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Exterior parameter self-calibration method for camera with rotating stereovision

A stereo vision, self-calibration technology, applied in image data processing, image analysis, instruments, etc., can solve the problem of camera extrinsic parameters camera extrinsic parameter calibration loss of meaning and other issues

Active Publication Date: 2008-12-10
日照东方缘日用制品有限公司
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Problems solved by technology

This is due to the variability of the external parameters of the camera, which makes it meaningless to calibrate the external parameters of the camera

Method used

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  • Exterior parameter self-calibration method for camera with rotating stereovision
  • Exterior parameter self-calibration method for camera with rotating stereovision
  • Exterior parameter self-calibration method for camera with rotating stereovision

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Embodiment Construction

[0068] The present invention will be further described below in conjunction with the accompanying drawings.

[0069] refer to Figure 1 to Figure 4 , a self-calibration method for external parameters of rotational stereo vision, the self-calibration method comprises the following steps:

[0070] 1) Manual calibration of the camera to obtain the internal parameters of the camera:

[0071] A coordinate plane of the world coordinate system is set to coincide with the plane of the calibration plate, and the coordinate axis perpendicular to this coordinate plane is perpendicular to the plane of the calibration plate. Here, the coordinate plane that coincides with the calibration plate plane is the XOY plane. Calibration board as appendix figure 1 In this way, the world coordinates of the center point on the calibration plate can be obtained. By moving the calibration plate in the Z direction, the world coordinates of multiple points in space that are not on the same plane can b...

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Abstract

The present invention relates to a rotary solid vision vidicon external parameter self-demarcating method, comprising the steps as follows: firstly, in a rotary solid vision half self-demarcating method, a vidicon is demarcated manually at one direction, and an obtained vidicon projection matrix is decomposed to get internal and external parameter matrixes; secondly, the pole coordinate of a picture taken from the same object is determined from two directions, the direction of a rotating shaft and the translational volume of the rotating shaft under a first vidicon coordinate system are obtained in terms of the pole coordinate and the relation of vidicon internal parameter and rotary matrix; finally, the vidicon projection matrix at any direction is calculated according to the obtained parameters. The present invention provides a self-demarcating method which is simple for calculating and can get the vidicon external parameter just requiring the picture of the object at the two directions.

Description

technical field [0001] The invention relates to a camera self-calibration method based on computer vision, in particular to a camera self-calibration method for rotating stereo vision. This method is mainly used for camera calibration of vision systems, and has a wide range of applications, typically including workpiece detection, scene depth perception, reverse engineering, and 3D scanning of objects in the manufacturing industry. Background technique [0002] Camera self-calibration refers to the process of directly determining camera parameters from multiple uncalibrated images. Once self-calibration is completed, metric reconstruction can be completed from these images. Self-calibration avoids the tedious task of calibrating the camera with a special calibration object, and has great flexibility. At present, most of the camera self-calibration is carried out for the parameters in the camera. This is because the variability of camera extrinsic parameters makes it meanin...

Claims

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Application Information

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IPC IPC(8): G06T7/00
Inventor 陈胜勇漆喜庆刘盛李兰兰骆广娟管秋毛国红
Owner 日照东方缘日用制品有限公司
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