Binocular camera calibration method and system and storage medium

Abstract

The invention discloses a binocular camera calibration method and system and a storage medium. The method comprises the following steps: extracting feature point coordinates of an original image of acalibration plate; substituting the coordinates of the feature points into a camera imaging nonlinear model, introducing the camera imaging nonlinear model into a Zhang calibration method to obtain parameters of the binocular camera, constructing a real front view image according to the external parameters of the binocular camera, and calculating control point coordinates of the corrected real front view image by utilizing a digital image correlation method; back-projecting the correction value of the control point coordinate into the original image of the calibration plate, and obtaining thecorrection value of the control point coordinate in the original image; calculating a fitness function of a genetic algorithm according to the parameters of the binocular camera, and performing globaloptimization on the parameters of the binocular camera by utilizing the genetic algorithm; according to the method, the optimization function based on the fixed pose relation between the cameras is established in the parameter optimization process, the genetic algorithm is introduced to solve the extreme value of the optimization function, the optimization model is simplified, and the high-precision calibration result can be obtained.

Description

technical field [0001] The invention relates to the technical field of camera calibration, in particular to a binocular camera calibration method, system and storage medium. Background technique [0002] Because there is a certain angle between the camera imaging plane and the calibration plate plane in space, the circular pattern on the collected calibration plate image is deformed, and the center of the projected pattern deviates, which affects the accuracy of extracting the center coordinates of the circular pattern. At the same time, if the optimization function is not well selected, it is easy to cause a local optimal solution and affect the calibration accuracy. [0003] At present, many research works are devoted to the calibration of binocular stereo cameras, such as the calibration technology of Li Xu et al. using a prism and two mirrors ("X.Li, C.Kwan, and B.Li, Stereo imaging with uncalibrated camerain Advanced in Visual Computing (Springer, 2006), pp.112–121") i...

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Problems solved by technology

[0005] Purpose of the invention: In order to overcome the deficiencies of the prior art, the present invention provides a binocular camera calibration method, which can solve the problem of large calibration result errors in the prior art, and the present invention also provides a binocular camera calibration system

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