Strict calibration method of panorama camera

Abstract

The invention discloses a strict calibration method of panorama camera, mainly comprising the following steps: building a panorama camera calibration field, and measuring object space coordinate of a control point; obtaining multiple groups of single camera calibration images of the panorama camera calibration field according to photographic parameters set in advance; measuring image point coordinate of a connection point between the control point and the image on the image of each single camera; carrying out bundle adjustment on strip block formed by images of each single camera, obtaining exterior orientation element of single camera image of each exposure point position in an object space control point coordinate system; carrying out relative orientation between single camera images for calibration image of one exposure point, and obtaining a relative orientation element initial value; and according to the two initial resolving results above, placing the single camera images of all exposure points together to form an integer, building error equation, executing strict adjustment treatment, and thereby obtaining strict relative orientation element between single cameras in the panorama camera. The method provided by the invention can effectively improve calibration precision of the panorama camera.

Description

technical field [0001] The invention belongs to the technical field of surveying and mapping, and in particular relates to a rigorous calibration method for a panoramic camera. Background technique [0002] Compared with single-camera images, panoramic images are more intuitive, comprehensive and realistic, so they are widely used in surveying and mapping, street view information collection, mine monitoring and tourism, especially the rapid development of vehicle-mounted mobile measurement systems in recent years. , The panoramic camera has basically become one of the standard sensors of the above system. One of the main factors affecting the stitching quality and measurement accuracy of panoramic images is the accuracy of the relative position parameters among the single cameras that make up the panoramic camera. The relative position parameters between single cameras can be obtained through image matching or calibration based on control points. Among them, in the panoram...

AI Technical Summary

Problems solved by technology

Among them, in the panoramic camera image stitching method based on image matching, the quality of the panoramic image is mainly affected by many factors such as the degree of overlap between images, the feature richness of the overlapping area, and the quality of a single image. The measurement of the stitched panoramic image The accuracy is poor, and it is generally only used for browsing; in the control point-based panoramic camera calibration method, a single camera and a single chip are usually used to solve the relative position parameters between the cameras, and the calculated relative position parameters between the cameras are not enough Strict, affecting the stitching and measurement accuracy of panoramic images

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