A method for calibrating a panoramic camera

Abstract

The present invention proposes a panoramic camera calibration method. First, two calibration boards are made on the same electronic display screen, and the left and right calibration boards are distinguished by designing different calibration graphics or checkerboards of different sizes; and then a calibration reference is established based on the calibration boards. Coordinate system, respectively calculate the relative position and posture transfer relationship between the left and right camera coordinate system and the calibration reference coordinate system; obtain the relative relationship matrix of the "back-to-back" binocular camera calibration under the same calibration reference coordinate system; ingest multiple groups The image, taking the minimum error between the reprojected image point and the actual image point as the objective function, performs iterative optimization to achieve accurate calibration. The method of the present invention can be extended to multiple cameras, and is used for calibration of application scenarios such as back-to-back binocular cameras and multiple cameras arranged in a ring.

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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