A camera self-calibration method and device
A camera and self-calibration technology, applied in the field of computer vision, can solve problems such as poor accuracy and robustness, instability, etc., to achieve the effect of ensuring accuracy
Active Publication Date: 2022-04-12
YUNNAN POWER GRID CO LTD ELECTRIC POWER RES INST
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Problems solved by technology
[0005] This application provides a camera self-calibration method, device, equipment and storage medium to solve the problems of unstable, poor accuracy and robustness of the existing self-calibration method based on the Kruppa equation
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Embodiment 1
[0025] Embodiment 1 exemplarily provides a method for calibrating internal parameters of an X-ray nondestructive testing system used for testing electrical equipment. When recovering the three-dimensional information of electrical equipment from two-dimensional X-ray images, the traditional self-calibration method is not suitable for calibrating the internal parameters of the X-ray non-destructive testing system due to the penetrability of X-rays. Therefore, the self-calibration method is selected to calibrate the internal parameters of the X-ray nondestructive testing system.
[0026] Please refer to figure 2 , the specific calibration method includes the following steps:
[0027] a) Obtain matching pairs of feature points in two adjacent images;
[0028] b) Estimate the initial value of the internal parameter by using the property that the first two singular values of the essential matrix are equal according to the obtained matching pair of feature points;
[0029] c) ...
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The invention discloses a camera self-calibration method and device, comprising: acquiring matching pairs of feature points in two adjacent images. According to the obtained matching pairs of feature points, the initial value of internal parameters is estimated by using the property that the first two singular values of the essential matrix are equal. Correct the initial value of the internal parameter according to the Kruppa equation and output the result. This method utilizes the characteristic that the first two singular values of the essential matrix are equal, and estimates the initial value of the internal parameters through the particle swarm optimization algorithm, and then substitutes the estimated initial value of the internal parameters into the objective function constructed according to the Kruppa equation. Combined with the variable scale method to optimize the objective function, the optimized internal parameters are finally obtained. This method combines the self-calibration technology based on the essential matrix and the self-calibration technology based on the Kruppa equation, so that the calibration of internal parameters goes through two steps of initial value calculation and correction, which effectively guarantees the accuracy and stability of internal parameter calibration.
Description
technical field [0001] The present application relates to the technical field of computer vision, in particular to a camera self-calibration method and device. Background technique [0002] One of the basic tasks of computer vision is to calculate the geometric information of the object in the three-dimensional space from the image information obtained by the camera, and then reconstruct and recognize the object, and the three-dimensional geometric position of a point on the surface of the space object and its corresponding point in the image The interrelationship of is determined by the geometric model of camera imaging, and these geometric model parameters are camera parameters. Under most conditions, these parameters must be obtained through experiments and calculations. This process is called camera calibration (or calibration). The calibration process is to determine the geometric and optical parameters of the camera, that is, internal parameters, and the orientation o...
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IPC IPC(8): G06T7/80G06T7/33G06V10/46
CPCG06T7/33G06T7/80G06V10/462
Inventor 刘荣海杨迎春郑欣郭新良魏杰于虹沈鑫许宏伟周静波
Owner YUNNAN POWER GRID CO LTD ELECTRIC POWER RES INST