Multi-view camera external parameter determination method and device
A technology of multi-camera and three-dimensional position, applied in the field of multi-camera external parameter determination method and device, capable of solving problems such as complex processes of multiple cameras
Active Publication Date: 2020-10-09
HANGZHOU HIKVISION DIGITAL TECH
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[0005] The embodiment of the present application provides a method and device for determining the external parameters of a multi-eye camera, which can solve the problem of online determination of the external parameters of multiple cameras in the related art. The process of extrinsic parameters of the camera is more complicated
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[0070] Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with aspects of the present application.
[0071] Before explaining the embodiment of the present application in detail, the application scenario of the embodiment of the present application will be described first:
[0072] figure 1 It is a schematic diagram of an implementation environment provided by the embodiment of this application, see figure 1 , the implementation environment includes a mobile device 100 on which a multi-eye camera 110 and a scale acqui...
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The invention discloses a multi-view camera external parameter determination method and device, and belongs to the field of machine vision. The method comprises the following steps: firstly, accordingto M feature points in a current image shot by a current camera, determining image coordinates of corresponding pixel points of each map point in M map points in N key frame images; and then determining the actual pose of the mobile device at the N key frame moments according to the theoretical pose of the mobile device at the N key frame moments and the reference scale proportion; and finally, according to the image coordinates of the corresponding pixel points of each map point in the M map points in the N key frame images, the actual poses of the mobile equipment at the N key frame moments, the three-dimensional position information of the M map points and the internal reference of the current camera, determining the external reference of the current camera relative to the reference coordinate system at the current moment. The process of determining the actual pose of the mobile device at the N key frame moments is simple and convenient, the external parameters of the multi-view camera can be determined online, and high efficiency and time saving are achieved.
Description
technical field [0001] The present application relates to the field of machine vision, in particular to a method and device for determining external parameters of a multi-eye camera. Background technique [0002] At present, mobile devices such as drones and robots mainly use multi-eye cameras for real-time localization and map construction (simultaneous localization and mapping, SLAM). Since the external parameters of the multiple cameras included in the multi-camera need to be used in the process of SLAM on the mobile device, the external parameters of the multiple cameras will change as the relative positions between the multiple cameras change. Therefore, when the relative positions of the multiple cameras change, it is necessary to re-determine the external parameters of the multiple cameras, so that the result of SLAM performed by the mobile device is more accurate. [0003] Usually, when re-determining the external parameters of multiple cameras, it is necessary to s...
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IPC IPC(8): G06T7/80G06T7/73
CPCG06T7/80G06T7/73
Inventor 李佳宁宋江新毛慧浦世亮
Owner HANGZHOU HIKVISION DIGITAL TECH