Multi-depth camera calibration method, device and apparatus and medium
A depth camera and camera calibration technology, applied in image data processing, complex mathematical operations, instruments, etc., can solve problems such as camera pose errors and achieve the effect of improving accuracy
Active Publication Date: 2021-02-19
GUANGDONG ELECTRIC POWER SCI RES INST ENERGY TECH CO LTD
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[0003] This application provides a multi-depth camera calibration method, device, equipment and medium, which are used to solve the technical problem that the PnP algorithm is used to calibrate between cameras in the prior art, and there is a large pose error between the calculated cameras.
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[0039] This application provides a multi-depth camera calibration method, device, equipment and medium, which are used to solve the technical problem that the PnP algorithm is used to calibrate between cameras in the prior art, and there is a large pose error between the calculated cameras. .
[0040] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiment of the application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiment of the application. Obviously, the described embodiment is only It is a part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.
[0041] For ease of understanding, see figure 1 , an embodiment of a m...
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The invention discloses a multi-depth camera calibration method, device and apparatus and a medium and the method comprises the steps: calculating a first transformation matrix from each depth camerato a calibration board through a PnP algorithm according to calibration board images photographed by a plurality of depth cameras; converting pixels of the calibration board in each calibration boardimage into three-dimensional point cloud data, and matching the three-dimensional point cloud data corresponding to each depth camera with a preset three-dimensional model of the calibration board toobtain an error matrix; and calculating a second transformation matrix between the depth cameras based on the error matrix corresponding to each depth camera and the first transformation matrix, thereby solving the technical problem that the calculated pose error between the cameras is relatively large when a PnP algorithm is adopted to calibrate the cameras in the prior art.
Description
technical field [0001] The present application relates to the technical field of camera calibration, and in particular to a multi-depth camera calibration method, device, equipment and medium. Background technique [0002] As the range of machine vision applications grows, so does the need for multi-camera vision systems. The difficulty of the hidden camera vision system lies in the calibration between multiple cameras. At present, the commonly used camera calibration method is to use the PnP algorithm to calibrate between cameras, but there are large errors in the calculated poses between cameras. Contents of the invention [0003] This application provides a multi-depth camera calibration method, device, equipment and medium, which are used to solve the technical problem that the PnP algorithm is used to calibrate between cameras in the prior art, and there is a large pose error between the calculated cameras. . [0004] In view of this, the first aspect of the presen...
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IPC IPC(8): G06T7/80G06T17/00G06F17/16
CPCG06F17/16G06T17/00G06T7/80
Inventor 张晓晔周建东陈梓豪吴昊麦晓明雷霆王杨蔡杨华吴晖钟力强
Owner GUANGDONG ELECTRIC POWER SCI RES INST ENERGY TECH CO LTD