《智能传感器装调与测试（双语）》课件-5.双目摄像头工作原理及应用

双目摄像头工作原理及应用WorkingPrincipleandApplicationofBinocularCamera看清远近的立体视觉StereoscopicVisiontoSeeFarandNearClearly双目摄像头到底是如何工作的？它的测距原理又是什么呢？Howdoesabinocularcamerawork?Whatisitsrangingprinciple?双目相机

BinocularcameraPART01双目摄像头工作原理三步解析Three-stepAnalysisoftheWorkingPrincipleofBinocularCamera左相机右相机左相机右相机近目标远目标双目摄像头工作原理的三个关键步骤ThreeKeyStepsintheWorkingPrincipleofBinocularCameraImageacquisition图像采集Imageregistration图像配准3Dreconstruction三维重建030102-图像采集-Imageacquisition双目摄像头工作原理的三个关键步骤ThreeKeyStepsintheWorkingPrincipleofBinocularCamera双目摄像头工作原理的三个关键步骤ThreeKeyStepsintheWorkingPrincipleofBinocularCamera-图像配准-Imageregistration双目摄像头工作原理的三个关键步骤ThreeKeyStepsintheWorkingPrincipleofBinocularCamera-三位重建-3Dreconstruction双目摄像头工作原理的三个关键步骤ThreeKeyStepsintheWorkingPrincipleofBinocularCamera总结Summary双目摄像头的工作本质是“通过视差算距离，通过匹配建三维”，相比单目摄像头，它无需依赖预设的目标尺寸或地图数据，能直接获取环境的立体信息。Theworkingessenceofbinocularcamerasisto"calculatedistancethroughparallaxandbuild3Dmodelthroughmatching".Comparedwithmonocularcamera,thebinocularcameradoesnotneedtorelyonpresettargetsizeormapdataandcandirectlyobtain3Dinformationabouttheenvironment.PART02双目摄像头测距原理RangingPrincipleofBinocularCamera双目摄像头的测距原理RangingPrincipleofBinocularCamera测距核心功能CorefunctionsRanging几何光学原理基础PrinciplebasisGeometricoptics双目摄像头的测距原理RangingPrincipleofBinocularCamera核心公式CoreformulaD=B×f÷dB：基线长度（硬件固定，10-20cm）B:baselinelength(hardwarefixed,10–20cm)f：摄像头焦距（镜头固有参数）f:camerafocallength(inherentparametersoflens)d：视差（左右图像像素坐标差值）d:parallax(differenceinpixelcoordinatesofleftandrightimages)核心逻辑Corelogic视差d与距离D成反比：目标越近，d越大；目标越远，d越小TheparallaxdisinverselyproportionaltothedistanceD:aclosertargethasagreaterd,andafarthertargethasasmallerd精度：±5%以内（满足辅助驾驶需求）Precision:within±5%(meetingtheneedsofaideddriving)双目摄像头的测距原理RangingPrincipleofBinocularCamera汽车

Vehicle人

Person5米

5m视差d=30像素

Parallaxd=30pixels汽车

Vehicle人

Person2.5米

2.5m视差d=60像素

Parallaxd=60pixels生活中，看近处的物体，差异明显；看远处的物体，差异较小。Inlife,whenyoulookatobjectsclosetoyou,thedifferencesareobvious;whenyoulookatobjectsfaraway,thedifferencesaresmall.双目摄像头的测距原理RangingPrincipleofBinocularCamera实际应用中的精度控制Precisioncontrolinpracticalapplications工业界中，双目摄像头的测距精度通常在±5%以内，满足辅助驾驶需求。Intheindustry,therangingprecisionofbinocularcamerasisusuallywithin±5%,meetingtheneedsofaideddriving.基线长度越长，测距精度越高（比如自动驾驶卡车的双目摄像头基线长度比乘用车更长）Alongerbaselinelengthresultsinahigherrangingprecision(forexample,thebaselinelengthofbinocularcamerasinautonomoustrucksislongerthanthatofpassengercars)注意事项Precautions视差计算的准确性直接影响测距结果，因此图像配准算法是技术核心，目前主流采用深度学习算法提升匹配精度。Theprecisionofparallaxcalculationdirectlyaffectstherangingresults,sotheimageregistrationalgorithmisthecoretechnology.Atpresent,thedeeplearningalgorithmsaremainlyusedtoimprovematchingprecision.双目摄像头的测距原理RangingPrincipleofBinocularCamera静态，身高170cmStatic,height:170cm奔跑行人Runningpedestrian双目摄像头与单目摄像头测距的区别DifferencebetweenBinocularCameraRangingandMonocularCameraRanging单目摄像头需要通过目标的“已知尺寸”估算距离，误差较大Themonocularcameraneedstoestimatethedistancebasedonthe"knownsize"ofthetarget,withalargeerror.双目摄像头通过物理视差计算，无需依赖目标尺寸，精度更高，尤其适合动态目标测距。Thebinocularcamerausesphysicalparallaxcalculation,whichdoesnotneedtorelyonthetargetsize,soithashigherprecision,particularlysuitablefordynamictargetranging.PART03典型应用场景TypicalApplicationScenarios典型应用场景TypicalApplicationScenarios自适应巡航控制系统（ACC）

AdaptiveCruiseControl(ACC)1功能：测量前车距离，实现跟车行驶Function:Itmeasuresthedistancetothefrontvehicleandrealizesthecar-followingoperation自适应巡航控制系统

AdaptiveCruiseControl(ACC)典型应用场景TypicalApplicationScenarios前车碰撞预警系统（FCW）Forwardcollisionwarning(FCW)2功能：监测安全距离，触发碰撞预警Function:Itmonitorssafetydistanceandtriggerscollisionwarning前车碰撞预警ForwardCollisionWarning典型应用场景TypicalApplicationScenarios自动紧急制动系统（AEB）Automaticemergencybraking(AEB)3功能：精准测距+测速，自动触发制动Function:Itrealizesaccurateranging+speedmeasurement,andautomatictriggeringofbraking自动紧急制动AutomaticEmergencyBraking典型应用场景TypicalApplicationScenarios复杂路况感知Perceptionofcomplexroadconditions4功能：识别行人/骑行者，计算运动轨迹Function:Itidentifiespedestrians/cyclistsandcalculatesthemovementtrack复杂路况感知PerceptionofComplexRoadConditions核心要点KeyPoints▶工作原理：图像采集→配准→三维重建1.Workingprinciple:imageacquisition→registration→3Dreconstruction▶测距公式：D=B×f÷d（视差与距离成反比）2.Rangingformula:D=B×f÷d(parallaxisinverselyproportionaltodistance)▶核心应用：ACC/FCW/AEB等需要精准测距的场景3.Coreapplications:ACC/FCW/AEBandotherscenariosrequiringaccurateranging关键提醒KeyReminders关键提醒KeyReminders伪装为正常Ultra-large-scaletrainingdatasetsgeneratedintheInternetera需与毫米波雷达融合，提升环境适应性Itneedstobei