Automatic calibration method for structured light three-dimensional scanner system

An automatic calibration and scanner technology, applied in the direction of instruments, image data processing, calculation, etc., can solve the problems of cumbersome, long calibration process, and insufficient stability of the effect, and achieve the effect of high precision and improved precision

Inactive Publication Date: 2010-06-30
ZHEJIANG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Bouquet provides a set of open source Matlab-based calibration tool Camera Calibration Toolbox, which supports user-interactive calibration with accurate results, but the calibration process is very long, and the selection of corner points requires manual interaction, which is cumbersome
OpenCV provides a corner point selection function, but the recognition effect of this function is not stable enough and is easily affected by the environment and light

Method used

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  • Automatic calibration method for structured light three-dimensional scanner system
  • Automatic calibration method for structured light three-dimensional scanner system
  • Automatic calibration method for structured light three-dimensional scanner system

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Embodiment Construction

[0048] The process of the automatic calibration method for the structured light three-dimensional scanner of the present invention is as follows:

[0049] (1) Set the calibration object;

[0050] The system is calibrated using a plane checkerboard calibration board, the gray levels of the checkerboard grids are 180 and 255 respectively, such as figure 2 As shown; the projector projection pattern selects two opposite checkerboard patterns, and the gray levels of the checkerboards are 0 and 255 respectively. As shown in Figure 3, the projection range should be at the center of the entire checkerboard.

[0051] (2) Use the camera to take several calibration photos with different postures of the calibration object, which are used to calibrate the camera and projector respectively;

[0052] Install the camera at a suitable position and manually adjust the focal length and aperture of the lens, etc., and take 8 to 10 groups of pictures, three for each group, one of which is a phot...

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Abstract

The invention discloses an automatic calibration method for a three-dimensional structured light scanner system, which comprises the following steps: 1, setting a calibration object; 2, shooting a plurality of calibration photos of the calibration object with different postures by using a camera, and shooting calibration pictures; 3, initially recognizing points on the calibration photos to obtain a candidate region of each angular point, and then initially recognizing the angular points; 4, solving sub-pixel coordinates of the angular points in the candidate region; 5, determining the sequence of the angular points; 6, adopting a Zhengyou Zhang algorithm to calibrate camera parameters; 7, processing projector calibration photos; and 8, solving three-dimensional coordinates of inner parameters inversely by utilizing the inner parameters of the camera obtained by the step 6, wherein the three-dimensional coordinates correspond to the coordinates of the angular points in the calibration pictures one by one, and adopting the Zhengyou Zhang algorithm to calibrate a projector. The invention provides an automatic calibration method for a structured light scanner, the automatic calibration can be completed once, and the calibrated parameters have high accuracy.

Description

technical field [0001] The invention relates to a camera and projector calibration technology in the field of computer vision, in particular to an automatic calibration method for a structured light three-dimensional scanner. Background technique [0002] The structured light 3D scanner system mainly includes a camera and a projector. System calibration refers to calibration of cameras and projectors. Calibrating equipment refers to the process of determining the internal and external parameters of the equipment. The following takes the camera as an example to briefly introduce each parameter. [0003] Intrinsic parameters are usually expressed as an intrinsic parameter matrix of the form: [0004] u v 1 = fc 1 ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00
Inventor 刁常宇田里鲁东明
Owner ZHEJIANG UNIV
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