Camera calibration method and device, electronic equipment and storage medium

A camera calibration and camera technology, applied in the field of image processing, can solve the problems of vanishing line error and low camera calibration accuracy, and achieve the effects of reducing errors, improving calibration accuracy, and improving calculation accuracy

Pending Publication Date: 2020-12-15
UBTECH ROBOTICS CORP LTD
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Problems solved by technology

Since this method only determines the position of the vanishing line through two vanishing points, if there is an error in the detection o

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  • Camera calibration method and device, electronic equipment and storage medium
  • Camera calibration method and device, electronic equipment and storage medium
  • Camera calibration method and device, electronic equipment and storage medium

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[0054]In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

[0055] In order to illustrate the technical solutions described in this application, specific examples are used below to illustrate.

[0056] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude one or more o...

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Abstract

The invention is suitable for the technical field of image processing, and provides a camera calibration method and device, electronic equipment and a storage medium, and the camera calibration methodcomprises the steps: obtaining a first image, photographed by a camera, of a calibration plate at a first preset position and a second image, photographed by the camera, of the calibration plate at asecond preset position, acquiring a second preset position by rotating the calibration plate around a preset rotating shaft for a preset angle at the first preset position, wherein the preset rotating shaft is perpendicular to a preset plane, detecting an angular point in the first image and an angular point in the second image, and calculating a homography matrix according to the angular point in the first image and the angular point in a second image, using the homography matrix for describing the mapping relation between the second image and the first image, calculating the vanishing lineof the preset plane according to the homography matrix so that the calculation accuracy of the vanishing line of the preset plane is improved, calibrating the camera according to the vanishing line ofthe preset plane so that calibration precision of the camera is improved.

Description

technical field [0001] The present application belongs to the technical field of image processing, and in particular relates to a camera calibration method, device, electronic equipment and storage medium. Background technique [0002] Camera calibration has important applications in many scenarios. For example, for vehicle, pedestrian, infrared temperature detection, etc., it is necessary to calibrate the internal and external parameters of the camera in advance, and the calibrated camera can calculate the world coordinates of the detected objects in the image. information, so the calibration of the camera plays a very important role in the accuracy of the whole system. [0003] Camera calibration is divided into two parts: internal reference calibration and external reference calibration. The internal reference is used to determine the projection relationship of the camera from the three-dimensional space to the two-dimensional image, and the external reference is used to ...

Claims

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Application Information

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IPC IPC(8): G06T7/80G06T7/13
CPCG06T7/80G06T7/13G06T2207/20164
Inventor 李扬程骏庞建新
Owner UBTECH ROBOTICS CORP LTD
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