Plane calibration plate, calibration data acquisition method and calibration data acquisition system

Abstract

The embodiment of the invention discloses a plane calibration board and a calibration data acquisition method and system, and the plane calibration board comprises a plurality of separate checkerboardunits which are distributed in an array manner. A preset distance is reserved between every two checkerboard units; and at least three characteristic hollow circles which are respectively arranged inthe three different checkerboard units in the preset range of the central area of the calibration board. According to the scheme, the four edges or the four vertexes of the checkerboard unit are usedfor restraining the corner points, and the stability and precision of corner point detection are improved. And meanwhile, chessboard positioning information is added by utilizing the characteristic hollow circle, so that the plane calibration board has a directional characteristic. In addition, two-dimensional code information is added to part of the checkerboard units, so that the initial positions of the checkerboard units in the camera can be positioned. Even if a part of checkerboard units are shielded or exceed the field of view of the camera, the camera can be normally calibrated, calibration and image acquisition are more convenient and flexible, and particularly, corner sampling of a large-distortion camera is facilitated.

Description

technical field [0001] The invention relates to the technical field of computer vision and camera calibration, in particular to a plane calibration board, calibration data acquisition method and system. Background technique [0002] Camera calibration is the basic link of machine vision applications such as visual measurement and 3D reconstruction. The accuracy and precision of the calibration results directly determine whether the vision system can work normally. The camera calibration board is the basis of single-camera calibration and multi-camera calibration. It has important use value in the field of visual perception and 3D reconstruction. The quality of the camera calibration board fundamentally determines the quality of the camera calibration effect. Quality has a more important impact. Based on the known three-dimensional coordinates of the checkerboard on the calibration board and the two-dimensional coordinates of the checkerboard in the image, the internal param...

AI Technical Summary

Problems solved by technology

[0004] A technical problem to be solved by the embodiments of the present invention is to provide a plane calibration board, a calibration data acquisition method and system, and solve the problems in the prior art such as low detection accuracy of camera calibration corners, no directionality, and high requirements for calibration images.

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