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Continuous calibration method for external parameter of bionic eye binocular vision

A calibration method and binocular vision system technology, applied in the field of continuous calibration of external parameters of bionic eye binocular vision, can solve unrealistic problems

Active Publication Date: 2018-09-28
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

It is unrealistic to use checkerboard calibration in motion, because the checkerboard method is only suitable for static calibration in the initial state to obtain the initial internal parameter matrix and external parameter matrix

Method used

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  • Continuous calibration method for external parameter of bionic eye binocular vision
  • Continuous calibration method for external parameter of bionic eye binocular vision
  • Continuous calibration method for external parameter of bionic eye binocular vision

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Embodiment Construction

[0016] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0017] The bionic eye binocular vision system includes two eyeballs, two monocular cameras are respectively fixed in the two eyeballs, the two eyeballs are provided with a bionic eye base, and each monocular camera is also provided with a camera base; Each research is driven by three motors of rotation, pitch and yaw, each motor is defined as a joint, and the position information of the joint is obtained by the sensor on the motor shaft.

[0018] Such as figure 1 Shown is a schematic diagram of the bionic eye binocular stereo vision calibration. Each eyeball has degrees of freedom in three directions: roll, pitch, and yaw. There is position feedback detection on each degree of freedom. The current position of each axis of the eyeball is obtained through the reading of the position feedback. Wherein, the coordinate system R(x, y, z) represents the right...

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Abstract

The invention discloses a continuous calibration method for external parameters of bionic eye binocular vision. The method includes the steps of reading the specific position of each monocular camerathrough a motor with position feedback which controls the movement of a binocular camera and obtaining a relative matrix of the binocular camera at the present moment through calculation. Through themethod, the relative position relation of the binocular camera at any time can be obtained through position feedback as long as an initial relative position parameter matrix of the binocular camera isknown, so continuous calibration can be realized.

Description

technical field [0001] The invention belongs to the technical field of computer vision, and in particular relates to a method for continuous calibration of external parameters of bionic eye binocular vision. Background technique [0002] The traditional binocular vision calibration algorithm is based on Zhang Zhengyou's monocular vision calibration algorithm, and the internal parameter matrix and external parameter matrix of each camera are obtained after marking with the checkerboard method. The extrinsic matrix establishes the connection between the world coordinate system and the camera coordinate system. The internal reference matrix establishes the connection between the camera coordinate system and the pixel coordinate system. In this way, the two cameras can get the relationship matrix between each other through the world coordinate system. Contains rotation matrix and translation matrix. This binocular vision calibration algorithm is very effective when the relati...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80G06T7/20
CPCG06T7/20G06T2207/10012G06T2207/30244G06T7/85
Inventor 陈晓鹏张陶然汪常进田野金鉉優程炜陈曦
Owner BEIJING INSTITUTE OF TECHNOLOGYGY