Image processing method and system for vision system

An image processing method for a vision system comprising a central processor, at least two camera groups and a sensor, each of the at least two camera groups comprising at least one camera, wherein the method comprising:

• capturing at least two images and passing the at least two images to the central processor by the at least two camera groups;
• obtaining a rotation angle signal of each of the at least two camera groups and sending the obtained rotation angle signal to the central processor by the sensor;
• and
• performing, by the central processor, rotation angle compensation on the at least two images based on an angle of rotation of the at least two camera groups during a conjugate rotation of two of the at least two camera groups about respective optical axes thereof,
• wherein performing the rotation angle compensation comprises:
• obtaining, by the sensor, a magnitude α of the angle of rotation of each of the at least two camera groups and sending the magnitude α to the central processor;
• and
• performing, by the central processor, a matching calculation on the at least two images based on the magnitude α of the angle of rotation to obtain a disparity map.

An image processing method for a vision system comprising a central processor, at least two camera groups and a sensor, each of the at least two camera groups comprising at least one camera, wherein the method comprising:

• capturing at least two images and passing the at least two images to the central processor by the at least two camera groups;
• obtaining a rotation angle signal of each of the at least two camera groups and sending the obtained rotation angle signal to the central processor by the sensor;
• and
• performing, by the central processor, rotation angle compensation on the at least two images based on an angle of rotation of the at least two camera groups during a conjugate rotation of two of the at least two camera groups about respective optical axes thereof,
• wherein performing the rotation angle compensation comprises:
• 1) obtaining, by the sensor, a magnitude θ of the angle of rotation of each of the at least two camera groups and sending the magnitude θ to the central processor;
• 2) rotating the at least two images by the central processor by an angle of θ in a direction opposite to a direction in which the at least two camera groups have rotated, thereby obtaining at least two compensated images;
• 3) obtaining, by the central processor, a magnitude β of another angle of rotation of the at least two compensated images resulting from the step 2) with respect to the at least two images prior to the rotation of the at least two camera groups, wherein β is the another angle by which the at least two compensated images resulting from the step 2) are to be rotated and hence normalized;
• and
• 4) normalizing, by the central processor, the at least two compensated images resulting from the step 2) by rotating the at least two compensated images by an angle of β.