Three-dimensional calibration target-based multi-fisheye camera calibration device and method

Abstract

The invention discloses a three-dimensional calibration target-based multi-channel fisheye camera calibration device and method and belongs to the camera calibration technical field. The method includes the following steps that: a three-dimensional coordinate system is established; each fisheye camera in a panoramic image pick-up module is utilized to acquire the images of two calibration plates in a calibration target which are located at different positions; an isometric projection distortion model is selected; the intrinsic parameters of the corresponding lens and extrinsic parameters between a lens coordinate system and all plane calibration plate coordinate systems are calculated; the rotation and translation matrix of the two plane calibration plate coordinate systems and a three-dimensional calibration target coordinate system is calculated; and the obtained intrinsic parameters and extrinsic parameters of the lens are nonlinearly optimized, so that the optimal intrinsic parameters of the lens and the optimal extrinsic parameters of the lens relative to each calibration plate coordinate system can be obtained. According to the method, the folding type calibration target is adopted to achieve the calibration of the intrinsic parameters and extrinsic parameters of each lens, so that high-quality calibration images can be obtained; the intrinsic parameters and extrinsic parameters of each lens are optimized according to the known position relationship between a three-dimensional calibration target and the lens, and therefore, the accuracy of camera calibration can be greatly improved.

Description

technical field [0001] The invention relates to the technical field of camera calibration, in particular to a multi-channel fisheye camera calibration device and method based on a three-dimensional calibration target. Background technique [0002] The camera model reflects the mapping relationship between the object space and the image plane, and the camera calibration is to determine the internal parameters and external parameters that reflect the geometric and optical characteristics of the camera. Among them, the internal parameters are the inherent parameters of the lens, and will not change due to changes in the lens position; while the external parameters reflect the positional relationship between the lens coordinate system and the world coordinate system in the space where the calibration board is located, and will not change due to lens position changes and other reasons. And change. For a vision system with a lens as the main device, such as a panoramic camera, th...

AI Technical Summary

Problems solved by technology

[0006] In order to overcome the technical problems of the existing three-dimensional calibration target such as high processing difficulty, self-occlusion and low calibration accuracy, the present invention aims to provide a multi-channel fisheye camera calibration device based on a three-dimensional calibration target with simple processing and no self-occlusion, and also provides A multi-channel fisheye camera calibration method based on a stereo calibration target with high calibration accuracy

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