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Camera external parameter calibration method and device, and electronic equipment

A calibration method and technology of a calibration device, which are applied in image analysis, image data processing, instruments, etc., can solve the problems of wrong correspondence and confusion, and achieve the effect of accurate calibration and avoidance of errors.

Active Publication Date: 2018-11-13
BEIJING HORIZON ROBOTICS TECH RES & DEV CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When the number of calibration points is large, it is easy to generate errors in the corresponding relationship
If the site does not have the conditions to measure the points in the camera image and needs to be measured after leaving the site, the confusion of this correspondence is more likely to occur

Method used

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  • Camera external parameter calibration method and device, and electronic equipment
  • Camera external parameter calibration method and device, and electronic equipment
  • Camera external parameter calibration method and device, and electronic equipment

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Embodiment Construction

[0029] Hereinafter, exemplary embodiments according to the present application will be described in detail with reference to the accompanying drawings. Apparently, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. It should be understood that the present application is not limited by the exemplary embodiments described here.

[0030] Application overview

[0031] As mentioned above, the current calibration of camera external parameters involves the use of physical markers, two measurements of points in the physical space and camera image space, and the maintenance of the corresponding relationship between points, so the calibration process is complicated and prone to measurement errors and Corresponding relationship confusion and other problems.

[0032]In view of these problems, the basic concept of this application is to propose a camera extrinsic calibration method, device an...

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Abstract

The invention relates to a camera external parameter calibration method and device, and electronic equipment. According to an embodiment, the camera external parameter calibration method can comprisethe steps of receiving an image captured by a camera; rendering the image to mark a plurality of image points on the image; determining coordinates, in a world coordinate system, of at least four physical points in a physical space corresponding to at least four image points in the plurality of the image points; and calculating external parameters of the camera based on the coordinates of the at least four image points in an image coordinate system and the coordinates of the at least four physical points in the world coordinate system. The camera external parameter calibration method can realize simple, fast and accurate calibration of the external parameters of the camera.

Description

technical field [0001] The present application generally relates to the field of computer graphics, and more particularly, relates to a camera extrinsic parameter calibration method, a camera extrinsic parameter calibration device, and related electronic equipment. Background technique [0002] In the field of computer vision and graphics, for application scenarios such as security monitoring, interactive somatosensory games, automatic driving, and environmental 3D modeling, it is necessary to calibrate the external parameters of the camera (including the camera), so as to realize the position of the real physical space and the camera field of view. Relationship mapping. After removing the camera distortion, the position relationship mapping is determined by the camera internal parameter f x , f y 、c x 、c y And camera extrinsic parameters R, T control. Camera internal reference f x , f y 、c x and c y Indicates the distortion caused by the refraction of the lens and ...

Claims

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Application Information

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IPC IPC(8): G06T7/80
CPCG06T7/80
Inventor 孙韶言李明贺
Owner BEIJING HORIZON ROBOTICS TECH RES & DEV CO LTD
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