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

Abstract

The invention belongs to the fields 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. Since the imaging of infrared cameras is different from that of visible light cameras, there are fewer points that meet the requirements obtained by directly extracting feature points for matching. In order to solve this problem, the present invention extracts and matches the respective feature points of the left and right infrared cameras, and corrects the original calibration results based on these feature points. 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 grayscale histogram equalization. The invention solves the problem of changes in the positional relationship of an infrared binocular camera caused by temperature, humidity, vibration and other factors. It has the advantages of fast speed, accurate results and simple operation.

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

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