Multi-depth camera external parameter calibration method, device and storage medium
A depth camera and external parameter technology, applied in the field of data processing, can solve problems such as poor accuracy
Active Publication Date: 2021-04-06
珠海普罗米修斯视觉技术有限公司
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[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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[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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The present invention provides a multi-depth camera external parameter calibration method, which includes: using multiple depth cameras to photograph the same calibration plate; extracting image feature points from the calibration plate image; obtaining image feature points of calibrated depth cameras, and calculating the calibrated The three-dimensional coordinates of the image feature points of the depth camera; determine the unmarked depth camera with the same image feature point; and obtain the three-dimensional coordinates of the image feature points of the unmarked depth camera with the same image feature point; calculate the depth of each camera The image feature point error value between any two depth cameras in all depth cameras in the adjacent area; by correcting the extrinsic parameters of the depth cameras, the corrected extrinsic parameters are set as the calibration extrinsics of the depth cameras. The invention also provides a device for calibrating the external parameters of the multi-depth camera, and the invention improves the accuracy of calibrating the external parameters of the multi-depth camera.
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...
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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