Calibration method of multi-camera system based on multi-planar stereo target

A multi-faceted, three-dimensional, system calibration technology, applied in the field of computer vision, can solve the problems of accumulated errors of 3D or 2D calibration objects, cumbersome process of 1D calibration objects, etc., and achieves fast calibration process, high calibration result accuracy, and accurate pose relationship. Effect

Inactive Publication Date: 2019-01-18
HEFEI UNIV OF TECH
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Problems solved by technology

[0005] Aiming at the shortcomings of the existing multi-camera system calibration methods, the present invention provides a multi-camera system calibration method based on multi-faceted three-dimensional targets, aiming at

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  • Calibration method of multi-camera system based on multi-planar stereo target
  • Calibration method of multi-camera system based on multi-planar stereo target
  • Calibration method of multi-camera system based on multi-planar stereo target

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Embodiment

[0046] Such as figure 1As shown, a multi-camera system calibration method based on multi-faceted three-dimensional targets, the specific steps include:

[0047] Step 1, making a multi-faceted three-dimensional target, the multi-faceted three-dimensional target has at least three target planes;

[0048] The multi-faceted three-dimensional target is in the shape of a regular pyramid with at least three sides, and the at least three sides of the regular pyramid are target planes. The multi-faceted three-dimensional target used in this embodiment is in the shape of a regular quadrangular pyramid, and the four sides of the regular quadrangular pyramid are target planes.

[0049] The target planes are all attached with a calibration feature pattern, and the connection of different target planes is attached with a plane identification pattern.

[0050] The calibration characteristic pattern 1 is a circular pattern, and the size, quantity, and arrangement of the circular patterns ar...

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Abstract

The invention discloses a multi-camera system calibration method based on a multi-plane stereoscopic target. The multi-plane stereoscopic target is manufactured. At least three target planes of the multi-plane stereoscopic target are photographed by different cameras at the same time, and at least two target planes photographed by any two cameras coincide. The homography between the target plane and the photographed image plane is used to calculate the intrinsic parameters of the camera. The conversion relationship between each camera coordinate system and the world coordinate system corresponding to the coincident target plane is solved, and the conversion relationship between camera coordinate systems of each camera is solved, and the external parameters of the multi-camera system is determined. The calibration process of the invention is fast and simple, and the calibration result has high precision. Only one image needs to be photographed, and there is no transfer error; The process of target processing is simple. Feature circle contour and rectangular pattern can be easily detected.

Description

technical field [0001] The invention relates to the technical field of computer vision, in particular to a multi-camera system calibration method based on multi-faceted three-dimensional targets. Background technique [0002] With its advantages of non-contact, real-time and visual measurement, the visual measurement method has played an increasingly important role in the field of geometric measurement and mechanical manufacturing in recent years. Calibration is the basis and key link of visual measurement. The accuracy of camera calibration It is an important prerequisite to ensure the measurement accuracy. [0003] Camera calibration methods can be divided into three categories: traditional calibration methods based on calibration objects, active vision calibration methods and self-calibration methods. The traditional calibration method uses a calibration target with a known structure, and solves the internal and external parameters of the camera by establishing the corre...

Claims

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Application Information

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IPC IPC(8): G06T7/80
CPCG06T7/85
Inventor 张进柴志文邓华夏杨泽余寰马孟超钟翔
Owner HEFEI UNIV OF TECH
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