RGBD multi-camera calibration method and system based on multi-dimensional semantic mapping and application

Abstract

The invention belongs to the technical field of image processing and computer vision, and discloses an RGBD multi-camera calibration method and system based on multi-dimensional semantic mapping and application, and the method comprises the steps: employing a hard synchronization triggering mechanism to synchronously obtain the color image data and depth image data of a plurality of RGBD cameras under the same clock; based on RGBD multi-camera initial calibration, shooting a two-dimensional code calibration plate image in a common-view area of all RGBD cameras, and obtaining initial poses among the RGBD cameras; then, associating the semantic information of a two-dimensional color image with three-dimensional depth space information to obtain a space point overlapping region between the adjacent cameras; and finally, obtaining accurate poses among the RGBD multiple cameras by adopting an ICP algorithm. The RGBD multi-camera calibration method has relatively high calibration precision,and can realize the accurate calibration of RGBD multiple cameras in a complex scene.

Description

technical field [0001] The invention belongs to the technical field of image processing and computer vision, and in particular relates to a multi-camera calibration method, system and application based on multi-dimensional semantic mapping RGBD. Background technique [0002] With the emergence and development of miniaturized, low-cost and high-performance visual equipment, it brings great convenience to life. Among them, the most representative type of visual equipment is RGBD camera (such as: Microsoft's Kinect, Intel's RealSense and Asus Xtion Pro Live). RGBD cameras can not only provide color images, but also provide depth images corresponding to the scene, and the depth accuracy ranges from a few millimeters to a few centimeters. Therefore, more and more researchers are attracted to use RGBD cameras to solve specific vision problems and have achieved good results. The current main application scenarios include: using RGBD cameras to reconstruct static scenes and dynami...

AI Technical Summary

Problems solved by technology

[0008] The RGBD multi-camera calibration method based on multi-dimensional semantic mapping proposed in this paper solves the problem of difficult accurate and robust calibration of RGBD multi-cameras in the case of large distance differences and large viewing angle differences.

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