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Checkerboard calibration template under incomplete collection condition, and automatic recognition method for checkerboard calibration template

A technique for calibrating templates and checkerboards

Active Publication Date: 2018-06-19
SHANGHAI HUI X IMAGING INFORMATION TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The disadvantages of using Delaunay triangulation to determine the black and white matrix grid of the checkerboard are as follows: (a) it will be significantly affected by the integrity and correctness of the detected checkerboard corner points, (b) when the calibration template is collected Under incomplete conditions, it is necessary to specify a unique reference point so that all identified calibration templates have the same corresponding relationship between corner pixel coordinates and row and column numbers in the matrix grid. (c) The transition tilt of the calibration board will affect the recognition of the checkerboard template. correctness
The above problems make it difficult to find a technology that can automatically identify the checkerboard calibration template in commercial applications

Method used

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  • Checkerboard calibration template under incomplete collection condition, and automatic recognition method for checkerboard calibration template
  • Checkerboard calibration template under incomplete collection condition, and automatic recognition method for checkerboard calibration template
  • Checkerboard calibration template under incomplete collection condition, and automatic recognition method for checkerboard calibration template

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Embodiment Construction

[0032] In order to make the technical means, creative features, goals and effects achieved by the present invention easy to understand, the present invention will be further described below in conjunction with specific diagrams.

[0033] refer to figure 1 , to collect the checkerboard calibration template under incomplete conditions, including the substrate, the surface of the substrate is provided with a checkerboard layer, the checkerboard layer is formed by an array of black and white squares with the same size, and a laser is used in a white unit square in the middle of the checkerboard layer Engraving technique engraved with a black circular marker 1. Each of the four adjacent white unit cells is engraved with a character mark 2 . The character mark 2 can be set as required, such as using Arabic character marks, Roman character marks, and the like. The backside of the substrate is provided with a uniform backlight device to improve the contrast of image acquisition. fi...

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Abstract

The invention belongs to the field of image processing and patter recognition, and specifically relates to the related technology of camera calibration in the field of three-dimensional measurement. According to the template, the interior of one white unit grid at the center of a checkerboard layer is provided with a black circular mark. The automatic recognition method comprises the following steps: designing the checkerboard calibration template with a central circle; and proposing a checkerboard calibration template automatic recognition method based on Delaunay triangulation. According tothe above technical scheme, the method can achieve the precise recognition of the checkerboard calibration template under the condition that a calibration template is not excessively inclined throughthe changes of illumination and color, the posture change of the calibration template and the distortion of a camera lens.

Description

technical field [0001] The invention belongs to the field of image processing and pattern recognition, and specifically relates to the related technology of camera calibration in the field of three-dimensional measurement. Background technique [0002] The checkerboard template recognition technology for camera calibration is to identify the black and white matrix grid in the checkerboard based on the extracted checkerboard corner points, and match the row and column numbers in the matrix grid with the pixel coordinates of the corner points. The characteristics of the relatively mature calibration template recognition technology at present are: either need to detect the complete calibration template, or need manual assistance to complete the template recognition. Due to the distortion of the camera lens and the need to collect multiple calibration template images with different poses during camera calibration, it is difficult to automatically identify the calibration templat...

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Application Information

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IPC IPC(8): G06T7/80
CPCG06T2207/30208G06T7/80
Inventor 杨政武刘家朋
Owner SHANGHAI HUI X IMAGING INFORMATION TECH