Camera self-calibration method, system, camera, robot and cloud server
A self-calibration and camera technology, applied in instruments, image data processing, computing, etc., can solve problems such as parameter failure, inability to automatically calibrate the robot, and camera parameter changes
Active Publication Date: 2019-02-26
ANKOBOT SHANGHAI SMART TECH CO LTD
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Problems solved by technology
[0006] During the use of the robot, the parameters of the camera may change due to external force impact, thermal expansion and contraction, and the parameters at the factory may become invalid during use.
Existing methods cannot automatically calibrate the robot after it leaves the factory
Method used
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[0042] Embodiments of the present invention are described below through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation modes, and various modifications or changes can be made to the details in this specification based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, in the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.
[0043] see Figure 1 to Figure 4. It should be noted that the structures, proportions, sizes, etc. shown in the drawings attached to this specification are only used to match the content disclosed in the specification, for those who are familiar with this technology to understand and read, an...
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The invention provides a camera self-calibration method, a system, a camera, a robot and a cloud server. Self-calibration of camera internal parameters, including: acquiring a distance between an expected position of a visual feature point in each image and a position of a common visual feature point shared by the images and taking the distance as a re-projection error; obtaining the distance between the expected position of the visual feature point and the position of the common visual feature point shared by the images; optimizing The reprojection error according to the preset algorithm, andtaking the focal length and distortion parameters of the camera corresponding to the minimum value of the reprojection error obtained in the optimization as the current focal length and distortion parameters of the camera. Self-calibration of the camera external parameters, including: using vSLAM algorithm to obtain the camera position movement trajectory, and the camera position movement trajectory fitting into a plane; Getting the angle between the plane and the horizontal plane and uses the angle as the elevation of the camera. The invention can automatically calibrate the external parameters and the internal parameters of the camera, and the camera can be calibrated by uploading the cloud end.
Description
technical field [0001] The present invention relates to the field of mobile robots, in particular to the field of sensory synchronization positioning technology, specifically a camera self-calibration method, system, camera, robot and cloud server. [0002] Copyright statement [0003] The disclosure of this patent document contains material that is protected by copyright. This copyright belongs to the copyright owner. The copyright owner has no objection to the reproduction by anyone of the patent document or the patent disclosure as it exists in the official records and files of the Patent and Trademark Office. Background technique [0004] With the development of computer vision technology, vision-based synchronous positioning technology is gradually popularized on mobile robots (such as sweeping robots). The positioning accuracy of vSLAM (visual Simultaneous Localizaiton And Mapping, vision-based simultaneous positioning and map construction) technology depends on the...
Claims
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IPC IPC(8): G06T7/80
CPCG06T7/80
Inventor 崔彧玮刘晓峰
Owner ANKOBOT SHANGHAI SMART TECH CO LTD