Calibrating method of binocular three-dimensional measuring system

A measurement system and calibration method technology, applied in the field of measurement and testing, can solve the problem that the calibration accuracy is difficult to achieve industrial measurement, achieve the effect of high-precision calibration, and reduce the requirements of production and measurement calibration.

Inactive Publication Date: 2008-07-30
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

(5) Self-calibration method, this kind of method does not need any calibration objects, and only calibrates the camera parameters through the constraints formed between images of static scenes with certain overlapping, although this method is the easiest to implement and has very high flexibility , but the calibration accuracy is difficult to meet the requirements of industrial measurement

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  • Calibrating method of binocular three-dimensional measuring system
  • Calibrating method of binocular three-dimensional measuring system
  • Calibrating method of binocular three-dimensional measuring system

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Embodiment Construction

[0018] The specific implementation steps of the internal and external parameter calibration method of the binocular stereo measurement system proposed by the present invention will be further described below.

[0019] Step 1. Make a calibration plate and take a calibration image

[0020] The present invention requires N rows and M columns of easily identifiable characteristic dots to be distributed on the calibration plate, wherein the diameters of five characteristic dots are obviously larger than the diameters of other characteristic dots, and their relative positions in the array can distinguish their respective Identity, the calibration board does not have strict flatness requirements, and the position of each feature point does not need to be accurately measured, as long as the distance between two points on the calibration board is accurately known. Figure 1 is an example of a calibration board. For the 5 characteristic dots, as long as each of the five is different fro...

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Abstract

The invention provides a calibration method for a binocular stereo measurement system, and belongs to the technical field of measurement and test. The invention adopts a plane calibrating board having a characteristic dot array with an accurate given distance between the centers of two characteristic dots; the calibrating board is shot from more than three angles; initial values of the intrinsic and extrinsic parameters of two cameras are solved by using the linear method under a pinhole model; the distortion effect is considered; the intrinsic and extrinsic parameters of the two cameras are taken as optimization variables for a first optimization; the space coordinates of the centers of the characteristic dots on the calibrating board are taken as optimization variables for a second optimization; the translation vector between the cameras is scaled to the ratio of the calculated distance to the given accurate distance, thus getting a calibration result of the parameters; the result of the second optimization is got by using the intrinsic parameters and the relative attitude parameters of the two cameras. Considering the influence of the geometrical errors of the calibrating board, the method reduces the manufacturing, measurement and calibration requirement of the calibrating board and gets calibration result of high precision.

Description

technical field [0001] The invention belongs to the technical field of measurement and testing, and in particular relates to a method for calibrating internal parameters and relative position and attitude parameters of a binocular stereo camera oriented to three-dimensional measurement. Background technique [0002] Binocular stereo measurement refers to the method of imitating the visual function of human eyes, using two cameras to take images of the measured object from different angles, analyzing and matching the images, and calculating the three-dimensional geometric information of the object through the principle of triangulation. The binocular stereo measurement system is being more and more widely used in various fields such as reverse engineering, quality inspection, and vehicle guidance. [0003] The calibration of the binocular stereo camera refers to the process of obtaining the internal parameters of the dual camera and the relative position and attitude paramete...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00G01C11/30G01B11/24
Inventor 张丽艳张辉
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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