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Homography matrix acquisition method as well as image pickup equipment calibrating method and device

A technology of homography matrix and camera equipment, which is applied in the field of image processing, can solve problems such as the complexity of the implementation process, and achieve the effect of simplifying the implementation process

Active Publication Date: 2013-01-16
HUAWEI TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0011] The method for obtaining the above-mentioned homography matrix requires manually specifying the feature points or finding the feature points by taking a template image, and the implementation process is complicated.

Method used

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  • Homography matrix acquisition method as well as image pickup equipment calibrating method and device
  • Homography matrix acquisition method as well as image pickup equipment calibrating method and device
  • Homography matrix acquisition method as well as image pickup equipment calibrating method and device

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Embodiment 2

[0158] Embodiment 2, a device for acquiring a homography matrix.

[0159] The structure of the device is attached as Figure 4 shown. Figure 4 The acquisition device of the homography matrix in includes: an image acquisition module 400 , an extraction matching module 410 , a projection matrix module 420 and a homography matrix module 430 .

[0160] The image acquisition module 400 is configured to acquire at least three images of the same scene, and each image has a relative rotation angle between shooting positions of the camera device when shooting. The image acquisition module 400 can acquire images by taking pictures by itself. At this time, the image acquisition module 400 itself is the shooting part of the camera device. The image acquisition module 400 may not acquire images by itself. For example, the image acquisition module 400 may acquire images from the shooting part of the camera device. At this time, the image acquisition module 400 itself may not have an imag...

Embodiment 3

[0170] Embodiment 3, a calibration device for an imaging device.

[0171] The device may be an imaging device, or may be some units provided in the imaging device. A specific example of the structure of the device is attached Figure 5 shown.

[0172] Figure 5 The calibration device of the imaging equipment in the system includes: an image acquisition module 500 , an extraction and matching module 510 , a projection matrix module 520 , a homography matrix module 530 and a metric calibration module 540 .

[0173] The image acquisition module 500 is configured to acquire at least three images of the same scene, and each image has a relative rotation angle between shooting positions of the camera device when shooting. The image acquisition module 500 can acquire images by taking pictures by itself, and at this time, the image acquisition module 500 itself is the shooting part of the camera device. The image acquisition module 500 may not acquire images by itself. For example...

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Abstract

The invention relates to a homography matrix acquisition method as well as an image pickup equipment calibrating method and device. The image pickup equipment calibrating method comprises the following steps: acquiring at least three images from one scene, respectively extracting characteristic points from each image, and carrying out characteristic point matching on the extracted characteristic points to obtain pixel coordinates of the matched characteristic points corresponding to the same point in the three-dimensional scene space in each image, wherein each image has a relative rotating angle among shooting positions of the image pickup equipment in the shooting process; calculating the fundamental matrix F between any two images and the extremity coordinates e of each image based on the pixel coordinates, and calculating the projection matrix P of the image pickup equipment based on F and e; solving the homography matrix H of which the principal diagonal elements are set to be approximately equal based on the projection matrix P; and measuring and calibrating based on the solution to obtain internal parameters of the image pickup equipment. By using the technical scheme, convenient, simple, fast and precise on-line calibration on parameters of the image pickup equipment can be obtained without depending on reference objects for calibration.

Description

technical field [0001] The invention relates to the technical field of image processing, in particular to a homography matrix acquisition method and a camera equipment calibration method and device. Background technique [0002] The camera equipment calibration is to set the geometric model parameters of the camera equipment. The geometric model parameters of the camera equipment are used to determine the relationship between the three-dimensional geometric position of a certain point on the surface of the space object and its corresponding point in the image. Camera geometry model parameters are also referred to as camera parameters. Camera equipment parameters include internal parameters and external parameters. [0003] At present, the internal parameter calibration methods of camera equipment mainly include: traditional calibration method and self-calibration method. [0004] The traditional calibration method is to perform image processing on a calibration reference ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H04N17/00G06T7/00
Inventor 马利庄李灿林刘源
Owner HUAWEI TECH CO LTD