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Cross-type binocular camera calibration method based on automatic positioning

A binocular camera and calibration method technology, applied in image data processing, instruments, calculations, etc., can solve problems such as complex point cloud data processing and small field of view, achieve strong practicability, improve calibration accuracy, and realize automatic positioning Effect

Active Publication Date: 2021-04-30
WUHAN UNIV OF TECH
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Problems solved by technology

[0003] In order to solve the problem of small field of view of traditional parallel binocular cameras and complex point cloud data processing after stereo matching, this invention proposes a cross-type binocular camera calibration method based on automatic positioning

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  • Cross-type binocular camera calibration method based on automatic positioning
  • Cross-type binocular camera calibration method based on automatic positioning
  • Cross-type binocular camera calibration method based on automatic positioning

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Embodiment Construction

[0041] Preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the application and together with the embodiments of the present invention are used to explain the principle of the present invention and are not intended to limit the scope of the present invention.

[0042] see figure 1 , a schematic flow chart of a cross-type binocular camera calibration method based on automatic positioning provided by an embodiment of the present invention, including the following steps:

[0043] Step 1. Select two CMOS cameras as binocular cameras. The two CMOS cameras are the left camera as the main camera and the right camera as the auxiliary camera. Fix the CMOS cameras to their respective rotating heads and tripods. The angle of the 360-degree rotating pan-tilt determines the cross-view angle between the two CMOS cameras, which effectively expands the imaging ran...

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Abstract

The invention discloses a cross-type binocular camera calibration method based on automatic positioning, and the method comprises the steps: firstly selecting two CMOS cameras as binocular cameras, and adjusting the shooting posture and cross visual angle of the binocular cameras; secondly, synchronously triggering and collecting calibration plate pictures under different poses, calculating angular point pixel coordinate information under different poses, calibrating a parameter matrix of the crossed binocular camera, and establishing a camera imaging model; synchronously collecting the workpiece image again, separating the background by using an image processing algorithm to obtain an image domain, and extracting two-dimensional pixel coordinate information matched with the workpiece feature points in the image pair; and finally, inputting the two-dimensional pixel coordinates subjected to feature point matching into a camera imaging model in pairs to obtain three-dimensional coordinates of the two-dimensional pixel coordinates under a main camera space coordinate system, thereby realizing an automatic positioning function. The actual problems of feature point shielding, loss and the like in the imaging process are fully considered, the calibration precision is effectively improved by changing the cross angle of the cameras, the positioning precision is within 5%, and the invention has very high practicability.

Description

technical field [0001] The invention belongs to the technical field of machine vision detection and positioning, and relates to a cross-type binocular camera calibration method, in particular to a cross-type binocular camera calibration method based on automatic positioning. Background technique [0002] In the field of binocular stereo vision calibration, detection and positioning, parallel binocular cameras are often used. The parameters of the left and right cameras are strictly required, and the same internal and external parameter data of the binocular cameras are required. Under the ideal binocular stereo vision calibration model, the same registration point can be completely aligned in the projection plane of the left and right cameras, but in reality it is difficult to achieve the same goal of parallel binocular camera parameters, and it is also difficult to do The unified registration points to different poses have the same position in the binocular camera coordinat...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80G06T7/73
CPCG06T7/73G06T7/85
Inventor 朱大虎刘红帝涂秋平田林雳华林
Owner WUHAN UNIV OF TECH
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