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Calibration method and device for binocular stereo camera

A technology of binocular stereo camera and nominal parameters, which is applied in image analysis, image enhancement, instruments, etc., can solve the problems of paper feeding accuracy error, inability to achieve equal spacing, and affect the accuracy of binocular stereo camera, etc., to improve Effectiveness and efficiency, the effect of good versatility

Active Publication Date: 2019-04-12
BEIJING DEEPGLINT INFORMATION TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The existing binocular stereo camera calibration scheme uses a printer to make a checkerboard. Due to the error in paper feeding accuracy, it is difficult to achieve equal spacing between black and white grids, especially when the checkerboard area to be produced is large, almost in practice. It is impossible to achieve equal spacing; in addition, the checkerboard needs to be a flat surface, which is difficult to achieve in reality, so it will seriously affect the accuracy of binocular stereo camera calibration, and the printed checkerboard calibration board can only be used The binocular stereo camera configured according to the corresponding specifications has poor versatility

Method used

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  • Calibration method and device for binocular stereo camera
  • Calibration method and device for binocular stereo camera
  • Calibration method and device for binocular stereo camera

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Experimental program
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Embodiment 1

[0027] image 3 It is a schematic flow chart of the calibration method of the binocular stereo camera in the embodiment of the present application, such as image 3 As shown, the calibration method of the binocular stereo camera may include the following steps:

[0028] Step 301: Determine the size of the checkerboard image displayed on the flat panel display according to the nominal parameters of the binocular stereo camera, and the effective display size of the flat panel display is not smaller than the size of the checkerboard image;

[0029] Step 302: Drive the binocular stereo camera to acquire the checkerboard image from multiple different positions;

[0030] Step 303: Calibrate the parameters of the binocular stereo camera according to the checkerboard image acquired by the binocular stereo camera.

[0031] In specific implementation, a flat-panel display using technologies such as liquid crystal, plasma, electroluminescence, vacuum fluorescent, flat-panel cathode ray...

Embodiment 2

[0070] The implementation of the method for controlling the monitoring device is described in Embodiment 1, and now the implementation of the method for controlling the monitoring device will be described in combination with specific scenarios.

[0071] Figure 4 It is a schematic diagram of the system of the second embodiment of the calibration method of the binocular stereo camera in the embodiment of the present application, such as Figure 4 As shown, the composition of the binocular stereo camera calibration system includes: calibration PC, display control PC, flat panel display, motor drive control equipment, motor and binocular stereo camera. Based on the binocular stereo camera calibration system, implementing the calibration method of the binocular stereo camera provided by the application can be as follows:

[0072] Step 401: Input the nominal parameters of the binocular stereo camera to the PC for calibration, and the calibration PC calculates the pixel size of the...

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Abstract

The application provides a binocular stereo camera calibration method and device. The binocular stereo camera calibration method comprises the steps that the size of a checkboard image displayed by a flat-panel displayer is determined according to the nominal parameters of a binocular stereo camera, wherein the effective display size of the flat-panel displayer is not less than the size of the checkboard image; the binocular stereo camera is driven to acquire the checkboard image from multiple different positions; and the parameters of the binocular stereo camera are calibrated according to the checkboard image acquired by the binocular stereo camera. With application of the technical scheme, display of the checkboard image can be accurately controlled according to the nominal parameters of the binocular stereo camera under calibration so that universality is excellent, and the calibration effectiveness and efficiency of the binocular stereo camera can be effectively enhanced.

Description

technical field [0001] The present application relates to the technical field of binocular stereo vision, in particular to a calibration method and device for a binocular stereo camera. Background technique [0002] figure 1 It is a schematic diagram of calculating depth information according to the parallax of corresponding points using a binocular stereo camera in the prior art, figure 2 for right figure 1 The schematic diagram of the simplified corresponding process of the corresponding point in , using the binocular stereo camera to calculate the depth information according to the parallax of the corresponding point, as shown in figure 1 with figure 2 As shown, the basic principle of binocular stereo vision is to restore stereo information according to the disparity of binocular stereo cameras. In actual engineering, the focal length of the camera, lens distortion, baseline length, parallelism of the optical axes of the two cameras, perpendicularity between the opt...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/80
CPCG06T2207/10012
Inventor 骆天麒
Owner BEIJING DEEPGLINT INFORMATION TECH