Parallel binocular camera calibration method based on three-dimensional reconstruction

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...

AI Technical Summary

Problems solved by technology

It has the advantages of strong flexibility and online calibration, but its shortcomings are low precision and poor robustness, which are taboo areas in engineering applications, so they are rarely used in practice.

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