Binocular camera calibration method and device, unmanned aerial vehicle and storage medium

A binocular camera and calibration method technology, applied in image data processing, instruments, calculations, etc., can solve problems such as troublesome operation, low calibration efficiency, and cumbersome calibration process

Active Publication Date: 2019-09-03
GUANGZHOU XAIRCRAFT TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention provides a binocular camera calibration method, binocular camera calibration device, unmanned aerial vehicle and storage medium to solve the need ...

Method used

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  • Binocular camera calibration method and device, unmanned aerial vehicle and storage medium
  • Binocular camera calibration method and device, unmanned aerial vehicle and storage medium
  • Binocular camera calibration method and device, unmanned aerial vehicle and storage medium

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Experimental program
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Embodiment 1

[0084] figure 1 It is a flow chart of a binocular camera calibration method provided by Embodiment 1 of the present invention. This embodiment can be applied to drones and other agricultural machinery equipment before performing distance measurement, obstacle avoidance, and environment recognition through binocular cameras. In the case where the target camera is calibrated, the method can be performed by the calibration device of the binocular camera in the embodiment of the present invention, and the device can be implemented in software and / or hardware, such as figure 1 As shown, the method specifically includes the following steps:

[0085] S101. During the moving process of the movable object, control two lenses of a binocular camera to obtain a first image and a second image respectively.

[0086] A binocular camera refers to a camera composed of two lenses with relatively fixed positions. The same scene is shot through the two lenses of the binocular camera, two images ...

Embodiment 2

[0103] figure 2 It is a flow chart of a binocular camera calibration method in Embodiment 2 of the present invention. This embodiment is optimized on the basis of the foregoing Embodiment 1, and provides an example of calibrating the first calibration extrinsic parameters and the second calibration extrinsic parameters. The implementation method, specifically, the method of this embodiment may include the following steps:

[0104] S201. During the moving process of the movable object, control the two lenses of the binocular camera to acquire a first image and a second image respectively.

[0105] S202. Acquire original parameters of the binocular camera, where the original parameters include a distortion coefficient, a focal length, and a center distance of the binocular camera.

[0106] In the embodiment of the present invention, the distortion coefficient, the focal length and the center distance of the binocular camera can be read from the memory of the binocular camera. ...

Embodiment 3

[0148] Figure 3A It is a flowchart of a binocular camera calibration method provided by Embodiment 3 of the present invention. This embodiment provides another exemplary implementation method for calibrating the second external parameter of the binocular camera based on the aforementioned Embodiment 2. , specifically, the method of this embodiment may include the following steps:

[0149] S301. Control the two lenses of the binocular camera to acquire a first image and a second image respectively;

[0150] S302. Obtain the original parameters of the binocular camera, where the original parameters include the distortion coefficient, focal length, and center distance of the binocular camera,

[0151] S303. Determine a first feature point from the first image, and determine a second feature point from the second image, where the second feature point corresponds to the first feature point in the second image feature points;

[0152] S304. Perform dedistortion processing on the...

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Abstract

The embodiment of the invention discloses a binocular camera calibration method and device, an unmanned aerial vehicle and a storage medium. The calibration method comprises: controlling two lenses ofa binocular camera to obtain a first image and a second image in the moving process of a movable object; obtaining original parameters of the binocular camera; calibrating the binocular camera basedon the original parameter, the first image and the second image to obtain a first calibration external parameter; and acquiring position information of the binocular camera, and calibrating the binocular camera based on the position information, the first image and the second image to obtain a second calibration external parameter. A first image and a second image can be obtained in the moving process of the movable object. Calibration is carried out after the position information of the binocular camera is acquired, manual setting of a calibration plate is not needed, the relative position between the movable object and the calibration plate is not needed to be changed to calibrate the binocular camera, the calibration process of the binocular camera is simplified, manual operation is notneeded, and the calibration efficiency of the binocular camera is improved.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of cameras, and in particular to a binocular camera calibration method, a binocular camera calibration device, a drone, and a storage medium. Background technique [0002] With the gradual maturity of agricultural machinery operation technology, image recognition technology has also been fully applied by being loaded in agricultural equipment. However, the relative position of the two lenses of the binocular camera cannot be in an ideal installation position due to the installation and the manufacturing process of the lens itself. The two lenses of the binocular camera collect The image is distorted, which leads to a large deviation in the distance between the obstacle and the UAV determined according to the collected image. [0003] In order to eliminate the problem of inaccurate parallax caused by the installation of the binocular camera, it is necessary to calibrate the binocula...

Claims

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Application Information

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IPC IPC(8): G06T7/80
CPCG06T7/80
Inventor 张凡
Owner GUANGZHOU XAIRCRAFT TECH CO LTD
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