Panoramic camera calibration method

Abstract

The invention proposes a panoramic camera calibration method. First two calibration plates are manufactured on the same electronic display screen, and left and right calibration plates are distinguished through design of different calibration graphs or different sizes of checkerboards; then a calibration reference coordinate system is established based on the calibration plates, relative position posture transfer relations between left and right camera coordinate systems and the calibration reference coordinate system are calculated separately; a relative relation matrix calibrated by a ''back-to-back'' type binocular camera under the same calibration reference coordinate system is obtained; and a plurality of groups of images are shot, and taking a minimum error of a reprojection image point and an actual image point as an objective function, iterative optimization is performed, thereby realizing accurate calibration. The method provided by the invention can be popularized to a plurality of cameras, and can be used for calibration of application scenes of back-to-back binocular cameras, annularly arranged multiple cameras and the like.

Description

technical field [0001] The invention belongs to the technical field of camera measurement and relates to a camera calibration method, in particular to a panoramic camera calibration method. Background technique [0002] In photogrammetry, in order to quantitatively extract and measure the geometric information or motion information of space objects from the image, it is necessary to establish the mutual correspondence between the space object point and the position of the image point in the image. This correspondence is determined by the camera system imaging model and camera parameters. However, the optical center, optical axis, focal length, etc. of the camera are not physical entities, and the parameters are usually determined by experiment and mathematical model analysis. This process is called camera measurement system calibration. The task of camera calibration in photogrammetry mainly includes the determination of internal parameters, external parameters and aberratio...

AI Technical Summary

Problems solved by technology

Most of the existing binocular camera calibration methods are based on this classic calibration method and rely on the common field of view between the two cameras. Hours, the external parameters of the binocular camera cannot be obtained

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