Method for improving camera calibration accuracy by using multi-plane calibration board

A technology of camera calibration and calibration board, which is applied in the field of computer vision and can solve the problems of poor accuracy of camera calibration parameters and lack of stereo information

Active Publication Date: 2020-07-17
NANJING UNIV
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Problems solved by technology

[0003] Purpose of the invention: The technical problem solved by the present invention is the poor accuracy of the camera calibration parameters caused by the lack of stereo information of the plane calibration chessboard

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[0061] In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0062] The embodiment of the present invention discloses a method for improving camera calibration accuracy by using a multi-plane calibration board. The method is applied to camera pose estimation in passive three-dimensional reconstruction and common camera calibration. In traditional pose estimation, it is necessary to set the position information of spatial points, and at the same time, it is necessary to detect the projected pixels of these spatial points in the image, which is very troublesome and the detection accuracy is low. The chessboard is an object that is easy to detect, but because the corner points on the chessboard are coplanar and lack stereo information, the chessboard cannot be used accurately in pose estimation...

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Abstract

The invention discloses a method for improving camera calibration accuracy by using a multi-plane calibration board. The method comprises the following steps: splicing two calibration substrates drawnwith checkerboard dot patterns to obtain a calibration board; calculating three-dimensional world coordinates of chessboard corners, and merging the three-dimensional world coordinates in the same three-dimensional world coordinate system; acquiring an image of the calibration plate by using a to-be-calibrated camera, and performing filtering preprocessing to obtain a calibration image; determining target corner points on the calibration image and obtaining image pixel coordinates, wherein the image pixel coordinates of the target corner points are in one-to-one correspondence with the three-dimensional world coordinates of the chessboard corner points; calculating and solving a reprojection transformation equation, and performing decomposing to obtain a rotation vector and a translationmatrix; converting the rotation vector into a corresponding rotation matrix, and optimizing the rotation matrix and the translation matrix through a bundle adjustment method after reprojection. The multi-plane calibration plate is formed by splicing the two calibration substrates, the camera calibration precision can be improved, and the problem that errors are large in camera pose estimation is effectively solved.

Description

technical field [0001] The invention relates to the technical field of computer vision, in particular to a method for improving camera calibration accuracy by using a multi-plane calibration board. Background technique [0002] Camera calibration is an important tool and link in computer vision and 3D reconstruction. In camera motion pose estimation, it is an important step to obtain the transformation from the 3D world coordinate system of any frame to the camera 3D world coordinate system through camera calibration. . The traditional single checkerboard plane calibration method, due to the limitation of the coplanarity of the corner points of the checkerboard, leads to the lack of stereo information, which affects the calibration of the extra-camera parameters. A multi-plane checkerboard is used to ensure that sufficient information is provided for the solution of the translation and rotation matrix, otherwise it will This makes the error larger when solving the relevant ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80G06T7/13G06T5/40G06T5/20
CPCG06T7/85G06T7/13G06T5/40G06T5/20G06T2207/20164G06T2207/20024G06T2207/20192
Inventor 袁杰代家印彭成磊尤琦齐梦娅
Owner NANJING UNIV
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