Two-dimensional plane iteration type camera calibration method

A camera calibration, two-dimensional plane technology, applied in the field of visual navigation, can solve the problems of lens distortion, affecting the accuracy of the vision system, low camera calibration accuracy, etc., to achieve the effect of improving the calibration accuracy

Inactive Publication Date: 2018-06-12
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0003] However, in the existing technology, most of the lens will be slightly distorted during the shooting process, whic

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  • Two-dimensional plane iteration type camera calibration method

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[0028] The present invention will be further described below in conjunction with the accompanying drawings. The following examples are only used to illustrate the technical solution of the present invention more clearly, but not to limit the protection scope of the present invention.

[0029] This method is based on the camera calibration method of two-dimensional visual measurement, after obtaining the internal parameters of the camera, the calibration plane is circled around the origin of the world coordinate system O W Rotate a certain angle, and solve the internal parameters again until the parameters obtained twice adjacently are less than a certain threshold. Finally, the optimal objective function is established, and the calibration results are optimized by using the Levenberg-Marquardt algorithm.

[0030] figure 1 The meaning of each point in the following: O W 、X W , Y W ,Z W Represents the origin and coordinate axes of the world coordinate system, O C 、X C , ...

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Abstract

The invention discloses a two-dimensional plane iteration type camera calibration method. The method is characterized in that, on the basis of a two-dimensional visual measurement-based camera calibration method, the internal parameter of a camera is obtained. After that, a calibration plane is rotated by a certain angle around the origin OW of a world coordinate system, and then the internal parameter is solved again until the difference between parameters obtained every two adjacent times is smaller than a certain threshold value. Finally, an optimized objective function is built, and the calibration result is optimized through a levenberg-marquardt algorithm. Compared with a traditional two-dimensional visual measurement-based calibration method, the distortion of a lens in the shootingprocess is considered, and the calibration precision of the camera is improved.

Description

technical field [0001] The invention relates to a two-dimensional plane iterative camera calibration method, which belongs to the technical field of visual navigation. Background technique [0002] Camera calibration is an important issue in the vision system, and it is also a key technology for unmanned driving to rely on visual positioning and navigation to realize autonomous driving. It is widely used in SLAM, 3D reconstruction and visual odometer. [0003] However, in the existing technology, the lens will be slightly distorted during the shooting process, which will cause the calibration accuracy of the camera to be low, thus affecting the accuracy of the vision system as a whole. Contents of the invention [0004] In order to solve the deficiencies of the prior art, the object of the present invention is to provide a two-dimensional plane iterative camera calibration method, which takes into account the distortion of the lens during the shooting process and improves ...

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Application Information

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IPC IPC(8): G06T7/80
CPCG06T7/80
Inventor 刘德辉曾庆喜邱文旗吕查德
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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