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ORB-SLAM-based multi-camera calibration method

A calibration method, multi-camera technology, applied in image analysis, image data processing, instruments, etc., can solve complex problems

Active Publication Date: 2016-09-28
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
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Problems solved by technology

[0004] In order to overcome the complex shortcomings of existing multi-camera calibration methods, the present invention provides a multi-camera calibration method based on ORB-SLAM

Method used

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Embodiment Construction

[0035] The specific steps of the multi-camera calibration method based on ORB-SLAM in the present invention are as follows:

[0036] 1. Camera internal reference calibration.

[0037] Zhang's calibration method, which is commonly used in calibration, is adopted. Continuously collect 15 images, perform corner detection on each image, calculate the homography transformation H between the image used for calibration and the checkerboard grid, and use the geometric relationship of the checkerboard grid to establish the corresponding relationship between each corner point in each view image; The spatial coordinates of all corner points on the checkerboard satisfy the coplanar constraint, assuming that its Z coordinate is 0, and calculate the homography:

[0038] u v 1 = H ...

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Abstract

The invention discloses an ORB-SLAM-based multi-camera calibration method. With the method, a technical problem of high complexity of the existing multi-camera calibration method can be solved. According to the technical scheme, camera attitudes are obtained in real time by using an ORB-SLAM technology, so that dependence on a specific hardware platform is avoided; and on the basis of same scene pictures collected by multiple cameras at different times, resolving of a position relationship among the multiple cameras is carried out. The method is designed simply; overlapped-view-free or low-overlapped-view calibration of multiple cameras can be realized rapidly and accurately.

Description

technical field [0001] The present invention relates to a multi-camera calibration method, in particular to an ORB-SLAM-based multi-camera calibration method. Background technique [0002] In order to break through the limitation of a single camera's measurement angle of view, people often combine multiple cameras to complete panorama stitching, 3D reconstruction, and comprehensive measurement of large workpieces and rail profiles. How to accurately solve the positional relationship between multiple cameras is the key to the later work. [0003] Literature "Huang H, Li N, Guo H, et al. Calibration of non-overlapping cameras based on a mobile robot[C] / / Information Science and Technology (ICIST), 20155th International Conference on. IEEE, 2015:328-333. " discloses a multi-camera calibration method. In this method, the checkerboard calibration board is placed on a platform that can obtain the motion attitude, so that multiple cameras can capture the checkerboard at different ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00
Inventor 杨涛李广坡张艳宁李治刘小飞
Owner NORTHWESTERN POLYTECHNICAL UNIV
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