Camera Intrinsic Parameter Calibration Method Based on Equilateral Triangle Template
A camera internal parameter, equilateral triangle technology, applied in image data processing, image analysis, instruments, etc., can solve problems such as inapplicability, corner coordinate errors, and difficult to obtain templates, and achieve the effect of easy production and easy acquisition.
Inactive Publication Date: 2017-02-08
JIANGNAN UNIV +1
View PDF2 Cites 1 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
[0003] Existing planar target calibration methods, such as a planar template with a precise positioning lattice proposed by Zhang Zhengyou, and a planar template composed of a circle and several straight lines passing through the center of the circle proposed by Meng Xiaoqiao et al., these templates are not easy to obtain in industrial sites , so it is not applicable
Wu Fuchao et al. proposed to calibrate the internal parameters of the camera based on two non-parallel rectangles on the space plane. It is necessary to obtain the corner coordinates of the rectangles through the straight line fitting method. The corner coordinates obtained by this method have some errors, so the accuracy of camera calibration affected
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0026] The flow chart of the camera internal parameter calibration algorithm based on the equilateral triangle template is shown in the appendix figure 1 , the schematic diagram of the regular triangular plane template used is shown in the appendix figure 2 , the present invention will be further described in detail below in conjunction with the accompanying drawings.
[0027] 1. The size and world coordinates of the equilateral triangle plane template are unknown
[0028] (1) The internal parameters of the camera adopt a five-parameter model
[0029] The three-dimensional point on the template plane is recorded as M=[x, y, z] T , the two-dimensional point on the image plane is recorded as m=[u, v] T , and the corresponding homogeneous coordinates are and The projective relationship between the spatial point M and the image point m is
[0030]
[0031] Among them, s is a non-zero scale factor, the rotation matrix R and the translation vector t are called the camera...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention relates to a camera internal parameter calibration method based on a regular triangle template. The regular triangle flat template adopted in the method is a big regular triangle flat template formed by three small regular triangle plates in a splicing mode through abutting joint of angles, the small regular triangle plates are same in size and color, and the side length of the small regular triangle plates can be in any size. The camera internal parameter calibration method includes the following steps that (1), a camera at least shoots 3 template images in different positions; (2) sub-pixel-level image coordinates of six angular points of each template image are extracted; (3) if the size of the template is unknown, by the utilization of the perspective geometry theory and characteristics of the regular triangle flat template, image coordinates of a vanishing point and a circular ring point are calculated, and camera internal parameters are calibrated; (4) if the size of the template and world coordinates of feature points are known, the camera internal parameters can be calibrated through kinds of methods. The regular triangle flat template adopted in the method is suitable for industrial sites, the use method is simple, and an algorithm can ensure enough calibration precision.
Description
technical field [0001] The invention relates to an equilateral triangle template and a camera internal parameter calibration method based on the template, which belongs to the field of computer vision measurement and is used for establishing the relationship between camera image pixel positions and scene point positions. Background technique [0002] In the field of machine vision, to obtain three-dimensional spatial information from two-dimensional images, camera calibration (determining the internal parameters of the camera) is a prerequisite. A lot of research work has been done in this area. According to the dimensions of the calibration template used, camera calibration is divided into three-dimensional target calibration, planar target calibration, one-dimensional calibration object calibration and self-calibration. These calibration methods have their own advantages and disadvantages, among which the planar target calibration method has lower requirements on the cali...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/00
Inventor 王秀平白瑞林郭新年刘子腾
Owner JIANGNAN UNIV