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Camera 3D calibration method and terminal

A calibration method and camera technology, applied in the field of electronic information, can solve problems such as inaccurate calculation of road occupancy rate

Active Publication Date: 2021-05-11
SANLI VIDEO FREQUENCY SCI & TECH SHENZHEN
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In the existing technology, the length, width, and height of the vehicle in the image cannot be accurately calculated, so the calculation of the road occupancy rate will also be inaccurate

Method used

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  • Camera 3D calibration method and terminal
  • Camera 3D calibration method and terminal
  • Camera 3D calibration method and terminal

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0104] Please refer to figure 1 , Embodiment 1 of the present invention is: a camera 3D calibration method, comprising:

[0105] S1. Obtain historical image information of the camera. In this embodiment, it is assumed that the image captured by the camera has no radial distortion, and the camera is looking straight ahead and downward. After the camera model is determined, its focal length is determined, assuming that the focal length of the camera is f.

[0106] S2. Establish an image coordinate system according to the historical image information. The coordinate origin of the image coordinate system can be set at the upper left corner of the picture, which can be a left-handed rectangular coordinate system or a right-handed rectangular coordinate system.

[0107] S3. Obtain the image coordinates of the main point and the three vanishing points respectively in the image coordinate system.

[0108] In this embodiment, before step S3, it further includes: respectively acquir...

Embodiment 2

[0129] Please refer to figure 2 , Embodiment 2 of the present invention is a camera 3D calibration terminal 100, corresponding to the method of Embodiment 1, including a memory 1, a processor 2, and a computer stored in the memory 1 and operable on the processor 2 program, the processor 2 implements the following steps when executing the computer program:

[0130] Obtain the historical image information of the camera;

[0131] Establishing an image coordinate system according to the historical image information;

[0132] Obtaining the image coordinates of the principal point and the three vanishing points in the image coordinate system respectively;

[0133] calculating an internal parameter matrix of the camera according to the focal length of the camera and the image coordinates of the principal point;

[0134] calculating a camera matrix according to the internal parameter matrix and the image coordinates of the three vanishing points;

[0135] Selecting two non-parall...

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Abstract

The invention discloses a camera 3D calibration method and a terminal. The method includes: first calculating the camera matrix, and then calculating two non-parallel line segments with known actual lengths to obtain two scaling factors, and calculating the camera matrix and the two scaling factors according to the camera matrix and the two scaling factors. The calibration matrix of the camera can be calculated; after 3D reconstruction of the vehicle, the real length and width of the vehicle can be calculated through the calibration matrix of the camera, the long side and the wide side, and then the real height of the vehicle can be calculated through the pixel ratio . The invention can accurately calculate and obtain vehicle information, thereby guiding us to carry out accurate road condition analysis.

Description

technical field [0001] The invention relates to the technical field of electronic information, in particular to a camera 3D calibration method and a terminal. Background technique [0002] As the cost of cameras and processors continues to drop, vision-based sensing is becoming an alternative to traditional sensors for collecting traffic data. Many research and commercial systems have obtained a series of interesting information through video analysis, such as road occupancy, vehicle speed, vehicle type, and event detection. [0003] In order to measure information such as the speed of a vehicle based on the vision system, there must be a mapping from pixels in the image to world coordinates. The mapping relationship between the image coordinate system and the world coordinate system is defined by a series of internal and external parameters of the camera. Therefore, the camera must be calibrated, and the accuracy of the calibration will directly affect the final measuremen...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/80
CPCG06T7/85
Inventor 亢晓斌张宇刘东剑
Owner SANLI VIDEO FREQUENCY SCI & TECH SHENZHEN