In-situ calibration method for structure parameters of large-visual-field binocular stereo vision system by small two-dimensional targets

A technology of binocular stereo vision and system structure, which can be used in image data processing, instruments, calculations, etc., and can solve problems such as the reduction of measurement accuracy.

Active Publication Date: 2013-03-13
SHANGHAI JIAO TONG UNIV
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Problems solved by technology

[0005] In order to overcome the deficiencies and defects of the existing technology, at the same time consider the importance of on-site calibration, such as it can effectively solve the problem of calibration parameters, especia

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  • In-situ calibration method for structure parameters of large-visual-field binocular stereo vision system by small two-dimensional targets
  • In-situ calibration method for structure parameters of large-visual-field binocular stereo vision system by small two-dimensional targets
  • In-situ calibration method for structure parameters of large-visual-field binocular stereo vision system by small two-dimensional targets

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[0042] The specific implementation of the present invention will be further described below in conjunction with the accompanying drawings.

[0043] Such as figure 1 , figure 2 , image 3 As shown, the specific implementation steps of the calibration method of the present invention are as follows:

[0044] 1) Make a small-size two-dimensional calibration target. The small-size two-dimensional calibration target adopts a 9.7-inch Ipad LCD screen with a screen size of 196mm×147mm. The calibration pattern is a circular spot array arranged in 2 rows and 3 columns, and the calibration pattern is displayed on the Ipad LCD screen. The radius of the circular spot occupies 100 pixels (about 20mm), and the distance between the length and width directions occupies 300 pixels (about 60mm). Take the center of the circular spot as the feature point on the calibration target.

[0045] 2) Place the calibration target in the measurement scene. Place the small-sized two-dimensional calibr...

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Abstract

The invention discloses an in-situ calibration method for structure parameters of a large-visual-field binocular stereo vision system by small two-dimensional targets, which belongs to the technical fields of optical measurement and mechanical engineering. The calibration method comprises the following steps of: acquiring images of the small two-dimensional calibration targets which are placed in different positions in a measurement scene; respectively computing external parameters, which correspond to the calibration targets placed in the different positions and are opposite to left and right cameras, according to internal parameters, which are calibrated in an off-line manner, of the left and right cameras, and further computing the structure parameters of the stereo vision system; and finally, establishing an objective function to perform nonlinear optimization on the structure parameters of the stereo vision system. The small two-dimensional calibration targets effectively solve the problems of high cost, difficulty in transportation and storage and inconvenience in application and maintenance of large high-precision calibration targets, and can be applicable to the in-situ calibration of the structure parameters of the stereo vision system in a complicated environment.

Description

Technical field: [0001] The invention relates to a method for calibrating structural parameters of a binocular stereo vision system with a large field of view, in particular to a method for on-site calibration of structural parameters of a binocular stereo vision with a large field of view by using a small two-dimensional calibration target. It belongs to the technical fields of optical measurement and mechanical engineering. Background technique: [0002] The calibration of the parameters of the traditional binocular stereo vision system is to calibrate the parameters of the left and right cameras and the parameters of the system structure at the same time. With the continuous increase of the measurement scene, this traditional method has also been extended to the calibration of the large field of view binocular stereo vision measurement system. [0003] The calibration of the parameters of the large field of view binocular stereo vision system usually uses a large-scale t...

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Application Information

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IPC IPC(8): G06T7/00
Inventor 习俊通王振兴吴卓琦陈晓波
Owner SHANGHAI JIAO TONG UNIV
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