Checkerboard calibration template under incomplete acquisition condition and its automatic identification method
A calibration template and automatic recognition technology, applied in image analysis, image enhancement, instruments, etc., can solve the difficulty of finding the checkerboard calibration template, the impact of integrity and correctness, the calibration board affects the correctness of checkerboard template recognition, etc. question
Active Publication Date: 2021-08-10
SHANGHAI HUI X IMAGING INFORMATION TECH
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[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
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[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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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. A checkerboard calibration template was acquired under the incomplete condition, including a black circular marker within a white cell in the middle of the checkerboard layer. The automatic identification method of the checkerboard calibration template under the condition of incomplete collection includes the following steps: designing a checkerboard calibration template with a central circle; proposing an automatic identification method of the checkerboard template based on Delaunay triangulation. Due to the adoption of the above technical solution, under the condition that the calibration board is not excessively tilted, the checkerboard calibration template can be automatically and accurately identified with respect to changes in illumination and color, posture changes of the calibration board, and distortion of the 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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IPC IPC(8): G06T7/80
CPCG06T2207/30208G06T7/80
Inventor 杨政武刘家朋
Owner SHANGHAI HUI X IMAGING INFORMATION TECH