Multi-view camera external orientation parameter calibration method adopting mutual shooting method

Abstract

The invention discloses a multi-view camera external orientation parameter calibration method adopting a mutual shooting method. The method comprises the following steps: establishing a multi-camera space measurement system calibration system; calibrating intrinsic parameters of the monocular camera; combing the auxiliary camera with the measurement camera to calibrate external parameters of the binocular vision system; calculating the pose of the target in an auxiliary camera coordinate system; calculating the pose of the target in a self-measurement camera coordinate system; calibrating mutual shooting external parameters; and rotating the measuring camera to a working posture and carrying out measurement and the like. The multi-view camera external orientation parameter calibration method adopting the mutual shooting method provided by the invention can quickly and accurately calibrate the external parameters between the measurement cameras in a multi-camera measurement system, andcan flexibly adapt to various working environments, so that the measurement work can be efficiently carried out. Besides, the external parameters between the cameras can be calibrated quickly, accurate parameters are provided for subsequent measurement work, the working efficiency and precision can be improved, and the measurement cost is reduced.

Description

technical field [0001] The invention belongs to the technical field of machine vision three-dimensional space coordinate measurement, and in particular relates to a method for calibrating external orientation parameters of multi-eye cameras using a mutual shooting method. Background technique [0002] With the continuous development of my country's machinery manufacturing, aerospace, robotics and other fields, especially the development of domestic large aircraft production technology, the requirements for spatial measurement accuracy in the manufacturing and assembly process are also increasing. The accuracy of measurement technology directly determines the accuracy of industrial manufacturing and assembly. The traditional three-coordinate measuring machine is too large and has low calculation efficiency. Moreover, traditional measurement methods often need to touch the measured object, so it is easy to cause damage to the measured object. It has long been unable to meet th...

AI Technical Summary

Problems solved by technology

However, as the working scene changes, the extrinsic parameters between cameras in the system are also changing, and because of the limitations of the working environment, it is often not possible to use the traditional binocular vision extrinsic parameter calibration method with the help of checkerboard calibration

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