Global calibration method and apparatus

A global and directional technology, applied in the field of computer vision, can solve problems such as high cost and poor adaptability, and achieve the effects of low hardware equipment cost, easy installation, and simple implementation process

Active Publication Date: 2017-06-30
浙江景致数据技术有限公司
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Problems solved by technology

However, the traditional calibration method often needs to design high-precision and high-stability hardware to ensure the determined spatial pose relationship between each

Method used

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  • Global calibration method and apparatus

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Embodiment Construction

[0043] In order to make the purpose, technical solution and advantages of the present invention clearer, the specific implementation manners of the global calibration method and system of the present invention will be described below with reference to the accompanying drawings. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0044] The global calibration methods in the following embodiments are suitable for global calibration of the pose relationship between the camera and the turntable in a system including the camera array and the turntable. Such as figure 1 As mentioned above, the system to be calibrated generally includes an electric turntable 010 and a camera array composed of multiple cameras. The camera array as figure 1 Shown includes a first camera 2-1, a second camera 2-2, a third camera 2-3, . . . , an nth camera 2-n. Wherein, n is a positive integer greater...

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Abstract

The invention relates to a global calibration method and apparatus that are used for calibrating a system including a camera array and a rotary table. During execution, at least one calibration chessboard is arranged at the rotary table and the calibration chessboard can rotate with the rotary table. The method comprises: the rotary table is controlled to rotate and shot pictures of the calibration chessboard are obtained in more than two directions; according to the shot pictures, a positional relationship between cameras and the calibration chessboard and a positional relationship between cameras are determined; according to more than two shot pictures and a three-dimensional world coordinate system of the calibration chessboard, a rotation center of the rotary table is determined; on the basis of the positional relationship between the cameras and the rotary table, the positional relationship between the cameras, and the rotation center of the rotary table, a pose relationship between the cameras and the rotary table is determined. According to the method provided by the invention, the calibration chessboard is used for assisting the computer in calibrating the pose relationship between the camera array and the rotary table in the system. The hardware equipment cost is low; installation becomes simple and conveniently; and the method is easy to implement.

Description

technical field [0001] The invention relates to the technical field of computer vision, in particular to a global calibration method and device. Background technique [0002] In the field of computer vision and industrial measurement, it is often necessary to use a platform with a turntable and a camera to assist the smooth progress of the measurement process. However, the traditional calibration method often needs to design high-precision and high-stability hardware to ensure the determined spatial pose relationship between each other. Especially under complex working conditions, the method of ensuring the overall calibration accuracy through hardware accuracy is costly. High and poor adaptability. Contents of the invention [0003] Based on this, it is necessary to provide a global calibration method and device for global calibration through simple hardware settings to address the above problems. [0004] The global calibration method of one of the embodiments is used ...

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Application Information

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IPC IPC(8): G06T7/80
CPCG06T2207/30244
Inventor 史利民郭复胜胡洋丁文孙广江
Owner 浙江景致数据技术有限公司
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