Fisheye camera calibration method and device

Abstract

The invention discloses a fisheye camera calibration method and device. The method comprises steps that a world coordinate system is constructed in the space where a calibration plate is located, andthree-dimensional coordinate values of inner corner points on the calibration plate are further determined; an image of the calibration plate taken by a fisheye camera is acquired; corner point detection of the image is carried out through the calibration algorithm, and corresponding three-dimensional space coordinate values are determined according to image coordinate values of all the detected inner corner points or a part of the inner corner points and are further stored; internal and external parameters of the fisheye camera are calculated based on point pairs of the image coordinate values and the three-dimensional coordinate values including the inner corner points, and camera calibration is completed. The fisheye camera calibration device comprises a coordinate system construction unit, an image acquisition unit, a detection corresponding unit and a calibration unit. The method is advantaged in that flexible calibration is carried out according to whether all the inner corner points of the calibration plate can be detected, calibration efficiency is improved, and large-scale industrial implementation of fisheye camera calibration is facilitated.

Description

technical field [0001] The invention relates to the technical field of cameras, in particular to a fisheye camera calibration method and device. Background technique [0002] The lens of the fisheye camera will introduce distortion due to the deviation of manufacturing precision and assembly process, resulting in distortion of the original image. The distorted image affects the visual effect and cannot show the original scene, so distortion correction is required, and the premise of distortion correction is to accurately obtain the internal parameters (ie, internal parameters) and external parameters (ie, external parameters) of the fisheye lens. The acquisition of internal and external parameters depends on strict and accurate calibration. It can be seen that the quality of calibration is the basis of fisheye camera image correction and plays a very important role in the entire image correction. [0003] At present, the commonly used calibration algorithm is to use the che...

AI Technical Summary

Problems solved by technology

[0004] The present invention provides a fisheye camera calibration method and device to solve the problem that the existing fisheye camera calibration scheme only uses images that can detect all the inner corner points of the checkerboard, and discards the images that detect some inner corner points and does not use them for calibration. The problem of low calibration efficiency

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