A high-precision camera calibration method
A technology of camera calibration and calibration method, which is applied in the field of high-precision camera calibration, can solve problems such as insufficient calibration accuracy and affect the accuracy of 3D reconstruction, and achieve the effect of improving calibration accuracy
Active Publication Date: 2021-03-23
BEIJING INSTITUTE OF TECHNOLOGYGY
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However, since this method uses a two-dimensional planar checkerboard calibration board, its calibration accuracy in a larger three-dimensional space outside the range of motion of the calibration board is insufficient, which affects the accuracy of subsequent 3D reconstruction work.
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[0014] The present invention will be described in detail below in conjunction with the accompanying drawings and specific examples, but not as a limitation of the present invention.
[0015] figure 1 It is a schematic flow chart of the high-precision camera calibration method of the present invention. In this embodiment, the method includes the following parts:
[0016] 1. Use the internal and external parameter matrix of the camera calculated by Zhang Zhengyou’s calibration method to perform matrix multiplication to obtain the M matrix value of the camera, and at the same time output the camera distortion coefficient matrix obtained by the calibration method;
[0017] 2. Use the direct linear transformation (DLT) calibration method to calibrate the camera again, find the M matrix of the camera based on the DLT method, and average it with the M matrix calculated by Zhang Zhengyou’s calibration method, and finally output the averaged The M matrix of , and the camera distortio...
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The invention provides a high-precision camera calibration method which overcomes the defect that a Zhang Zhengyou calibration method is insufficient in precision in spatial three-dimensional calibration and also overcomes the defect that a DLT calibration method is insufficient in calculation of a camera distortion coefficient. Firstly, a Zhang Zhengyou calibration method is used for calculatingand obtaining inner and outer parameter matrixes and a distortion coefficient matrix of the camera; multiplying operation is performed on the internal and external parameter matrixes of the camera toobtain a camera M matrix; secondly, the camera again is calibrated by using a direct linear transformation (DLT) calibration method; a camera M matrix is solved based on the DLT method, and averagingoperation is carried out on the camera M matrix based on the DLT method and the M matrix calculated by the Zhang Zhengyou calibration method to obtain an averaged M matrix and a camera distortion coefficient matrix calculated by the Zhang Zhengyou calibration method.
Description
technical field [0001] The invention provides a high-precision camera calibration method, which belongs to the technical field of computer vision. Background technique [0002] One of the basic tasks of computer vision is to calculate the geometric information of objects in three-dimensional space from the image information acquired by the camera, and then reconstruct and recognize objects. The corresponding relationship between the three-dimensional position information of a point on the surface of a space object and the pixel position information of the corresponding point in the two-dimensional image is determined by the geometric model of the camera imaging, and the parameters of the geometric model are multiple parameter matrices of the camera , and the camera calibration process refers to the process of solving the camera internal and external parameter matrix and the camera distortion coefficient matrix. Therefore, the accuracy of camera calibration results directly ...
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IPC IPC(8): G06T7/80
CPCG06T7/85
Inventor 陈文颉李晔游清陈杰窦丽华
Owner BEIJING INSTITUTE OF TECHNOLOGYGY