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A camera-projector system calibration method

A system calibration and camera calibration technology, which is applied in the fields of detection and measurement and computer vision to ensure accuracy, improve calibration accuracy and reliability, and facilitate separation.

Active Publication Date: 2020-09-04
HANGZHOU LANXIN TECH CO LTD
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Problems solved by technology

[0005] In order to solve the problems existing in the existing calibration methods, the present invention provides a camera-projector system calibration method, which makes full use of all constraints, and through the pre-calibrated camera internal parameters and distortion, the world coordinate error of the corner points of the checkerboard is minimized As the goal, jointly optimize the internal parameters and distortion of the projector, and the external parameters of the projector and camera

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  • A camera-projector system calibration method
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  • A camera-projector system calibration method

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Embodiment Construction

[0029] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0030] Such as figure 1 As shown, the present invention provides a camera-projector system calibration method, which specifically includes:

[0031] 1. Use the Zhang Zhengyou calibration method to calibrate the internal reference I of the camera c and distortion d c ;

[0032] 2. Print a checkerboard pattern with green and white intervals. The number of checkerboards is 9×6, and the size of each grid is 40×40mm. Paste it on a white plane. The surface needs to be flat and there is no mirror reflection;

[0033] 3. On the plane with the printed checkerboard, the projector projects the pattern of full bright, full dark, and projected checkerboard in sequence. The number of projected checkerboards is 24×19, and each grid pixel is 38×30;

[0034] 4. The camera uses the same exposure parameters to sequentially capture three images I bright , I dark , I ...

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Abstract

The invention discloses a calibrating method of a camera-projector system. All constraint conditions are sufficiently used, and the internal parameters and distortion of a projector and the external parameters of the projector and a camera are jointly optimized with the minimization of the global coordinate errors of checkerboard corners as the target by calibrating the internal parameters and distortion of the camera in advance. The problems that in an existing calibrating method, internal parameters and external parameters are independently calibrated, a plurality of calibrating positions and postures are independent of one another, and obtained external parameters are not consistent are avoided, and a consistent high-precision calibrating result can be obtained.

Description

technical field [0001] The invention relates to the technical fields of computer vision and detection and measurement, in particular to a camera-projector system calibration method. Background technique [0002] The camera-projector system is a common high-precision 3D imaging method. It is widely used in 3D measurement, robotics and other fields. The calibration accuracy of the system directly affects the final performance, which is the focus and difficulty of the system. It has not been able to achieve the ideal Effect. The current mainstream calibration method is: in the same pose, the camera shoots the print checkerboard and projection checkerboard images, calculates the homography matrix between the camera and the checkerboard plane by printing the checkerboard size parameters, and then obtains the projection checkerboard according to the homography matrix The world coordinates of the projection grid are combined with the setting parameters of the projection checkerboa...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/80G06T7/90G06T7/00G06T7/11G06T7/194
CPCG06T7/11G06T7/194G06T7/80G06T7/90G06T7/97G06T2207/10004G06T2207/20164
Inventor 杨静时岭高勇
Owner HANGZHOU LANXIN TECH CO LTD
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