Unlock instant, AI-driven research and patent intelligence for your innovation.

A continuous calibration method for external parameters of bionic eye binocular vision

A binocular vision system and bionic eye technology, which is applied in the field of continuous calibration of the external parameters of binocular vision of bionic eyes, can solve problems such as unrealistic, and achieve the effect of continuous calibration

Active Publication Date: 2021-06-11
BEIJING INSTITUTE OF TECHNOLOGYGY
View PDF3 Cites 0 Cited by
  • 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

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A continuous calibration method for external parameters of bionic eye binocular vision
  • A continuous calibration method for external parameters of bionic eye binocular vision
  • A continuous calibration method for external parameters of bionic eye binocular vision

Examples

Experimental program
Comparison scheme
Effect test

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...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a method for continuously calibrating the external parameters of the binocular vision of the bionic eye. The method reads the specific position of each monocular camera through a motor with position feedback that controls the movement of the binocular camera; The relative matrix of the binocular camera; using this method, as long as the initial relative position parameter matrix of the binocular camera is known, the relative position relationship of the binocular camera at any time can be obtained by using position feedback, thereby realizing continuous calibration.

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

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/80G06T7/20
CPCG06T7/20G06T2207/10012G06T2207/30244G06T7/85
Inventor 陈晓鹏黄强张陶然汪常进田野金鉉優程炜陈曦
Owner BEIJING INSTITUTE OF TECHNOLOGYGY