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Texture camera calibration device, texture camera calibration method and geometry correction method of texture image of texture camera

A camera calibration and geometric correction technology, which is applied in image analysis, image data processing, instruments, etc., can solve the problem of pixel mapping relationship between two viewing angle images, and achieve the effect of avoiding mutual interference, simple device and easy realization

Active Publication Date: 2014-12-03
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

But general camera calibration methods (e.g. Z. Zhang, "Flexibel camera calibration by viewing a plane from unknown orientation," International conference on computer vision (ICCV'99), Corfu, Greece. 666-673, 1999) are suitable for obtaining a The internal and external parameters of the camera cannot be directly used to determine the mapping relationship between the above two perspective image pixels

Method used

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  • Texture camera calibration device, texture camera calibration method and geometry correction method of texture image of texture camera
  • Texture camera calibration device, texture camera calibration method and geometry correction method of texture image of texture camera
  • Texture camera calibration device, texture camera calibration method and geometry correction method of texture image of texture camera

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Embodiment 1

[0034] Embodiment one: see figure 1 , the texture camera calibration device used in optical three-dimensional measurement is composed of a reference plate (1) and a mobile worktable (2); the surface of the reference plate (1) has a two-dimensional dot mark array, and the dot mark array is along the X , Y Distributed in two vertical directions; refer to the center coordinates of each dot on the flat plate (1) ( X k , Y k ) is known precisely, where k ( k =1,2,…, K ) is the serial number of the dot; the color of the dot mark and the background on the reference plate (1) are black and white respectively, so as to improve the contrast of the image and facilitate the segmentation of the dot mark; the reference plate (1) is fixed on the mobile workbench ( 2), and make the plane of the reference plate (1) perpendicular to the moving direction of the mobile worktable (2); the mobile workbench (2) can drive the reference plate (1) to move along the Z-axis direction, and the mo...

Embodiment 2

[0035] Embodiment two: see figure 2 , the texture camera calibration method applied in optical three-dimensional measurement, using the device of Embodiment 1 for calibration, the calibration principle and steps are introduced as follows.

[0036] Point the dot mark on the reference plate towards the direction of the camera, which can be captured by two cameras at the same time.

[0037] The reference plate can be used for the calibration of the measurement system and the calibration of the texture camera at the same time. The measurement camera in the measurement system can capture the reference plate circle point mark array to establish the mapping relationship between the pixel coordinates of the measurement camera and the three-dimensional coordinates of the surface points of the measured object, that is, to realize the horizontal ( X and Y direction) calibration. At the same time, through the translation of the reference plate, the structured light source is used to...

Embodiment 3

[0051] Embodiment three: This geometric correction method for texture images applied in optical three-dimensional measurement uses the calibration results of the second embodiment to perform geometric correction on the color texture images captured by the texture camera, and transforms them into the measurement camera perspective images, so as to realize the three-dimensional model obtained by measurement. texture map.

[0052] In actual measurement, the measurement system can measure the three-dimensional point cloud data of the object surface, and there is a direct correspondence between the point cloud data and the measurement camera pixels, and the pixels ( s , t ) corresponding to the three-dimensional coordinates of the object surface point can be expressed as [ X ( s , t ), Y ( s , t ), Z ( s , t )]. While measuring, the texture camera can capture the texture image of the object surface. The texture image is a color image, which can be represented by...

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Abstract

The invention relates to a texture camera calibration device, a texture camera calibration method and a geometry correction method of a texture image of a texture camera applied in optical three-dimensional measurement. The texture camera calibration device comprises a reference panel provided with dot mark arrays and a movable bench, wherein the reference panel is fixed on the movable bench and is perpendicular to a moving direction of the movable bench. The texture camera calibration method comprises that the movable bench drives the reference panel to move in parallel to at least 3 positions, and moving distances are read and serve as coordinates of circle centers Z of dot arrays on the reference panel; in all positions of the reference panel, the texture camera photographs dot mark array images and pixel coordinates of circle centers of dots are extracted; and 14 undetermined parameters are solved. The geometry correction method of the texture image comprises steps of generating a blank texture image for measuring camera viewing angles; reading surface point three-dimensional coordinates of an object to be measured corresponding to pixels of the blank image; solving corresponding pixel coordinates of the blank image in a color texture image photographed by the texture camera; and using colors to fill in pixels of the blank image for measuring camera viewing angles.

Description

technical field [0001] The invention relates to a camera calibration device and method and its image geometry correction method, in particular to a texture camera calibration device and method in optical three-dimensional measurement and its texture image geometry correction method. Background technique [0002] Optical three-dimensional measurement technology refers to the technology of measuring the surface shape of an object by means of optical methods and obtaining three-dimensional point cloud data of the object surface. With its non-contact advantages, this technology has very broad application prospects in industrial inspection, biology and medicine, protection of human cultural heritage, and computer vision. Active optical three-dimensional measurement technology uses active lighting sources to project structured light coding patterns to objects, and uses cameras to capture deformed patterns from another angle, from which the three-dimensional point cloud data of the...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/00
Inventor 郭红卫周珺于冲张志会
Owner SHANGHAI UNIV