A high-precision binocular camera calibration method

A technology of binocular camera and calibration method, which is applied in image data processing, instrument, calculation, etc., can solve problems such as control point positioning error, and achieve the effect of avoiding errors, high-precision calibration results, and improving extraction accuracy.

Active Publication Date: 2019-04-09
JIANGSU UNIV OF SCI & TECH
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Problems solved by technology

[0016] The purpose of the present invention is to provide a high-precision binocular camera calibration method, which uses a circular calibration plate to solve the problem of control point positioning error caused by the ellipse fitting method in

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  • A high-precision binocular camera calibration method
  • A high-precision binocular camera calibration method
  • A high-precision binocular camera calibration method

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Embodiment Construction

[0049] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.

[0050] (1) Obtain the original image of the calibration plate

[0051] The present invention requires a stereo camera to take multiple shots of the calibration plate to obtain a set of calibration plate images, and requires that the relative positions of the stereo camera and the calibration plate be different for each shot. Patterns are included. When shooting, the relative position between the left and right cameras is fixed and remains unchanged.

[0052] (2) Extract the image coordinates of the control points in the original image of the calibration plate and match them with the world coordinates

[0053] The control point is the center point of the circular pattern in the calibration plate. Firstly, the image coordinates of the control points on all the calibratio...

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Abstract

The invention discloses a high-precision binocular camera calibration method, which is completed by using a pair of camera equipment and a calibration plate of a circular characteristic image, and comprises the following steps of: firstly, extracting control point image coordinates in the calibration plate to carry out camera primary calibration; Constructing a front view image of the calibrationboard by using the obtained camera parameters, solving control point image coordinates in the front view image by using a digital image correlation method, correcting the image coordinates in the calibration board, and performing camera calibration again; And finally, establishing a binocular camera overall optimization model according to the fixed position relationship between the cameras, and optimizing camera parameters. According to the calibration method provided by the invention, the coordinates of the control points in the calibration plate are accurately obtained, the optimization model of the calibration parameters of the stereo camera is simplified, and a high-precision calibration result can be obtained.

Description

technical field [0001] The invention belongs to the technical field of machine vision calibration, and relates to a binocular camera calibration method based on a circular calibration board and image processing technology. Background technique [0002] In the binocular camera calibration work using a circular calibration plate, the extraction accuracy of the control point position and the selection of the optimal objective function will have an important impact on the calibration accuracy. And when the camera captures the image of the calibration plate, since the camera imaging plane and the plane of the calibration plate usually do not maintain a parallel spatial relationship, the circular pattern will be affected by the perspective transformation during the imaging process and will be deformed. [0003] Camera calibration is based on the nonlinear distortion model of camera imaging, using Zhang's camera calibration method to calibrate the internal and external parameters o...

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Application Information

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IPC IPC(8): G06T7/80
CPCG06T7/85
Inventor 张辉周经纬邓继周朱成顺张春燕张胜文方喜峰
Owner JIANGSU UNIV OF SCI & TECH
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