Parallel binocular camera calibration method based on three-dimensional reconstruction

A binocular camera and 3D reconstruction technology, which is applied in image data processing, instrumentation, computing, etc., can solve problems such as low precision, poor robustness, and few applications

Active Publication Date: 2020-04-28
TAIYUAN UNIV OF TECH
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Problems solved by technology

It has the advantages of strong flexibility and online calibration, but its shortcomings are low precisi...

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  • Parallel binocular camera calibration method based on three-dimensional reconstruction
  • Parallel binocular camera calibration method based on three-dimensional reconstruction
  • Parallel binocular camera calibration method based on three-dimensional reconstruction

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[0064] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer, the present invention will be further described in detail in combination with the embodiments and accompanying drawings. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. The technical solutions of the present invention will be described in detail below in conjunction with the embodiments and drawings, but the scope of protection is not limited thereto.

[0065] The present invention uses a binocular camera with a resolution of 1280*480 and a fixed baseline distance of 5cm and a black and white checkerboard calibration board with a side length of 2.7cm to form a binocular vision calibration system. The calibration board is shaped like figure 2 .

[0066] Fix the binocular camera and face the calibration board, rotate the calibration board...

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Abstract

The invention discloses a parallel binocular camera calibration method based on three-dimensional reconstruction, and the method comprises the steps: carrying out the multi-azimuth and multi-angle photographing of a calibration plate through a binocular camera, and obtaining a plurality of groups of left and right images of the calibration plate; obtaining camera initial parameters by using a Zhang Zhengyou calibration method; introducing a centroid increment formula, eliminating the influence of a coupling effect between a rotation matrix and a translation vector in a parameter updating process, constructing a cost function, and avoiding an overfitting phenomenon in a rotation matrix calculation process by utilizing least square method regularization; constructing a cost function betweenthe theoretical three-dimensional coordinates of the feature points and the true values of the corresponding feature points in a world coordinate system, and meanwhile, utilizing epipolar constraint and epipolar distance constraint to improve the convergence of the cost function and improve the accuracy of updating camera parameters.

Description

technical field [0001] The invention relates to a camera calibration method, in particular to a binocular camera calibration method based on three-dimensional reconstruction. Background technique [0002] Machine vision technology is a technology that uses the characteristics of high-resolution cameras, high frame rates, real-time transmission, and loose working environment requirements to detect and measure targets, which can be realized in a non-contact manner. Development, in the context of artificial intelligence, has gained an irreplaceable position. Among them, camera calibration is crucial for visual measurement and detection. The initial parameters of the lens can be obtained through the projection relationship between the world coordinate system and the image coordinate system. However, these parameters cannot represent the physical properties of the lens, resulting in deviations in vision applications. Therefore, a mathematical model for parameter optimization i...

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Application Information

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IPC IPC(8): G06T7/80
CPCG06T7/85G06T2207/30208Y02T10/40
Inventor 马珺覃志强王昱皓陈德鹏
Owner TAIYUAN UNIV OF TECH
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