A camera geometry calibration processing method and device

Abstract

Provided in the embodiments of the present invention are a method and apparatus for the geometric calibration of a camera, the method comprising: determining a camera parameter starting value, and acquiring a first cosine distance of a point pair calculated on the basis of the starting value, the point pair being the coordinates of two pixel points corresponding to the same spatial coordinate position in two adjacent pictures; determining whether the first cosine distance matches a preset value, and if not, then acquiring first iteration parameters, and using the first iteration parameters to adjust the starting value to acquire a first optimised value; acquiring a second cosine distance of the point pair calculated on the basis of the optimised value; determining whether the second cosine distance matches the preset value, and if so, then determining that the first optimised value is the camera parameter calibration value. The present solution greatly reduces the amount of calculation involved in the processing, and is beneficial for the implementation of real-time online processing.

Description

technical field [0001] The invention relates to the field of image processing, in particular to a camera geometry calibration processing method and device. Background technique [0002] Panoramic shooting generally refers to a method of taking a horizontal 360-degree and a vertical 180-degree shooting with a certain point as the center, and stitching multiple pictures taken into a panoramic picture and a picture stitching method. Generally speaking, panoramic shooting may include at least two forms of panoramic image and panoramic video. [0003] Usually, two parts of mapping and stitching are involved when a plurality of original pictures are stitched into a panoramic picture. Among them, the mapping can be understood as projecting the pixels on the original picture to the corresponding positions of the panoramic picture, and the splicing can be understood as performing a fusion transition on the overlapping regions of two adjacent original pictures. [0004] In order to ...

AI Technical Summary

Problems solved by technology

Usually, the local optimal value will be affected by the initial value of the camera parameters. Different initial values ​​may lead to the singularity of the change matrix in different iterations, thus obtaining different local optimal values. Therefore, the selection of the initial value in this method There are also higher requirements

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