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Three-dimensional camera module group calibration method and device

A technology of a stereo camera and a calibration method is applied in the field of calibration methods and devices of stereo camera modules, and can solve the problems of inconsistent calibration standards, difficult control of calibration accuracy, and difficulty in standardizing internal and external parameters of the camera.

Inactive Publication Date: 2018-07-06
SUPERD CO LTD
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Therefore, the calibration of the internal and external parameters of the camera usually requires a very complex mathematical system operation, and the calibration standards are not uniform, and there are many calibration methods, such as the number of calibration times, the number of calibration pictures, etc.
Therefore, the calibration accuracy is difficult to control, which makes it difficult to grasp the accuracy of the spatial positioning results
Moreover, for products that use cameras for spatial positioning to provide services, it is necessary to calibrate the internal and external parameters of the camera before leaving the factory. However, it is difficult to standardize and quantify the internal and external parameters of the camera. Therefore, the existing camera calibration method Does not meet the mass production requirements of the product

Method used

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  • Three-dimensional camera module group calibration method and device

Examples

Experimental program
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no. 1 example

[0112] Embodiments of the present invention provide a calibration method for a stereo camera module, such as figure 1 As shown, the method includes:

[0113] Step 101: Set the stereo camera module at a predetermined shooting position.

[0114] The embodiment of the present invention is applied to a calibration system of a stereo camera module. The stereo camera module includes a first camera and a second camera. The calibration system of the stereo camera module includes: a calibration object and a calibration platform. That is, the calibration method of the stereo camera module according to the embodiment of the present invention requires a calibration platform, a calibration object and two cameras of the stereo camera module to be used together.

[0115] Among them, such as figure 2 As shown, the calibration object 3 is provided with a plurality of first marking points (namely, marking points a, b, c, d, e) on the first straight line and on a second straight line perpendi...

no. 2 example

[0194] Embodiments of the present invention provide a calibration device for a stereo camera module, which is applied to a calibration system for a stereo camera module. The stereo camera module includes a first camera and a second camera. The calibration of the stereo camera module The system includes: a calibration object and a calibration platform, the calibration object is provided with a plurality of first marking points located on a first straight line, a plurality of second marking points located on a second straight line perpendicular to the first straight line point; the first straight line intersects the second straight line, and the marking point located at the intersection of the first straight line and the second straight line is the target marking point; the calibration platform is provided with multiple Located at a preset position on the third straight line, the stereo camera module is set at a predetermined shooting position, wherein, when the calibration objec...

no. 3 example

[0240] An embodiment of the present invention provides a computer-readable storage medium, which stores a computer program for calibrating a stereo camera module, and the computer program can be executed by a processor in the calibration method for a stereo camera module described above.

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Abstract

The invention provides a three-dimensional camera module group calibration method and device. The calibration method comprises the steps that the first image of a calibration object when the calibration object is arranged on each preset position of the calibration platform is photographed by using a first camera, and the second image of the calibration object when the calibration object is arranged on each preset position of the calibration platform is photographed by using a second camera; the first images photographed by the first camera and the second images photographed by the second camera are respectively acquired; and the calibration function of a space coordinate system corresponding to the three-dimensional camera module group is determined according to the pixel coordinates of the first mark points and the second mark points in the first images and the second images corresponding to each preset position and the target mark point. Therefore, calibration of the internal parameters and the external parameters of the cameras is not involved, and standardization is easy so that the accuracy of spatial positioning through the three-dimensional camera module group can be accurately mastered.

Description

technical field [0001] The invention relates to space positioning technology, in particular to a calibration method and device for a stereo camera module. Background technique [0002] Using image sensor (camera) combined with graphic image algorithm for spatial positioning is an effective spatial positioning scheme. In addition, spatial positioning technology is a widely used auxiliary control method. This technology provides a solution for users to give effective feedback to products without direct contact with products. Humanization is smarter. [0003] Among them, the prior art includes the following two spatial positioning schemes: [0004] The first one, active spatial positioning: use computer vision to analyze the spatial scene, that is, use the relevant algorithms of computer vision to analyze the feature points, and then through the calibration of the internal and external parameters of the camera, use the internal and external parameters of the camera to coopera...

Claims

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Application Information

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IPC IPC(8): G06T7/80
CPCG06T7/0002G06T2207/10004
Inventor 韩周迎李统福叶磊
Owner SUPERD CO LTD
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