An Extrinsic Calibration Method for Multiple Time-of-Flight Depth Camera Systems

Abstract

The invention discloses a method for calibrating external parameters of a multi-time-of-flight depth camera system, which includes the following steps: S1, for a multi-camera system {C including n time-of-flight depth cameras 1 ,C 2 ,...,C i ,...,C n}, the lens of each camera in} is internally calibrated respectively; S2, respectively collect the images corresponding to the landmarks of the two time-of-flight depth cameras in the initial pose; S3, respectively collect the images of the two time-of-flight depth cameras corresponding to the first An image of a marker; S4, based on the initial pose and the marker image collected under the adjusted pose, solve the two adjacent time-of-flight depth cameras C i and C i+1 positional relationship; S5, repeat steps S2-S4, solve the multi-camera system {C 1 ,C 2 ,...,C i ,...,C n} in the positional relationship of all adjacent two time-of-flight depth cameras; S6, by solving the positional relationship of all adjacent two time-of-flight depth cameras, the multi-camera system {C 1 ,C 2 ,...,C i ,...,C n} in the positional relationship of any two time-of-flight depth cameras.

Description

technical field [0001] The invention relates to the technical field of depth measurement cameras, in particular to an external parameter calibration method for a multi-time-of-flight depth camera system. Background technique [0002] In recent years, depth cameras have been increasingly used in fields such as face recognition, traffic statistics, driving navigation, driving obstacle avoidance, industrial part detection, and object scanning. The technologies used in depth cameras on the market can be divided into three categories: binocular, time-of-flight (TOF) and structured light. Time-of-flight depth cameras determine the distance from an object to the camera by measuring the time it takes for light to travel from the camera to when it is reflected back to the camera by the object. At the same time, multi-camera systems are also widely used in the field of computer vision, such as 3D reconstruction, image measurement, robot positioning, etc. Multi-camera system calibrat...

AI Technical Summary

Problems solved by technology

But its shortcomings are also very obvious: insufficient robustness and low precision

[0004] At present, the research on camera calibration methods mainly focuses on camera internal parameter calibration, and rarely involves external parameter calibration of multi-camera systems. Extrinsic parameter calibration of multi-camera systems is a practical problem that needs to be solved urgently.

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