Gun-ball linkage calibration method, device and equipment
A calibration method and gun-ball technology, applied in the field of computer vision, can solve the problems of gun-ball linkage calibration result error, time-consuming and labor-intensive, and reduce the efficiency of gun-ball linkage calibration, so as to reduce labor costs and improve accuracy.
Active Publication Date: 2021-02-26
济南博观智能科技有限公司
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[0003]
However, the linkage function of the gun-ball linkage network camera between the bolt camera and the ball camera needs to be calibrated in advance. This behavior requires the use of manual calibration methods to calibrate 5 to 12 points on the monocular camera camera for mapping calculations. For the operation It is time-consuming and labor-intensive for the former. If a camera combination with a different field of view is used, the statistics need to be re-stated, which greatly reduces the efficiency of the gun-ball linkage calibration; The range of points needs to be counted artificially, so the calibration results of the gun-ball linkage have a large error
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[0051] The core of this application is to provide a gun-ball linkage calibration method, which can effectively improve the gun-ball linkage calibration efficiency and the accuracy of the calibration results; another core of the application is to provide a gun-ball linkage calibration The device, system, and computer-readable storage medium also have the above beneficial effects.
[0052]In order to describe the technical solutions in the embodiments of the present application more clearly and completely, the technical solutions in the embodiments of the present application will be introduced below in conjunction with the drawings in the embodiments of the present application. Apparently, the described embodiments are only some 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 applic...
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The invention discloses a gun and ball linkage calibration method, device and equipment and a computer readable storage medium, and the method comprises the steps: obtaining a field angle of a gun camera and a pan-tilt coordinate of a ball camera when the overlap ratio of a gun camera image and a ball camera image exceeds a preset threshold value; dividing the gunlock image into a preset number ofregional images, and calculating regional pan-tilt coordinates of each regional image corresponding to the dome camera image according to the field angle and the pan-tilt coordinates; obtaining domecamera images corresponding to the pan-tilt coordinates of each region, and performing feature point matching on the images of each region and the corresponding dome camera images to obtain optimal matching points; calculating a feature point coordinate pair of each optimal matching point, wherein the feature point coordinate pair comprises a plane coordinate of the optimal matching point in the gun camera image and a space coordinate of the optimal matching point in the dome camera image; generating a coordinate mapping matrix according to the coordinate pairs of the feature points; and carrying out gun-ball linkage calibration by using the coordinate mapping matrix. The method can effectively improve the gun-ball linkage calibration efficiency and the accuracy of the calibration result.
Description
technical field [0001] The present application relates to the technical field of computer vision, in particular to a gun-ball linkage calibration method, and also relates to a gun-ball linkage calibration device, system, and computer-readable storage medium. Background technique [0002] The gun-ball linkage network camera combines the advantages of the gun camera to see the overall situation and the ball camera to see the details, and at the same time combines the fully structured intelligent features of deep learning to support motor vehicles, non-motor vehicles, human bodies, and face capture, and can extract structured information . [0003] However, the linkage function of the gun-ball linkage network camera between the bolt camera and the ball camera needs to be calibrated in advance. This behavior requires the use of manual calibration methods to calibrate 5 to 12 points on the monocular camera camera for mapping calculations. For the operation It is time-consuming a...
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IPC IPC(8): G06T7/80G06T7/33G06T7/73G06K9/46
CPCG06T7/80G06T7/33G06T7/73G06V10/464Y02P90/30
Inventor 唐亚健谢会斌李聪廷
Owner 济南博观智能科技有限公司