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Depth camera calibration method and device, electronic equipment and storage medium

A technology of depth camera and calibration method, which is applied in image data processing, instrumentation, calculation, etc., can solve the problems of cumbersome methods, inability to adapt to overlapping range of field of view, and inability to calibrate 360° panoramic RGB-D cameras simultaneously online quickly, etc., to achieve The effect of small amount of calculation

Active Publication Date: 2018-08-24
SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, the camera calibration method based on specific calibration objects is generally used, which is relatively cumbersome and requires a large overlapping range of fields of view between adjacent cameras, which cannot adapt to the situation where the overlapping range of fields of view is small.
However, there is a calibration method based on Simultaneous Localization And Mapping (SLAM for short), which uses the camera to move according to a preset trajectory to collect images, and then processes the images offline for calibration, which cannot quickly and simultaneously calibrate 360° panoramic RGB-D cameras online

Method used

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  • Depth camera calibration method and device, electronic equipment and storage medium
  • Depth camera calibration method and device, electronic equipment and storage medium
  • Depth camera calibration method and device, electronic equipment and storage medium

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Embodiment 1

[0031] figure 1 It is a flow chart of the depth camera calibration method provided by Embodiment 1 of the present invention. This embodiment is applicable to the situation of multi-camera self-calibration. Calibration in this embodiment refers to calculating the relative pose between cameras. The method can be performed by a depth camera calibration device or electronic equipment, and the depth camera calibration device can be implemented by software and / or hardware, such as by a central processing unit (Central Processing Unit, referred to as CPU), and the control of the camera is completed by the CPU and calibration; further, the device can be integrated in portable mobile electronic equipment. Such as figure 1 As shown, the method specifically includes:

[0032] S101. Control at least two depth cameras in the panorama depth camera system to acquire images synchronously during motion, where each depth camera sets a corresponding tag.

[0033] Wherein, the panoramic depth ...

Embodiment 2

[0044] On the basis of the foregoing embodiments, this embodiment further optimizes the determination of overlapping historical view angles and the calculation of relative poses between cameras.

[0045] For each depth camera to be calibrated in the camera system, a frame of image is collected, and it is determined whether the frame of image is a key frame, so as to determine the overlap of historical viewing angles. If subsequent loopback optimization is performed, key frames are also required. Specifically, while obtaining the pose of each frame image captured by at least one first label camera, it may also include: respectively matching the feature points of the current frame image captured by each depth camera with its previous key frame to obtain two frames The conversion relationship matrix between images; if the conversion relationship matrix is ​​greater than or equal to the preset conversion threshold, determine that the current frame image is a key frame under the cor...

Embodiment 3

[0065] The depth camera calibration method in each of the above embodiments uses the preset first label camera in the panoramic depth camera system as a reference to obtain the relative poses between the cameras. On the basis of the foregoing embodiments, this embodiment provides another depth camera calibration method to further speed up the online calibration speed. Figure 4 It is a flow chart of the depth camera calibration method provided by Embodiment 3 of the present invention, such as Figure 4 As shown, the method includes:

[0066] S401. Control at least two depth cameras in the panorama depth camera system to acquire images synchronously during motion, where each depth camera sets a corresponding tag.

[0067] S402. Acquire the pose of at least one first tag camera when each frame of image is captured.

[0068] S403, if the second tag camera overlaps with the first tag camera in terms of historical angles of view, calculate the position and orientation of the seco...

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Abstract

The embodiment of the invention discloses a depth camera calibration method and device, electronic equipment and a storage medium. The method includes the controlling at least two depth cameras in a panoramic depth camera system to synchronous acquire images in a motion process, each depth camera being provided with corresponding labels; obtaining at least one pose of the first label camera when acquiring each frame of image; if an overlapped historical perspective occurs in the second label camera and the first label camera, calculating the relative pose of the second label camera and the first label camera at the same moment according to an image corresponding to the overlapped historical perspective and the pose of the first label camera when each frame of image is acquired. According to the depth camera calibration method provided by the embodiment of the invention, based on the preset first label camera in the panoramic depth camera system, in the process of acquiring images whilethe camera system moves, the relative pose between the cameras is determined by use of the overlapped historical perspective, thereby realizing rapid on-line self-calibration of the multiple cameras.A calibration object is not needed, and a fixed large-field-of-view overlapped range between adjacent cameras is not needed.

Description

technical field [0001] Embodiments of the present invention relate to machine vision technology, and in particular to a depth camera calibration method, device, electronic equipment, and storage medium. Background technique [0002] With the development of robot navigation, virtual reality and augmented reality technology, RGB-D cameras (that is, depth cameras) are widely used in robot navigation, static scene reconstruction and dynamic human body reconstruction. RGB-D camera combines traditional RGB camera and depth camera, which has the advantages of high precision, small size, large amount of information, passivity and rich information. [0003] At present, due to the limited Field of View (FoV) of a single RGB-D camera, using a single RGB-D camera for navigation cannot obtain all the surrounding information at the same time, and the small field of view also has certain limitations for 3D reconstruction, such as dynamic object reconstruction However, it is often impossib...

Claims

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Application Information

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IPC IPC(8): G06T7/80
CPCG06T2207/10004G06T7/80G06T2207/10024G06T2207/10028
Inventor 方璐苏卓韩磊戴琼海
Owner SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV