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A camera external parameter self-calibration method and device

An external parameter and camera technology, applied in image data processing, image analysis, instruments, etc., can solve the problems of high result accuracy and short operation time, and achieve the effect of high result accuracy and short operation time.

Active Publication Date: 2016-03-02
SHENZHEN PERCHERRY TECH
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  • Application Information

AI Technical Summary

Problems solved by technology

[0007] The present invention provides a self-calibration method and device for camera external parameters in order to solve the technical problem that the existing camera external parameter calibration method cannot take into account the short calculation time and high result accuracy

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  • A camera external parameter self-calibration method and device
  • A camera external parameter self-calibration method and device
  • A camera external parameter self-calibration method and device

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Embodiment Construction

[0044] See figure 1 . The camera external parameter self-calibration method of the present invention comprises the following steps:

[0045] 1. Use the camera to obtain the grayscale image of the template and store it.

[0046] Second, denoise the acquired grayscale image.

[0047] Denoise the acquired grayscale image to reduce the impact of image quality on the subsequent algorithm. In this step, binarization processing is first performed on the acquired grayscale image, and then the image after the binarization processing is first dilated and then corroded several times. In this specific embodiment, it is preferable to carry out three times of expansion first and then corrosion treatment.

[0048] 2.1 Perform binarization processing on the acquired grayscale image to obtain the binarized image

[0049] Define the acquired grayscale image as I1, and the binarized image as I2. I1(x, y) and I2(x, y) represent the grayscale values ​​of I1 and I2 at coordinates (x, y) respec...

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Abstract

The invention discloses a self-calibration method for an external parameter of a video camera, aiming at providing the self-calibration method for the external parameter of the video camera, which is short in computation time and high in result precision. The method comprises the steps of: A, obtaining and storing a gray level image of a template by the video camera; B, denoising the obtained gray level image; C, detecting an angular point of the denoised gray level image; D, obtaining an initial external parameter of the video camera according to a nonlinear video camera model and angular point information; and E, optimizing the initial external parameter of the video camera by a particle swarm optimization (PSO) to obtain the external parameter of the video camera. The invention further discloses a self-calibration device for the external parameter of the video camera. The invention can be used for calibrating the external parameter of the video camera.

Description

technical field [0001] The invention relates to the technical field of camera calibration, in particular to a method and device for self-calibrating external parameters of a wide-angle camera. Background technique [0002] The relationship between the three-dimensional geometric position of a point on the surface of a space object and its corresponding point in the image is determined by the geometric model of the camera imaging, and its parameters are camera parameters. The parameters include the internal geometric and optical properties of the camera (intrinsic parameters), and the three-dimensional position and orientation of the camera relative to the world coordinate system (external parameters). Since the position of the camera often changes in actual use, more and more attention has been paid to the calibration of the external parameters of the camera. The application of camera external parameter calibration has been involved in various fields of life, such as robot ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/00
Inventor 潘兴伟张元标毕小明
Owner SHENZHEN PERCHERRY TECH