AucoInChess calibration board and binocular camera calibration method thereof

A calibration method and technology of binocular camera, applied in the field of binocular camera, can solve the problems such as the ArUco code cannot be too small, the recognition error, etc., and achieve the effect of accurate calibration results and high reliability

Pending Publication Date: 2020-11-13
BEIJING SMARTER EYE TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, there is still a shortcoming of the ChArUco calibration board, that is, the ArUco code inside it cannot be too small, otherwise it will be misrecognized because the ArUco code in the image is blurred

Method used

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  • AucoInChess calibration board and binocular camera calibration method thereof
  • AucoInChess calibration board and binocular camera calibration method thereof
  • AucoInChess calibration board and binocular camera calibration method thereof

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Embodiment Construction

[0018] The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments, but not as a limitation of the present invention.

[0019] The ArucoInChess calibration board of the present invention replaces the black squares of the Chessboard calibration board with ArUco codes of the same size as the black and white grids. Preferred following two kinds of embodiments during concrete implementation:

[0020] 1. Enlarge the ArUco code to the size of the black and white grid, and use the ArUco code to replace the black square on the Chessboard calibration board, as shown in image 3 shown;

[0021] 2. Adjust the size of the black and white grid on the Chessboard calibration board to make it consistent with the size of the ArUco code. Use the ArUco code to replace the black grid on the Chessboard calibration board. Refer to Figure 6 shown.

[0022] The ArucoInChess calibration board of the present invention is dif...

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Abstract

The invention discloses an AucoInChess calibration board and a binocular camera calibration method thereof, which enable a calibration result to be more accurate. According to the AucoInCess calibration board, black grids and white grids are distributed at intervals according to the style of the Chessboard calibration board, the black grids are filled with ArUco codes, and the sizes of the ArUco codes are the same as those of the black grids and the white grids; the ArUco code is amplified to the size of black and white grids in equal proportion or the size of the black and white grids is adjusted to the size of the ArUco code. According to the calibration method, after angular point extraction is carried out, corrosion operation is carried out on an image, and connection of ArUco codes isbroken.

Description

technical field [0001] The invention relates to the fields of automobile auxiliary driving and automatic driving, in particular to a binocular camera therein. Background technique [0002] The traditional calibration method usually uses a black and white checkerboard calibration board for calibration, which is the Chessboard calibration board. The main reason for using the Chessboard calibration board is that it can provide clear, accurate and regular corner coordinates, which is convenient for the internal and external parameter calibration of the binocular camera. However, in order to find the regularity of its corner coordinates, it is necessary to ensure that the Chessboard calibration board in the image must be complete without occlusion, which increases the difficulty of calibration operations. [0003] In view of this defect of the traditional calibration board, the ArUco code is inserted into the white square inside the original checkerboard calibration board to con...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80
CPCG06T7/80
Inventor 王欣亮姜安李建王鹏郝源
Owner BEIJING SMARTER EYE TECH CO LTD
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