High-precision multi-feature plane template and distortion optimization and calibration method thereof

A technology of plane template and calibration method, which is applied in the field of computer vision, can solve the problems of inaccuracy, inconvenient edge distortion, etc., and achieve the effect of accurate estimation and good Lupine estimation effect

Active Publication Date: 2018-11-06
凌美芯(北京)科技有限责任公司
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  • Abstract
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  • Application Information

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Problems solved by technology

[0008] The purpose of the present invention is to provide a high-precision multi-feature plane template and its distortion optimization and calibratio

Method used

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  • High-precision multi-feature plane template and distortion optimization and calibration method thereof
  • High-precision multi-feature plane template and distortion optimization and calibration method thereof
  • High-precision multi-feature plane template and distortion optimization and calibration method thereof

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Embodiment 1

[0049] Embodiment 1, a high-precision multi-feature plane template of the embodiment of the present invention includes a ChArUco black and white checkerboard template, the white area of ​​the checkerboard is combined with an ArUco two-dimensional code, and the middle area of ​​the ChArUco black and white checkerboard template is filled with random feature points to form Random Feature point template, the edge area of ​​the ChArUco black and white checkerboard template has multiple line segments at preset specific positions. Such as figure 2 As shown, in this embodiment, the number of squares of the ChArUco black and white checkerboard template is 11*9, the middle area dug out is a grid area of ​​3*5, and the aspect ratio of the filled high-resolution Random feature point template is 3:5. The number of squares in the ChArUco black and white chessboard template and the number of squares in the middle area are not limited to the numbers described in this embodiment, and can be ...

Embodiment 2

[0051] Example 2, such as figure 1 As shown, a distortion optimization and calibration method of a high-precision multi-feature plane template as claimed in claim 1, comprising:

[0052] Step 1, build a multi-feature calibration template:

[0053] A calibration template based on the ChArUco black and white checkerboard template and the Random feature point template is constructed and printed on the same template plane, wherein the edge area of ​​the ChArUco black and white checkerboard template has multiple line segments at preset specific positions. Such as figure 2 shown, including:

[0054] Step 101, constructing a ChArUco black and white checkerboard template with a grid number of 11*9, the white area of ​​the checkerboard is combined with an ArUco two-dimensional code;

[0055] Step 102, dig out a 3*5 grid area in the middle of the selected ChArUco black and white checkerboard template and fill it with a high-resolution, aspect ratio of 3:5 Random feature point templa...

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Abstract

The invention discloses a high-precision multi-feature plane template. The high-precision multi-feature plane template includes a ChArUco black and white chequer template, wherein the chequer white area combination has an ArUco QR-code; the middle area of the ChArUco black and white chequer template is filled with random feature points to form a Random feature point template; and the edge area ofthe ChArUco black and white chequer template is provided with a plurality of segments with preset specific positions. The invention also provides a distortion optimization and calibration method of the high-precision multi-feature plane template. The high-precision multi-feature plane template and the distortion optimization and calibration method thereof have the advantages of solving the problemthat different focal length lens takes more images, consumes long operation time and is not accurate in edge distortion during the high precision calibration process; and conveniently and effectivelysolving the difficulty of calibration of a zoom lens by the calibration template, during the calibration process, having low requirement for the size of space, and not influencing the calibration function even when performing observation of part of the template; and the added linear segments around the calibration template, and being able to solve the problem of solving edge distortion without taking a large amount of images.

Description

technical field [0001] The invention relates to the technical field of computer vision, in particular to a high-precision multi-feature plane template and its distortion optimization and calibration method. Background technique [0002] With the advancement and development of computer vision technology, applications in simultaneous mapping and positioning, 3D reconstruction, etc. have become ubiquitous. In order to obtain better positioning or reconstruction accuracy, precise camera parameters need to be obtained in advance, that is, precise camera calibration. [0003] Camera calibration has always been one of the core issues in the field of computer vision. Currently, the most widely used camera calibration method is Zhang Zhengyou's calibration method. Zhang Zhengyou's calibration method mainly uses a plane checkerboard to perform homography calculations for each image, and optimizes the reprojection error for the camera's external parameters, internal parameters, and di...

Claims

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Application Information

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IPC IPC(8): G06T5/00G06T7/80
CPCG06T5/006G06T2207/10004G06T7/80
Inventor 吴展豪蔡棽杜海宽曹慧黎峰王佳纯郭娟
Owner 凌美芯(北京)科技有限责任公司
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