Zoom camera attitude calibration method and system based on rectangular structure
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A calibration method and focus camera technology, applied in the field of image processing, can solve problems such as limited use, and achieve the effect of wide applicability
Active Publication Date: 2020-07-28
HUAZHONG UNIV OF SCI & TECH
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[0005]
Aiming at the defects of the prior art, the purpose of the present invention is to provide a zoom camera attitude calibration method and system ...
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Embodiment 1
[0086] A comparative simulation experiment of the method of the present invention and the PNP algorithm for rectification of rectangles is designed below. The simulation experiment of this method is in the case that only the focal length is unknown in the internal parameters of the zoom camera, the focal length is first obtained by the focal length calculation formula, and then the camera pose is solved by combining the known internal camera parameters; the comparison experiment uses the PNP algorithm to solve the camera pose.
[0087] (1) Simulation experiment of this method
[0088] Set the coordinates of the camera in the world coordinate system as P cam =(100, 50, -1000) T , the world coordinates of the four corners of the rectangle are W 1 =(0,0,0) T , W 2 =(200,0,0) T , W 3 =(200,100,0) T , W 4 =(0,100,0) T , the camera internal parameter matrix is x-axis rotation angle θ x =pi / 10, y-axis rotation angle θ y =pi / 7, z-axis rotation angle θ z =pi / 9. After the...
Embodiment 2
[0095] The method is verified by using real images below.
[0096] (1) Real image experiment of this method
[0097] When using this method, first calibrate the camera internal parameters that have nothing to do with the focal length f, and obtain the camera internal parameters s=0, a=1, u 0 =310.61345268494381, v 0 =267.72960205430473. The original image is then extracted (see Figure 5 ), the pixel coordinates of the four corners of the football field in ) are I A =(192,129) T , I B =(455,192) T , I C =(423,348) T , I D =(140,278) T . Then find θ 1 =0.522088, θ 2 = 0.515549. Find the focal length again, and get f=702.338, then you can get the internal parameter matrix of the camera Then find the physical coordinates P corresponding to the four corner points on the normalized imaging plane 1 =(-0.168884, -0.197525, 1) T ,P 2 =(0.20558, -0.107825, 1) T ,P 3 =(0.160018, 0.11429, 1) T ,P 4 =(-0.242922, 0.0146231, 1) T . Then calculate the rotation transf...
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Abstract
The invention discloses a zoom camera attitude calibration method and system based on a rectangular structure, and belongs to the technical field of image processing. The method comprises the following steps: acquiring pixel coordinates of four corners of a rectangle, solving the segmentation proportion of the diagonal lines of the quadrangle according to the pixel coordinates of the four corner points, solving the focal length of the camera according to the rectangular vertical relation, solving corresponding physical coordinates of four corners of the rectangle on a normalized imaging plane,solving three-dimensional projection coordinates according to the physical coordinates of the four corners of the rectangle, solving a rotation matrix R, and reprojecting the image where the deformedrectangle is located to obtain a corrected image where the corrected rectangle is located. According to the method and the system, only rectangular image information is needed, rectangular physical size information is not needed, under the condition that the size of a rectangular object is not easy to know, the focal length of the zoom camera can be solved, camera attitude calibration and reprojection can be carried out to obtain a corrected image, and compared with a traditional algorithm, the method has wider applicability.
Description
technical field [0001] The invention belongs to the technical field of image processing, and more particularly relates to a method and system for calibrating the attitude of a zoom camera based on a rectangular structure. Background technique [0002] In the process of image measurement and computer application, in order to determine the relationship between the three-dimensional geometric position of a point on the surface of a space object and its corresponding point in the image, it is necessary to establish a geometric model of camera imaging, where the parameters of the geometric model are camera parameters. Parameters include intrinsic and extrinsic parameters. [0003] The traditional calibration method requires a calibration object with known physical size. Using the image processing method, the points with the set size of the calibration object correspond to the image points on the image, and the camera parameters are obtained by solving the equations according to t...
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