Method and device for calibrating relative attitude of camera and rotating shaft, and storage medium

Abstract

The invention discloses a method and device for calibrating the relative attitude of a camera and a rotating shaft, and a storage medium, and the method specifically comprises the steps that a first camera collects a sampling image at each sampling position, the sampling position is a stop position after the rotating shaft drives a second camera to rotate by a preset angle, and the sampling imagecomprises a whole first calibration plate; extracting each first angular point on each sampling image, and a fitting plane of each first angular point is generated; the coordinates of each first angular point at each sampling position are respectively projected on a corresponding fitting plane to generate a fitting circle of each first angular point; and first attitude calibration parameters ofthe second camera and the rotating shaft are calculated according to the fitting circle, and the relative attitudes of the second camera and the rotating shaft are adjusted according to the first attitude calibration parameter. The first camera is arranged to assist in calibrating the second camera and the rotating shaft, the first attitude calibration parameters of the second camera and the rotating shaft are calculated, and accurate calibration between the rotating shaft and the camera is achieved.

Description

technical field

[0001] The present application relates to the field of computer vision, and in particular to a method, device and storage medium for calibrating the relative posture of a camera and a rotation axis. Background technique

[0002] In the process of image measurement and its visual application, in order to determine the relationship between the three-dimensional geometric position of a point on the surface of a space object and its corresponding point in the image, it is necessary to establish a geometric model of camera imaging, and these geometric model parameters are camera parameters. Under most conditions, these parameters must be obtained through experiments and calculations. This process of solving the parameters is called calibration of the rotation axis of the fixed camera (or camera calibration). Whether it is in image measurement or machine vision applications, the calibration of camera parameters is a very critical link. The accuracy of the calibrati...

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