Determination method of speckle projector calibration parameters for monocular speckle structured light system

Abstract

An embodiment of the present invention provides a speckle projector calibration parameter determination method for a monocular speckle structured light system. The method includes: determining the internal parameters of the camera; Collect the images of the reference plane when the speckle projector is turned on and off at different positions; based on the three-dimensional coordinates of the marker points in the camera coordinate system when the speckle projector is turned off when the camera is in two different positions, the camera is determined to be in two positions The plane equation of the reference plane in the images collected at different positions; based on the plane equation and the pixel coordinates of s speckle points and s points with the same name selected in the image when the speckle projector is turned on, the camera coordinates of the speckle points and the points with the same name are determined The three-dimensional coordinates under the system; determine the horizontal axis coordinates and vertical axis coordinates of the speckle projector based on the three-dimensional coordinates of the speckle point and the point with the same name. The method provided by the embodiment of the present invention realizes the precise calibration of the position parameters of the speckle projector.

Description

technical field [0001] The invention relates to the technical field of monocular speckle structured light systems, in particular to a method for determining calibration parameters of a speckle projector of a monocular speckle structured light system. Background technique [0002] In 3D measurement technology, monocular speckle-based structured light technology is an important branch, which is favored by its advantages of high precision and low price, and has been widely used in consumer electronics, games, industry and other fields. For example, Microsoft's Kinect generation products, Iphonex's FaceID technology, etc., are all based on monocular speckle mechanism light solutions. Generally, an active infrared speckle generator is used to endow the surface of the scene with rich image feature information, and then the camera is used to record the speckle image of the scene, and the depth information of the scene is calculated to finally obtain the depth image or 3D data. Bef...

AI Technical Summary

Problems solved by technology

[0026] The embodiment of the present invention provides a method for determining the calibration parameters of the speckle projector of the monocular speckle structured light system, which is used to solve the depth error caused by the inability to accurately calibrate in the existing monocular speckle structured light system. The problem that the precision occasion cannot be accepted

Images