General calibration method for common video cameras, panorama video cameras and fisheye three-dimensional video cameras and based on one-dimensional calibration rod

A stereo camera and calibration method technology, applied in image analysis, image data processing, instruments, etc., can solve the problems of complex calibration and low flexibility

Active Publication Date: 2013-12-04
BEIHANG UNIV
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Problems solved by technology

It solves the problem of complex calibration and low flexibility of fisheye stereo camera system and even multi-camera hybrid system

Method used

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  • General calibration method for common video cameras, panorama video cameras and fisheye three-dimensional video cameras and based on one-dimensional calibration rod
  • General calibration method for common video cameras, panorama video cameras and fisheye three-dimensional video cameras and based on one-dimensional calibration rod
  • General calibration method for common video cameras, panorama video cameras and fisheye three-dimensional video cameras and based on one-dimensional calibration rod

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Embodiment Construction

[0110] The present invention is a universal calibration method for ordinary, wide-angle and fisheye stereo cameras based on one-dimensional calibration rods, see Figure 1 to Figure 5 shown.

[0111] The simulation process is carried out on a computer with a main frequency of 3.07GHz and a memory of 4.00GB, and Matlab2009b under Windows XP environment. The subjects used in the experiment are Basler scA640-120gc camera, Fujinon FE185C057HA-1 fisheye lens with FOV of 185°, and Pentax C60402KP wide-angle lens with FOV of 86.77°.

[0112] Firstly, introduce the parameters of the stereo vision camera in the simulation, which are assumed based on the parameters of the real camera. The number of image pairs collected is N=300, and the main point of the image is u 0 = u 0 '=320, v 0 =v 0 '=240, pixel size dx=dx'=0.0056mm, dy=dy'=0.0056mm. The field of view of the ordinary lens is 45°, and the nominal focal length is 5.5mm; the field of view of the wide-angle lens is 100°, and th...

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Abstract

Provided is a general calibration method for common video cameras, panorama video cameras and fisheye three-dimensional video cameras and based on a one-dimensional calibration rod. The method includes four steps of 1 initialization of inner parameters of video cameras; 2 initialization of outer parameters of the video cameras; 3 building of an optimized objective function; 4 non-linear optimization of the inner parameters and the outer parameters of the video cameras. Due to the fact that the existing calibration algorithm can not meet the accuracy and convenience requirements of three-dimensional vision systems of the fisheye lens video cameras, a general three-dimensional vision system calibration method for the common video cameras, the panorama video cameras and the fisheye lens video cameras on the basis of a general video camera model is designed. By means of Matlab simulation and real experiments, the method is proved to be feasible and effective. The method has good practical value and application prospects in the technical field of machine vision.

Description

technical field [0001] The invention relates to a general calibration method for common, wide-angle and fish-eye stereo cameras based on a one-dimensional calibration rod, which belongs to the field of machine vision. Background technique [0002] In the field of machine vision, stereo vision is an important part and is widely used in navigation, three-dimensional measurement and scene modeling and other fields. Most of the current research is focused on calibrating common and wide-angle stereo camera systems, and these methods cannot be directly used to calibrate fisheye cameras. In addition, ordinary and wide-angle camera systems can only provide a relatively limited public field of view, while the public field of view of the fisheye stereo camera system can cover the entire area of ​​the camera system. Therefore, in order to better play the function of the fisheye camera, it is very important and meaningful to propose an accurate, efficient and convenient calibration met...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00
Inventor 全权付强王江蔡开元
Owner BEIHANG UNIV
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