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Multi-camera global calibration method based on high-precision auxiliary cameras and ball targets

A global calibration and multi-camera technology, applied in image enhancement, image analysis, image data processing, etc., can solve problems such as difficult on-site operation, and achieve the effect of easy operation, high precision and good flexibility

Active Publication Date: 2015-12-30
BEIHANG UNIV
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Problems solved by technology

However, this method is not easy to operate in the field when faced with multiple visual sensors with complex layouts

Method used

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  • Multi-camera global calibration method based on high-precision auxiliary cameras and ball targets
  • Multi-camera global calibration method based on high-precision auxiliary cameras and ball targets
  • Multi-camera global calibration method based on high-precision auxiliary cameras and ball targets

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Embodiment

[0079] 2.1 Center distance measurement experiment

[0080] The radius and three-dimensional coordinates of the spherical target used in the experiment of this embodiment have been accurately measured. A single camera is used to capture the image of the spherical target, and then the three-dimensional coordinates of the spherical center in the camera coordinate system are calculated, and then the two spherical coordinates are calculated. The Euclidean distance of the center and compare it with the known distance of the center of the sphere. Then measure multiple times to calculate the relative error and root mean square error, so as to evaluate the accuracy of the reconstruction of the center of the sphere.

[0081] Ball targets and their numbers used in the experiment are as follows: Figure 4 shown. According to the measurement by the Institute of Metrology, the diameter of the No. 1 ball target is 40.325mm, and the three-dimensional coordinates are (0.010, 0.019, 0.000); t...

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Abstract

The invention discloses a multi-camera global calibration method based on high-precision auxiliary cameras and ball targets. According to the method, aiming at a multi-camera system which is arranged complicatedly and free of public view field, a global camera coordinate system serves as the world coordinate system, the three-dimensional coordinates, under local coordinate systems, of the sphere centers of a group (at least three) of ball targets are reconfigured by means of cameras to be calibrated and a global camera at the same time, a transfer matrix between two coordinate systems is solved on this basis, and then the transfer matrixes from all camera coordinate systems to the world coordinate system are obtained. When the three-dimensional coordinates of the sphere centers are reconfigured, a single-view method is adopted, a parameter equation is adopted for presenting a spheric projection model, and therefore sphere center reconfiguration precision can be improved greatly. The method has the advantages that operation is easy and flexibility is high. By the adoption of the method, calibration can be achieved conveniently for the multi-camera system which is arranged complicatedly and free of public view field.

Description

technical field [0001] The invention relates to the technical field of camera global calibration, in particular to a multi-camera global calibration method based on high-precision auxiliary cameras and spherical targets. Background technique [0002] The 3D vision system has the advantages of non-contact, many detectable objects, high speed and high measurement accuracy, and is widely used in the fields of national economy and scientific research. For a single vision sensor, the spatial range of measurement is limited. Therefore, multiple vision sensors are required to cooperate to form a 3D vision system with a larger measurement range. In a multi-sensor vision system, it is necessary to unify the measurement data of each sensor and describe the entire measured object consistently as a whole. Therefore, it is necessary to unify the measurement results of each visual sensor into the world's overall coordinate system, that is, to perform global calibration on all visual sen...

Claims

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Application Information

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IPC IPC(8): G06T7/00
CPCG06T2207/10012
Inventor 孙军华何华彬
Owner BEIHANG UNIV
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