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

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 ...

AI Technical Summary

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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