Global calibration method of distributed multi-camera system

Abstract

The invention discloses a global calibration method of a distributed multi-camera system. The global calibration method includes the steps of using two-dimensional calibration targets formed by two groups of mutually orthogonal parallel straight lines to obtain relative position and attitude initial values through vanishing line equations and known target geometric dimensions based on vanishing point and vanishing line estimation cameras and relative positions and attitudes of the targets, and seeking minimum values of re-projection error functions so as to obtain optimum values of the cameras and the calibration targets; using auxiliary cameras to shoot adjacent target images to obtain a coordinate transformation matrix between the adjacent targets, seeking relative position and attitude initial values of the calibration targets relative to a reference target by an increment method and obtaining optimum values of transformation matrixes of the calibration targets relative to the reference target by seeking minimum values of re-projection error functions based on closed image sequences; through corresponding coordinate transformation, seeking optimum values of the transformation matrixes of the cameras relative to a reference camera to conduct global calibration of the distributed multi-camera system.

Description

technical field [0001] The invention belongs to the technical field of photogrammetry of optical systems, in particular to a global calibration method for a distributed multi-camera system. Background technique [0002] The optical measurement system has the advantages of flexibility, variety and high precision. As a typical optical measurement system, the distributed multi-camera system has a large field of view and can fuse the images acquired by the multi-camera, so it is widely used in visual measurement, object detection and other fields. The global calibration of the multi-camera system is to obtain the relative position and attitude relationship between the cameras through a certain method, so that the coordinate system of the multi-camera is integrated into the global coordinate system, which is one of the prerequisites for optical measurement. [0003] At present, the commonly used multi-camera global calibration methods are: calibration method based on precision i...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to propose a global calibration method for a distributed multi-camera system in order to solve the problem of accumulated errors caused by multiple coordinate transformations in the global calibration of a distributed multi-camera system

Images