Binocular camera calibration method, device and system based on Aruco code and calibration board

A technology of binocular camera and calibration method, applied in image data processing, instrumentation, calculation, etc., can solve problems such as low success rate and inaccurate calibration

Pending Publication Date: 2020-05-19
BEIJING SMARTER EYE TECH CO LTD
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0003] To this end, embodiments of the present invention provide a binocular camera calibration method, device, system, and calibration board based on Aruco

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  • Binocular camera calibration method, device and system based on Aruco code and calibration board
  • Binocular camera calibration method, device and system based on Aruco code and calibration board
  • Binocular camera calibration method, device and system based on Aruco code and calibration board

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[0051] The following specific examples illustrate the implementation of the present invention. Those familiar with this technology can easily understand the other advantages and effects of the present invention from the content disclosed in this specification. Obviously, the described embodiments are part of the embodiments of the present invention. , Not all examples. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

[0052] The Aruco code-based binocular camera calibration method provided by the present invention utilizes a calibration board embedded with Aruco code to obtain the corresponding coordinates by obtaining the calibration board information, and then the calibration can be achieved, thereby solving the problem of the low success rate of the traditional binocular camera calibration method. Technical problem of in...

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Abstract

The invention discloses a binocular camera calibration method, device and system based on an Aruco code and a calibration board. The method comprises the steps: inserting an ArUco code calibration board into a white square block of a black-white checkerboard calibration board, so as to form a ChArUco calibration board embedded with the ArUco code; acquiring image information of a ChArUco calibration board during calibration, extracting corner point information of each black and white grid in the image information of the ChArUco calibration board, and forming corner point coordinates of the black and white grids; extracting ID information of each ArUco code in the image information of the ChArUco calibration board, and establishing a world coordinate system based on the ID information of each ArUco code; and carrying out binocular camera calibration according to the corresponding relationship between the image angular points of the target parameter points in the black and white grid angular point coordinates and the world angular points in the world coordinate system. The technical problems that a traditional binocular camera calibration method is low in success rate and inaccuratein calibration are solved.

Description

technical field [0001] The invention relates to the technical field of binocular camera imaging, in particular to a binocular camera calibration method, device, system and calibration board based on Aruco codes. Background technique [0002] With the development of sensor technology and machine vision technology, obstacle detection technology based on binocular cameras is increasingly widely used in the field of robotics, smart cars and other fields. The parameter calibration of the binocular camera is an important means to ensure the performance of the binocular camera. In the prior art, the traditional "Zhang's calibration method" is generally used for the calibration of the binocular camera. However, in the calibration process of the traditional calibration method, it is necessary to shoot calibration boards of different poses, and require as many calibration boards as possible to be distributed in different positions in the image, and a large number of calibration board ...

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Application Information

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IPC IPC(8): G06T7/80
CPCG06T7/80
Inventor 王欣亮姜安郝源李建
Owner BEIJING SMARTER EYE TECH CO LTD
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