Three-dimensional reconfiguration double pick-up camera calibration method

A dual-camera, three-dimensional reconstruction technology, applied in the field of visual inspection, can solve problems such as large measurement errors, and achieve the effect of minimum error and accurate calibration

Inactive Publication Date: 2008-03-26
SUN YAT SEN UNIV
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Problems solved by technology

Due to the existence of calibration errors, when using two separately calibrated cameras for stereo vision me

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  • Three-dimensional reconfiguration double pick-up camera calibration method
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Embodiment Construction

[0030] The present invention is described in detail below in conjunction with example:

[0031] (1) Image acquisition and camera initial value acquisition

[0032] As mentioned above, different calibration methods can be used to obtain the initial values ​​of the camera's intrinsic and extrinsic parameters. Depending on the method selected, there are different requirements for the spatial distribution of the calibration points and the number of images. For example, using Tsai's two-step method requires that all calibration points cannot be coplanar; Zhang's planar template calibration method requires that they be in different positions The number of images in the pose cannot be less than 3, etc. For the specific requirements of this part, according to the different selection methods, you can refer to the relevant references.

[0033] During the entire image acquisition process, the relative pose between the dual cameras cannot be changed; during the process of collecting eac...

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Abstract

The 3-D reconstitution demarcating method for two pick-up cameras includes: (1) turn on the two pick-up cameras to obtain at same time a series of images about demarcating object points and adopts traditional single-pick-up-camera demarcation method to respectively demarcate the two pick-up cameras; (2) use the central point of the common perpendicular of the two pick-up-cameras' sight lines as the space object point of 3-D reconstitution to build a 3-D reconstitution algebra expression and use the minimum 3-D reconstitution error of the object point as aim function and use the internal and the external parameters obtained from the previous step as primary value to resolve through interation to demarcate the relative positions of the two pick-up cameras. Numerically resolve the solid demarcation model set up by the step 2 to complete the demarcation course of the two pick-up cameras. Advantage: accurate demarcation and minimum error.

Description

technical field [0001] The invention relates to a two-camera calibration method for three-dimensional reconstruction, which is a two-camera calibration method with three-dimensional reconstruction as the application background. The invention belongs to the technical field of visual inspection. Background technique [0002] In the visual inspection system, in order to calculate the three-dimensional coordinates of the space object point from the pixel points of the image, camera calibration is required. Camera calibration is to solve the geometric and optical characteristics inside the camera according to the selected camera model, that is, the internal parameters, and the pose change of the camera coordinate system relative to the world coordinate system, that is, the external parameters. [0003] Non-linear camera models are used in fields requiring high precision. The literature "J. Weng, P. Cohen and M. Herniou. Calibration of stereo cameras using a non-linear distortion...

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Application Information

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IPC IPC(8): G06T7/00
Inventor 欧阳祥波宗志坚熊会元
Owner SUN YAT SEN UNIV
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