Camera external parameter calibration method and device and camera external parameter calibration system
A calibration method and camera technology, applied in the computer field, can solve problems such as the influence of the consistency of camera external parameters, and achieve the effect of improving efficiency
Pending Publication Date: 2021-03-12
SHENZHEN HORIZON ROBOTICS TECH CO LTD
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[0003] Because different cameras use different environments, the consistency of extrinsic parameters of different cameras will be affected
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[0020] Hereinafter, exemplary embodiments according to the present disclosure will be described in detail with reference to the accompanying drawings. Apparently, the described embodiments are only some of the embodiments of the present disclosure, rather than all the embodiments of the present disclosure, and it should be understood that the present disclosure is not limited by the exemplary embodiments described here.
[0021] It should be noted that relative arrangements of components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.
[0022] Those skilled in the art can understand that terms such as "first" and "second" in the embodiments of the present disclosure are only used to distinguish different steps, devices or modules, etc. necessary logical sequence.
[0023] It should also be understood that in the embodiments of the present disclosure, "...
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The embodiment of the invention discloses a camera external parameter calibration method and device, and a camera external parameter calibration system. The method comprises the steps: obtaining a calibration image, photographed by a first camera disposed in a calibration cabin, of a target position in the calibration cabin; determining calibration feature information of the target position from the calibration image; obtaining reference feature information determined from a reference image in advance, wherein the reference image is an image shot by a second camera arranged in a reference cabin for a target position in the reference cabin; determining pose change data of the first camera relative to the second camera based on the position of the calibration feature information in the calibration image and the position of the reference feature information in the reference image; determining an external parameter of the first camera based on the pose change data. According to the embodiment of the invention, the method can achieve the real-time calibration of the external parameters of the first camera through the image photographed by the first camera, and facilitates the enabling of the used external parameters to be closer to the current actual state of the first camera in a scene where the external parameters are used.
Description
technical field [0001] The present disclosure relates to the field of computer technology, in particular to a camera extrinsic parameter calibration method and device, a camera extrinsic parameter calibration system, a computer-readable storage medium and electronic equipment. Background technique [0002] Camera calibration is the most critical part of machine vision inspection, photogeometric measurement, etc. The purpose of camera calibration is to calculate the geometric information such as the three-dimensional position and shape of the object by starting from the two-dimensional image information obtained by the camera, so as to obtain the two-dimensional image The corresponding relationship between the points on the surface and the surface points of the space object. This relationship is determined by the geometric model of camera imaging. The parameters of these models are called camera parameters, mainly including internal parameters (internal parameters) and extern...
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IPC IPC(8): G06T7/70G06T7/80
CPCG06T7/80G06T7/70G06T2207/30244G06T2207/30268G06T7/337
Inventor 陶冶张宏志
Owner SHENZHEN HORIZON ROBOTICS TECH CO LTD