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Multi-depth camera external parameter calibration method and device and storage medium

A technology of depth camera and external parameters, applied in the field of data processing, can solve problems such as poor accuracy

Active Publication Date: 2021-01-15
珠海普罗米修斯视觉技术有限公司
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  • Claims
  • Application Information

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Problems solved by technology

[0004] Embodiments of the present invention provide a method and device for calibrating external parameters of a multi-depth camera that can accurately calibrate external parameters of a depth camera, so as to solve the technical problem of poor accuracy in calibrating external parameters of existing multi-depth cameras

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  • Multi-depth camera external parameter calibration method and device and storage medium
  • Multi-depth camera external parameter calibration method and device and storage medium
  • Multi-depth camera external parameter calibration method and device and storage medium

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Embodiment Construction

[0062] Referring to the drawings, wherein like reference numerals represent like components, the principles of the present invention are exemplified when implemented in a suitable computing environment. The following description is based on illustrated specific embodiments of the invention, which should not be construed as limiting other specific embodiments of the invention not described in detail herein.

[0063] In the following description, specific embodiments of the present invention are described with reference to steps and symbols for operations performed by one or more computers, unless otherwise stated. Accordingly, it will be understood that the steps and operations, which at times are referred to as being performed by a computer, include manipulation by a computer processing unit of electronic signals representing data in a structured form. This manipulation transforms the data or maintains it at a location in the computer's memory system that can reconfigure or ot...

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Abstract

The invention provides a multi-depth camera external parameter calibration method. The method comprises the following steps: shooting the same calibration plate by using a plurality of depth cameras;performing image feature point extraction on the calibration plate image; acquiring image feature points of the calibrated depth camera, and calculating three-dimensional coordinates of the image feature points of the calibrated depth camera; determining an uncalibrated depth camera with the same image feature points; acquiring three-dimensional coordinates of the image feature points of the uncalibrated depth camera with the same image feature points; calculating an image feature point error value between any two depth cameras in all the depth cameras in the adjacent area of each depth camera; and correcting the external parameters of the depth camera, and setting the corrected external parameters as calibration external parameters of the depth camera. The invention further provides a multi-depth camera external parameter calibration device. The accuracy of external parameter calibration of the multi-depth camera is improved.

Description

technical field [0001] The invention relates to the field of data processing, in particular to a method, device and storage medium for calibrating external parameters of a multi-depth camera. Background technique [0002] Holographic voxel video (Volumetric Video) is a type of holographic video, generally surrounded by multiple RGBD (red, green, blue depth) cameras (referred to as depth cameras), and shooting the subject at the same time to obtain the subject The color and depth information of each angle of the object is then fused into a 3D stereoscopic video based on these color and depth information. This 3D stereoscopic video is called a holographic video. To fuse the color and depth information between multiple depth cameras to generate a complete holographic video, not only the internal parameters of the depth cameras (referred to as internal camera parameters for short), but also the precise external parameters of the cameras are required. The internal camera referen...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80
CPCG06T7/80
Inventor 邵志兢张煜谢俊
Owner 珠海普罗米修斯视觉技术有限公司
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