Method for multi-camera automated high-precision calibration

A multi-camera and calibration method technology, applied in the calibration field, can solve the problems of slow calibration time, and achieve the effect of improving speed and ensuring robustness

Inactive Publication Date: 2011-05-04
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Tomas' method is highly accurate and fully automatic, but the calibration time is very slow

Method used

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  • Method for multi-camera automated high-precision calibration
  • Method for multi-camera automated high-precision calibration
  • Method for multi-camera automated high-precision calibration

Examples

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Embodiment Construction

[0054] A kind of multi-camera automatic high-precision calibration method of the present invention, such as figure 2 As shown, the following steps are included: 1. Setting the calibration object; 2. Taking the calibration picture; 3. Extracting the feature points on the taken calibration picture; 4. Matching the feature points; The point information is put into the W matrix, and the missing W matrix is ​​filled; 6. The filled W matrix is ​​decomposed by the algorithm of Tomas svoboda, and the internal and external parameters of the camera are calculated.

[0055] (1) Set the calibration object;

[0056] Such as image 3 As shown, the calibration object consists of four proportional LED light sources a, b, c, and d fixed on a wooden board, where the three LED light sources a, b, and c are collinear, and the three LED light sources a, b, and c The straight line where the light source is located is perpendicular to the straight line where the two LED light sources are located,...

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Abstract

The invention discloses a method for multi-camera automated high-precision calibration, including following steps: 1, setting calibration object; 2, screening calibration pictures; 3, extracting feature pointf of the screened calibration pictures; 4, matching the feature points; 5, putting information of the matched feature points into W matrix to repair the missing W matrix; 6, using the Tomas svoboda algorithm to decompose the repaired W matrix for calculating internal and external parameter of the camers. The invention provides a method for multi-camera automated high-precision calibrationwith simple calibration object set, which can calibrating automatically with high-precision and high-speed.

Description

technical field [0001] The invention relates to calibration technology, in particular to a multi-camera automatic high-precision calibration method. Background technique [0002] Camera calibration is mainly to determine the internal and external parameters of the camera. Internal parameters mainly include image center (u0 and v0), focal length f (sometimes the result of combining it with the product of magnification and ay is called focal length), tilt coefficient s, distortion parameters, etc. External parameters refer to the position and orientation of the camera in the world coordinate system when shooting, which can be described by a rotation matrix R and a translation vector T. When the distortion parameter is not considered, it can be expressed by the following formula: [0003] Z c u v 1 ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/00
Inventor 鲁东明刁常宇古鑫桐
Owner ZHEJIANG UNIV
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