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Self-calibration method of multi-view structured light system

A structured light system, self-calibration technology, applied in image analysis, image data processing, instruments, etc., can solve the problems of complex calculation, poor applicability and high cost

Active Publication Date: 2011-04-27
海宁经开产业园区开发建设有限公司
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Problems solved by technology

[0005] In order to overcome the shortcomings of the existing multi-view structured light self-calibration method, such as complex calculation, poor applicability, and high cost, the present invention provides a multi-view structured light self-calibration method that simplifies calculation, has good applicability, and reduces costs

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Embodiment Construction

[0057] The present invention will be further described below in conjunction with the accompanying drawings.

[0058] refer to Figure 1 ~ Figure 3 , a multi-view structured light self-calibration method, the multi-view structured light system includes a camera and a projector, the projector projects a grid pattern, and the pattern is encoded based on the principle of unique position. The camera acquires three pictures at three non-collinear positions, and the camera is recorded as c at three different positions 1 , c 2 , c 3 , according to the principle of vanishing line and homography matrix, the self-calibration of the structured light system can be completed.

[0059] like figure 1 As shown, each light plane projected by the projector forms a curve on the object to be measured, and the information is acquired at different positions by taking a camera to complete self-calibration and metric reconstruction. The homography matrix and fundamental matrix transmitted through...

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Abstract

The invention discloses a self-calibration method of multi-view structured light, comprising the steps of: (1) projecting a grid pattern by a projector, carrying out code generation by the grid pattern on the basis of a position only principle, and acquiring three pictures by a video camera on three non-collinear positions, wherein a multi-view structured light system comprise the video cameral and the projector; and (2) defining Kc to be an inner parameter matrix for the video camera, phi 1 and phi 2 to be two arbitrary projector planes, Hi to be a homography matrix obtained by the video camera through transmission via the plane phi 1 from c1 to c2 and from c2 to c3, i to be 1 or 2, and Kct to be a pole of a video camera c1 and to be equal to t3e2; and determining a vanishing line of a stripe plane of the projector in a first video camera coordinate system through the homography matrix obtained through transmission via the strip plane, and obtaining the inner parameter matrixes of the video camera and the projector by combining infinite homography knowledge. The method can simplify calculation, has good applicability and benefits cost reduction.

Description

technical field [0001] The invention relates to the fields of image processing, computer vision, calculation methods, mathematics, three-dimensional reconstruction and the like, in particular to a multi-view structured light system self-calibration method. Background technique [0002] As an important subject in computer vision, reconstructing 3D information of objects from 2D images has been applied to various industrial production fields, such as obstacle detection, image rendering, scene analysis, reverse engineering, etc. The coded structured light system consists of a projector and one or more cameras. This projector can replace the role of a camera in binocular vision, which can avoid errors caused by matching in the acquisition of 3D information in traditional binocular vision. At the same time, structured light The system has received more and more attention due to its advantages of high reconstruction accuracy and strong robustness. Based on the principle of triang...

Claims

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Application Information

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IPC IPC(8): G06T7/00G06T7/80
Inventor 陈胜勇原长春王鑫李友福王万良
Owner 海宁经开产业园区开发建设有限公司
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