US 12,273,497 B2
Stereovision method and system
Dawid Gradolewski, Gdansk (PL); Adam Jaworski, Suchy Dwor (PL); Damian Dziak, Tczew (PL); Damian Kaniecki, Gdynia (PL); and Wlodek Kulesza, Lodz (PL)
Assigned to BIOSECO SP. Z O.O., Gdansk (PL)
Appl. No. 18/253,963
Filed by BIOSECO SP. Z O.O., Gdansk (PL)
PCT Filed Nov. 22, 2021, PCT No. PCT/EP2021/082552
§ 371(c)(1), (2) Date May 23, 2023,
PCT Pub. No. WO2022/106702, PCT Pub. Date May 27, 2022.
Claims priority of application No. 2018391 (GB), filed on Nov. 23, 2020; and application No. 436051 (PL), filed on Nov. 23, 2020.
Prior Publication US 2024/0007601 A1, Jan. 4, 2024
Int. Cl. G06T 7/70 (2017.01); H04N 13/00 (2018.01); H04N 13/106 (2018.01)
CPC H04N 13/106 (2018.05) [G06T 7/70 (2017.01); G06T 2207/10021 (2013.01); G06T 2207/30232 (2013.01); H04N 2013/0081 (2013.01)] 8 Claims
OG exemplary drawing
 
1. A system for detecting and localizing an object in 3D space, the system comprising:
a first camera having an optical axis and a first axis which is perpendicular to a baseline and the optical axis of the first camera;
a second camera having an optical axis parallel to the optical axis of the first camera and a second axis which is parallel to the first axis of the first camera; and
a processing system configured to receive data from the first camera and the second camera and to determine the position of an object when the first and second cameras are oriented with their optical axes at an angle α to the baseline, wherein α is substantially non-right angle,
wherein the first camera is rotatable about the first axis and the second camera is equally rotatable about the second axis,
wherein the processing system is configured to detect and localise the object, including by calculation of a distance, D, of the object to a line including the baseline, B, connecting the centre of the first and the centre of the second camera, and
wherein the distance D, is given by:

OG Complex Work Unit Math
where y1r is the number of the pixel which represents the object's centre projection on the image plane of the first camera C1 and y2r is the number of the pixel which represents the pixel's number of the object's canter projection on the image plane of the second camera C2.