Camera radial distortion correction parameter calibration method, device and system

A technology of radial distortion and parameter correction, applied in the field of parameter calibration, which can solve the problems of non-convergence and long calculation time of overdetermined nonlinear equations

Active Publication Date: 2019-07-05
BEIJING JINGWEI HIRAIN TECH CO INC
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Problems solved by technology

[0005] However, there are usually many distorted image points, and the number of equations is often greater than the number of unknown parameters. T...

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  • Camera radial distortion correction parameter calibration method, device and system
  • Camera radial distortion correction parameter calibration method, device and system
  • Camera radial distortion correction parameter calibration method, device and system

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Embodiment Construction

[0067] As described in the background technology, at present, in order to correct the distortion, it is usual to use a standard map card containing a target point with known image point coordinates, let the camera take pictures, obtain the distorted coordinates of the target point, and then use the model list about the unknown x c ,y c ,k 1 ,k 2 ,k 3 The equation, select a number of uniformly distributed points, use the least square method to solve the nonlinear equations, and solve the internal parameters of the camera.

[0068] However, the least squares method may have problems of non-convergence and long calculation time when solving nonlinear equations, which will affect the calibration efficiency.

[0069] For this reason, please refer to image 3 , image 3 It is a flow chart of a method for calibrating radial distortion correction parameters of a camera provided by an embodiment of the present invention, and the method for calibrating radial distortion correctio...

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Abstract

The invention provides a camera radial distortion correction parameter calibration method, device and system. The method is based on a design drawing card comprising a first straight line segment anda second straight line segment, and comprises the steps of firstly obtaining a shot image of a design drawing card shot by a to-be-calibrated camera, and then obtaining a first intersection point group of a preset horizontal straight line and the same curve segment in the shot image line by line; and obtaining a second intersection point group of the preset vertical straight line and the same curve segment in the shot image column by column; and forming at least one first target line segment and a second target line segment based on the first intersection point group and the second intersection point group; and determining a distortion center based on the intersection point of the perpendicular bisector of the first target line segment and the perpendicular bisector of the second target line segment. According to the scheme, the distortion center can be determined, the number of unknown parameters in the model is reduced to three, at the moment, a linear equation set is solved throughthe least square method, so that the convergence is easy, the calculated amount of camera radial distortion correction parameters is reduced, and the calculation time is shortened.

Description

technical field [0001] The present invention relates to the technical field of parameter calibration, in particular to a camera radial distortion correction parameter calibration method, device and system. Background technique [0002] Due to reasons such as lens optical design and assembly errors, the image captured by the camera will be distorted. Distortion includes two types, one is pincushion distortion, such as figure 1 As shown, the other is barrel distortion, such as figure 2 shown. Regardless of the type of distortion, however, curves appear in the captured image when the object is a straight line. [0003] In order to correct the distortion, the model is usually used Determine the internal parameters of the camera, where the internal parameters of the camera include the distortion center x c ,y c And the coefficient k of the distortion-corrected Taylor series 1 ,k 2 ,k 3 , x u ,y u is the ideal image point coordinates without distortion, x d ,y d are...

Claims

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Application Information

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IPC IPC(8): G06T7/80
CPCG06T2207/30204G06T7/80
Inventor 程爱明成一诺
Owner BEIJING JINGWEI HIRAIN TECH CO INC
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