Multi-binocular camera motion calibration method based on non-common-view area

Abstract

The invention discloses a multi-binocular camera motion calibration method based on a non-common-view area, and relates to the field of mobile robot vision SLAM. A device comprises two binocular cameras, a camera plane calibration plate and a control computer. The method is divided into three parts, firstly, the Zhang Zhengyou calibration method is used for obtaining the internal parameters, the external parameters and the distortion coefficients of two to-be-tested cameras, then the binocular camera conversion relation is calculated according to the common viewpoint seen after the binocular camera moves, and finally a graph optimization theory is used for optimizing a conversion matrix to finally obtain a high-precision calibration result. The method not only can be used for calibration calculation of the multi-binocular camera in the visual SLAM field, but also can be used in other visual measurement fields, is not limited to the number of the binocular cameras, and has the advantages of being simple in device, flexible and convenient to use, good in robustness, accurate and reliable in detection result and wide in application range.

Description

technical field [0001] The present invention relates to the field of mobile robot visual SLAM (Simultaneous Localization and Mapping, simultaneous positioning and mapping), in particular to a multi-binocular camera motion calibration method based on a non-common-view area, which is a method of fusing camera calibration and visual SLAM . Background technique [0002] The calibration of camera parameters is a very critical link in computer vision applications such as visual measurement, image registration, 3D reconstruction, and visual SLAM. In order to determine the 3D geometric position of a point on the surface of a space object and its corresponding point in the image relationship, the geometric model of camera imaging must be established, and these geometric model parameters are camera parameters. Under most conditions, these parameters must be obtained through experiments and calculations. The process of solving the parameters is called camera calibration (or camera cal...

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Problems solved by technology

[0004] In order to solve the problem of inaccurate calibration results of binocular cameras in non-common-view areas, the need for auxiliary equipment and additional precise measurement equipment, complex operation, and very inconvenient problems, the present invention discloses a multi-binocular camera based on no-common-view areas. A camera motion calibration method, the method comprising the steps of:

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