Camera radial distortion correction parameter calibration method, device and system

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...

AI Technical Summary

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. There will be problems such as non-convergence and long calculation time when the least squares method is used to solve overdetermined nonlinear equations.

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