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Camera calibration method of three-dimensional laser imaging system

An imaging system and camera calibration technology, applied in the field of image processing, can solve problems such as no camera calibration

Active Publication Date: 2014-05-28
BEIJING INST OF AEROSPACE CONTROL DEVICES
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Problems solved by technology

There is currently no method for calibrating the camera of a 3D laser imaging system

Method used

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  • Camera calibration method of three-dimensional laser imaging system
  • Camera calibration method of three-dimensional laser imaging system
  • Camera calibration method of three-dimensional laser imaging system

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Embodiment Construction

[0073] The realization principle of the present invention is: the method of calibrating the camera coordinate system by feature points, and obtaining six deviation parameters between the camera coordinate system and the carrier coordinate system through differential calculation, completing the calibration of the camera coordinate system, and obtaining the accurate carrier coordinate system to the camera The transformation matrix of the coordinate system. The invention can obtain the precise relationship between the camera coordinate system and the carrier coordinate system, and assign color information to the point cloud generated by the three-dimensional laser system scanning, and this color is the true color of the scanned object itself, which can make the point cloud data and image data Fusion is more precise. In addition, the present invention has simple and clear ideas, easy programming, and semi-automatic operation without adding too much manual participation.

[0074] ...

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Abstract

The invention discloses a camera calibration method of a three-dimensional laser imaging system. The method utilizes characteristics points to establish a camera coordinate system, then obtains six deviation parameters of the camera coordinate system and a carrier coordinate system through differential computing, completes the calibration of the camera coordinate system, and finally obtains the precise conversion matrix from the carrier coordinate system to the camera coordinate system. At present no corresponding method can process the camera calibration method of a three-dimensional laser imaging system. The method provided by the invention is simple and clear, the programming is easy to realize, and the precision of integration of point cloud data and pictures in a three-dimensional laser imaging system is improved.

Description

technical field [0001] The invention relates to a camera calibration method of a three-dimensional laser imaging system, in particular to a method for calibrating six deviation parameters of the relationship between a camera coordinate system and a carrier coordinate system by using a differential method, and belongs to the technical field of image processing. Background technique [0002] The 3D laser imaging system refers to the integration of laser scanner, global positioning system, inertial measurement system, etc. into a set of equipment, which is installed on the carrier to scan the ground target, obtain the 3D information of the ground target, and obtain the required 3D space image through processing . Because the acquired reflected laser point data is densely distributed in a nebular shape, it is vividly called a laser point cloud (Point Cloud), which means that countless points present the results of objects in the computer according to the rules of measurement. ...

Claims

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Application Information

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IPC IPC(8): G01C25/00
CPCG01C25/00
Inventor 魏宗康赵龙张晓玲魏子寅于兰萍
Owner BEIJING INST OF AEROSPACE CONTROL DEVICES
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