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Stereo vision system calibration platform and calibration method based on solid circular calibration plate

A system calibration and stereo vision technology, applied in the field of stereo vision system calibration platform, can solve the problems of too many optimization variables and complicated calculations, and achieve high-precision results

Inactive Publication Date: 2017-03-08
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to propose a calibration system and method for a stereo vision system based on a solid circle calibration plate in order to solve the problems of too many optimization variables and complicated calculations in various existing calibration methods

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  • Stereo vision system calibration platform and calibration method based on solid circular calibration plate
  • Stereo vision system calibration platform and calibration method based on solid circular calibration plate
  • Stereo vision system calibration platform and calibration method based on solid circular calibration plate

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specific Embodiment approach 1

[0041] Specific embodiment one: a kind of stereo vision system calibration platform based on the solid circle calibration board of this embodiment comprises:

[0042] An input module (Parameter input) for inputting the number of pictures to be calibrated and the center-to-center distance parameters of adjacent solid circles on the calibration board;

[0043] An image preprocessing module (Pretreatment) for preprocessing the image to be calibrated in the parameter input module;

[0044] A system calibration module (Calibration) for performing left image calibration, right image calibration and stereo calibration on the picture processed by the image preprocessing module;

[0045] A parameter output module (Calibresult) for outputting the calibration results of the pictures calibrated by the system calibration module.

specific Embodiment approach 2

[0046] Specific embodiment two: the difference between this embodiment and specific embodiment one is: the image preprocessing module (Pretreatment) includes:

[0047] The Light sub-module is used to consider the influence of lighting and remove unqualified images.

[0048] The preprocessing First_elim submodule for image preprocessing of the calibration image.

[0049] Other steps and parameters are the same as those in Embodiment 1.

specific Embodiment approach 3

[0050] Specific embodiment three: the difference between this embodiment and specific embodiment one or two is that the system calibration module Calibration includes:

[0051] The calibration display Calib window submodule for displaying the calibration board picture to be calibrated;

[0052] Left camera calibration Left_calib submodule used to calibrate the left camera;

[0053] The right camera calibration Right_calib submodule used to calibrate the right camera;

[0054] Stereo calibration Stereo_calib submodule for stereo calibration;

[0055] The output Exit sub-module used to exit the interface and save the calibration results after the calibration is completed.

[0056] Other steps and parameters are the same as those in Embodiment 1 or Embodiment 2.

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Abstract

The invention relates to a stereo vision system calibration platform and a stereo vision system calibration method based on a solid circular calibration plate, and aims to solve the problems of excessive number of optimization variables and complicated calculation of the existing calibration methods. The stereo vision system calibration platform based on the solid circular calibration plate comprises the a parameter input module, an image preprocessing module, a system calibration module and a parameter output module, wherein the parameter input module is used for inputting number of pictures to be calibrated and circle center distance parameters of adjacent solid circles on the calibration plate; the image preprocessing module is used for preprocessing the pictures to be calibrated in the parameter input module; the system calibration module is used for performing left image calibration, right image calibration and stereo calibration on the pictures processed by the image preprocessing module; and the parameter output module is used for outputting calibration results of the pictures calibrated by the system calibration module. The stereo vision system calibration platform and the stereo vision system calibration method are used in the field of stereo vision measurement.

Description

technical field [0001] The invention relates to a calibration platform and a calibration method for a stereo vision system based on a solid circle calibration plate. Background technique [0002] In the theoretical system of stereo vision, solving the internal and external parameters of the camera (camera calibration) and stereo matching of left and right images are two core issues. In a sense, the development of camera calibration technology and stereo matching algorithm determines the development of stereo vision methods. develop. The solution of the camera distortion coefficient will affect the results of the strain field measurement of both the single camera and the dual camera. [0003] The classic two-step calibration technology uses three-dimensional calibration blocks for camera calibration. This method has high precision but the production of calibration blocks is complicated, and the distortion model considered is simple and rough, so it is rarely used. At presen...

Claims

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Application Information

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IPC IPC(8): G06T7/80G06T7/13
Inventor 单宝华袁文厅
Owner HARBIN INST OF TECH
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