External parameter calibration method used when camera and two-dimensional laser range finder are used in combined mode

A two-dimensional laser and calibration method technology, applied in the field of external parameter calibration, can solve the problems of large size of calibration plate, cumbersome measurement process, poor accuracy, etc.

Inactive Publication Date: 2015-04-01
HEBEI UNIV OF TECH
View PDF3 Cites 16 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a method for calibrating external parameters when the camera is used in combination with a two-dimensional laser rangefinder, and to use a foldable calibration plate to complete the calibration of external parameters when the camera is used in conjuncti

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 more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • External parameter calibration method used when camera and two-dimensional laser range finder are used in combined mode
  • External parameter calibration method used when camera and two-dimensional laser range finder are used in combined mode
  • External parameter calibration method used when camera and two-dimensional laser range finder are used in combined mode

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0079] The first step is to design the folding calibration board:

[0080] The calibration plate used in the external parameter calibration method when the camera and the two-dimensional laser rangefinder are used in combination is a folded calibration plate, which is a long plane formed by splicing five black and white small planes of rectangular plastic plates of 50cm×30cm , the long plane can be unfolded and folded, unfolded when in use, and the angle of unfolding can be adjusted freely;

[0081] The second step is to use the Matlab camera calibration toolbox to calibrate the internal parameters of the camera:

[0082] The camera uses a pinhole camera. Prepare a black and white checkerboard picture. The specification includes 13×10 black and white checkerboard squares. The size of each black and white checkerboard is 2cm×2cm. Use the camera to be calibrated from different angles Take 15 pictures, perform corner detection, and calculate the internal parameters of the camera...

Embodiment 2

[0119] Except for a long plane formed by splicing two rectangular black and white facets of 50cm×30cm alternately, and the foldable calibration plate has two black and white facets, which need to collect 8 times of information to complete the calibration, the others are the same as in embodiment 1.

Embodiment 3

[0121] Except for a long plane formed by splicing four rectangular black and white facets of 50cm×30cm alternately, and the folding calibration plate has four black and white facets, which require three times of information collection to complete the calibration, the others are the same as in Example 1.

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

No PUM Login to view more

Abstract

The invention discloses an external parameter calibration method used when a camera and a two-dimensional laser range finder are used in a combined mode and relates to three-dimensional information image processing of objects. According to the external parameter calibration method used when the camera and the two-dimensional laser range finder are used in the combined mode, a foldable calibration plate is used for achieving external parameter calibration when the camera and the two-dimensional laser range finder are used in the combined mode, the foldable calibration plate is a long plane which is formed by splicing small rectangular black planes and small rectangular white planes alternately and can be unfolded and folded, the foldable calibration plate is unfolded when used, and the unfolding angle can be adjusted freely; calibration of internal parameter of the camera is achieved by means of a Matlab camera calibration tool box; a camera and two-dimensional laser range finder system is established; the foldable calibration plate is placed, and calibration is completed under the condition that the number of times of information acquisition of a system is smallest; image information and two-dimensional information are acquired and processed by the camera and the two-dimensional laser range finder respectively; processed camera information and processed two-dimensional laser range finder information are matched in a one-to-one mode for combined calibration; a calibration result is optimized by means of the Levenberg-Marquardt algorithm, and then calibration is completed.

Description

technical field [0001] The technical solution of the invention relates to object three-dimensional information image processing, in particular to a method for calibrating external parameters when a camera and a two-dimensional laser range finder are used in combination. Background technique [0002] The combined application of cameras and 2D laser rangefinders has been widely used in 3D information acquisition, robot motion information and 3D reconstruction technologies. The two-dimensional laser range finder can directly measure the two-dimensional information of the object, and the measurement accuracy is high, and the camera can obtain pictures including information such as color and shape; if the camera and the two-dimensional laser range finder can be used in combination, their Combining the advantages, more abundant and comprehensive information of the measured object can be obtained, and the accuracy of measurement can be improved and the information processing proces...

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
no application Login to view more
IPC IPC(8): G06T7/00
CPCG06T7/80G06T2207/30244
Inventor 胡钊政赵斌张兰柏东芳夏克文刘国忠李冰
Owner HEBEI UNIV OF TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap