Calculation Method of Dynamic Extrinsic Parameters of Infrared Stereo Camera Based on Histogram Equalization

Abstract

The invention belongs to the field of image processing and computer vision, and relates to an infrared stereo camera dynamic external parameter calculation method based on histogram equalization. Because the imaging of the infrared camera is different from the imaging of the visible light camera, the number of point pairs which are obtained by directly extracting feature points for matching and meet requirements is small. In order to solve the problem, feature points of a left infrared camera and a right infrared camera are extracted and matched, and an original calibration result is correctedaccording to the feature points. Besides, in order to solve the problem of insufficient feature points, feature point extraction is carried out on an original image, and feature point extraction is also carried out on an infrared image after gray histogram equalization. According to the invention, the change of the position relationship of the infrared binocular camera caused by factors such as temperature, humidity and vibration is solved. The method has the advantages of high speed, accurate result, simple operation and the like.

Description

technical field [0001] The invention belongs to the field of image processing and computer vision, and relates to a method for calculating dynamic external parameters of an infrared stereo camera based on histogram equalization. Background technique [0002] Infrared (Infrared) is an electromagnetic wave with a wavelength between microwaves and visible light, and the wavelength is longer than red light. Substances above absolute zero (-273.15°C) can produce infrared rays. Because of its ability to observe through fog and rain, infrared images are widely used in different fields such as military defense, resource exploration, weather forecast, environmental monitoring, medical diagnosis and treatment, and marine research. Infrared rays can be used to shoot scenes through mist and smoke, and infrared photography can also be performed at night. The infrared binocular camera is calibrated and corrected, and the parallax and depth can be estimated in harsh environments such as ...

AI Technical Summary

Problems solved by technology

[0005] The present invention aims to solve the changes in the positional relationship of infrared binocular cameras caused by factors such as temperature, humidity, vibration, etc.

In addition, in order to solve the problem of insufficient feature points, we not only extract feature points from the original image, but also extract feature points from the infrared image after the gray histogram equalization

Images