External parameter determination method, external parameter determination device and electronic equipment

Abstract

The invention discloses an external parameter determination method, an external parameter determination device and electronic equipment. The external parameter determination method comprises the following steps: acquiring first pose information of mobile equipment through a first sensor; acquiring second pose information of the mobile device through a second sensor; obtaining a pre-calibrated first pose conversion relationship between the first sensor and the second sensor; determining a second pose conversion relationship according to the first pose conversion relationship, the first pose information and the second pose information; and determining second external parameter information of the image acquisition equipment according to the second pose conversion relationship and the first external parameter information of the image acquisition equipment, the image acquisition device being installed on the mobile equipment. Compared with an existing external parameter determination method of the image acquisition equipment, the external parameter determination method provided by the embodiment of the invention has the advantages of simple calculation mode, high calculation efficiency and the like, and the purpose of determining the external parameters of the image acquisition equipment in real time can be achieved.

Description

technical field

[0001] The invention relates to the technical field of computer vision, in particular to a method for determining an external parameter, a device for determining an external parameter, and electronic equipment. Background technique

[0002] In the field of computer vision technology, the importance of image acquisition equipment as a sensor for acquiring images is self-evident. As we all know, the external parameters of the image acquisition device can represent the conversion relationship between the camera coordinate system and the world coordinate system, and are important parameters for solving image feature information (such as vanishing point information). However, the existing methods for determining external parameters are computationally complex and have very low computational efficiency. Contents of the invention

[0003] In order to solve the above-mentioned technical problems, the present application is proposed. Embodiments of the present app...

Examples

Embodiment Construction

[0026] Hereinafter, exemplary embodiments according to the present application will be described in detail with reference to the accompanying drawings. Apparently, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. It should be understood that the present application is not limited by the exemplary embodiments described here.

[0027] Application overview

[0028] As we all know, the external parameters of the image acquisition device can represent the transformation relationship between the camera coordinate system and the world coordinate system, and the position and orientation of the image acquisition device in the three-dimensional space can be determined based on the external parameters of the image acquisition device. Therefore, the external parameters of the image acquisition device are important parameters for solving the characteristic information of the image, and its i...

technical field

[0001] The invention relates to the technical field of computer vision, in particular to a method for determining an external parameter, a device for determining an external parameter, and electronic equipment. Background technique

[0002] In the field of computer vision technology, the importance of image acquisition equipment as a sensor for acquiring images is self-evident. As we all know, the external parameters of the image acquisition device can represent the conversion relationship between the camera coordinate system and the world coordinate system, and are important parameters for solving image feature information (such as vanishing point information). However, the existing methods for determining external parameters are computationally complex and have very low computational efficiency. Contents of the invention

[0003] In order to solve the above-mentioned technical problems, the present application is proposed. Embodiments of the present app...

Examples

Embodiment Construction

[0026] Hereinafter, exemplary embodiments according to the present application will be described in detail with reference to the accompanying drawings. Apparently, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. It should be understood that the present application is not limited by the exemplary embodiments described here.

[0027] Application overview

[0028] As we all know, the external parameters of the image acquisition device can represent the transformation relationship between the camera coordinate system and the world coordinate system, and the position and orientation of the image acquisition device in the three-dimensional space can be determined based on the external parameters of the image acquisition device. Therefore, the external parameters of the image acquisition device are important parameters for solving the characteristic information of the image, and its i...

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