Method for improving precision of external reference calibration of multi-ocular camera based on multiple identification plate images
A multi-camera, precision calibration technology, which is applied in image analysis, image data processing, instruments, etc., can solve the problems of large modeling errors and inaccurate mutual positional relationships between multiple cameras, and achieve the effect of reducing errors
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[0023] Specific implementation one: as figure 1 As shown, a method for improving the calibration accuracy of multi-camera extrinsic parameters based on multiple recognition of calibration plate images is implemented according to the following steps:
[0024] Step 1: Set the black and white chessboard or QR code as the calibration object, move the calibration object to different positions, and obtain the calibration information of the calibration object by observing the N groups of cameras (N groups of cameras labeled A, B, C...) at each position at the same time. , image and point cloud information, each position obtains a set of calibration information, a total of i sets of calibration information are obtained, where N is greater than or equal to 2; the calibration information of the calibration object is the 2-dimensional image obtained by the camera observation, and the camera coordinate system is obtained The transformation matrix to the coordinate system formed by the cal...
Example Embodiment
[0034] Embodiment 2: The difference between this embodiment and Embodiment 1 is that the specific process of obtaining the transformation matrix of the calibration coordinate system in the second step is:
[0035] Group 1 calibration information:
[0036]
[0037] where the matrix Represents the transformation matrix from the camera A coordinate system to the coordinate system formed by the first group of calibration objects, represents the rotation matrix, represents the translation matrix;
[0038] Group i calibration information:
[0039]
[0040] in The matrix represents the transformation matrix from the camera A coordinate system to the coordinate system formed by the ith group of calibration objects.
[0041] Other steps and parameters are the same as in the first embodiment.
Example Embodiment
[0042] Embodiment 3: The difference between this embodiment and Embodiment 1 or 2 is that: in step 3, the initial camera and the camera to be converted are selected, and the two sets of cameras required for calibration are obtained through the conversion matrix between the two groups of cameras and the calibration object. The specific process of coordinates is:
[0043] The transformation matrix from coordinate system 1 to coordinate system 2 is The coordinate system 1 is the coordinate system formed by the calibration objects in the first group of calibration information, and the coordinate system 2 is the coordinate system formed by the calibration objects in the second group of calibration information; represents the observation through camera A, the transformation matrix from coordinate system 1 to coordinate system 2, Represents the transformation matrix from coordinate system 1 to camera A coordinate system; Numerically yes inverse of .
[0044]In the coordinate...
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