Parallel dual-camera stereo calibration method

A stereo calibration and dual-camera technology, applied in image analysis, image data processing, instruments, etc., can solve the problems of reducing execution efficiency and achieve the effects of reducing the search range, fast positioning, and eliminating manual intervention

Inactive Publication Date: 2016-03-30
大巨龙立体科技有限公司
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  • Application Information

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Problems solved by technology

[0004] In the existing stereo shooting device, the stereo calibration and the synthesis of the stereo image are carried out independently i

Method used

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  • Parallel dual-camera stereo calibration method
  • Parallel dual-camera stereo calibration method

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Embodiment Construction

[0022] The method for stereo calibration of parallel dual cameras provided by the present invention will be further described below.

[0023] see figure 1 , which provides a method for stereo calibration of parallel dual cameras in the present invention. The method includes the following steps:

[0024] S1, providing a calibration scene and a checkerboard calibration board that can be rotated at a preset angle, the checkerboard calibration board is set in the middle of the calibration scene, and the black squares at the four corners of the checkerboard calibration board are used as the coverage area , and cover the coverage area with a color different from the calibration scene and the checkerboard calibration board;

[0025] S2. Set the checkerboard calibration board at multiple different angles, and use a shooting device including a left camera and a right camera to shoot the checkerboard calibration board to obtain multiple groups of left and right images of the checkerbo...

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Abstract

The present invention relates to a parallel dual-camera stereo calibration method. The method comprises the following steps of: (1) providing a checkerboard calibration plate, and taking black squares in four corners of the checkerboard calibration plate as coverage areas; (2) setting the checkerboard calibration plate to have different angles, and shooting the checkerboard calibration plate to obtain multiple sets of left images and right images; (3) processing four coverage areas in each image to obtain four quadrangle areas; (4) positioning the quadrangle areas corresponding to the four coverage areas to acquire coordinates of four vertices in a corner point detection area, so as to obtain the corner point detection area; and (5) obtaining a shift mode during 3D image synthesis by the left and right images shot by a shooting apparatus according to the coordinates of the four vertices in the corner point detection area of left sample images and right sample images, and carrying out calibration on internal parameters and external parameters of a left camera and a right camera.

Description

technical field [0001] The invention relates to a method for stereo calibration of cameras, in particular to a method for stereo calibration of parallel dual cameras. Background technique [0002] Camera calibration is one of the basic problems in computer vision, including calculating the internal and external parameters of the camera, and has important applications in the fields of object size measurement, 3D reconstruction, object recognition, and robot navigation. Commonly used camera calibration algorithms include Tsai's two-step calibration method and Zhang's calibration method. Wherein Zhang's calibration method (referring to literature: ZhengyouZhang: AFlexibleNewTechniqueforCameraCalibration.IEEETrans.PatternAnal.Mach.Intell.(PAMI), 22 (11): 1330-1334, 2000.) utilizes a plane calibration board to provide a kind of flexible, low-cost A cost-based camera parameter calculation method, which uses the checkerboard images taken at different postures to obtain the sub-pix...

Claims

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Application Information

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IPC IPC(8): G06T7/00
Inventor 陆晶赵佳俊
Owner 大巨龙立体科技有限公司
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