalimages,providingafoundationforintelligentdrivingofvehicles.PART02标定技术CalibrationTechnology用棋盘格消除视觉误差EliminateVisualErrorswithaCheckerboard标定目的Calibrationpurpose单目摄像头标定的目的是确定内、外参数，消除误差，提高测量准确性。内参数包括焦距、主点坐标和畸变系数；外参数则是摄像头在世界坐标系中的位置和姿态。Thepurposeofmonocularcameracalibrationistodetermineinternalandexternalparameters,eliminateerrorsandimprovemeasurementprecision.Theinternalparametersincludefocallength,principalpointcoordinatesanddistortioncoefficient;theexternalparametersarethepositionandpostureofthecameraintheworldcoordinatesystem.用棋盘格消除视觉误差EliminateVisualErrorswithaCheckerboard标定方法Calibrationmethod常用基于棋盘格的标定方法。准备棋盘格，拍摄多幅图像，提取角点像素坐标，通过计算得到摄像头的内、外参数。Thecheckerboard-basedcalibrationmethodiscommonlyused,inwhichitisrequiredtoprepareacheckerboard,takemultipleimages,extractthepixelcoordinatesofthecornerpoints,andcalculatetheinternalandexternalparametersofthecamera.PART03测距原理RangingPrinciple相似三角形测距公式解析AnalysisofSimilarTriangleRangingFormula1相似三角形

Similartriangles核心公式Coreformula单目摄像头测距的核心公式为D=(H×f)/h，其中D表示距离，H为目标实际高度，f为焦距，h为图像中目标高度。ThecoreformulaforrangingwithamonocularcameraisD=(H×f)/h,whereDisthedistance,Histheactualheightofthetarget,fisthefocallength,andhistheheightofthetargetintheimage.相似三角形测距公式解析AnalysisofSimilarTriangleRangingFormula2应用局限Applicationlimitation该测距方法的局限性在于需要已知目标的实际尺寸。如果无法获取目标的实际高度H，公式将无法直接应用。Thelimitationofthisrangingmethodisthattheactualsizeofthetargetneedstobeknown.IftheactualheightHofthetargetcannotbeobtained,theformulawillnotbedirectlyapplied.3解决思路Ideas结合目标识别技术，如识别汽车并使用标准尺寸作为H的近似值，同时通过跟踪目标位置变化辅助测距，可以优化测距效果。Therangingeffectcanbeoptimizedbycombiningtargetrecognitiontechnology,suchasidentifyingvehiclesandusingstandardsizesasapproximatevaluesofH,whileassistingrangingbytrackingchangesinthetargetposition.课程小结CourseSummary▶工作原理：镜头、传感器、芯片协同，将光信号转为数字图像​Workingprinciple:Thelens,sensorandchipworktogethertoconvertopticalsignalsintodigitalimages▶标定：确定内、外参数，常用棋盘格方法，保证精度​​Calibration:Determinetheinternalandexternalparameters,oftenusingthecheckerboardmet