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A calibration method for crossed binocular cameras based on automatic positioning

A binocular camera and calibration method technology, which is applied in the field of cross-type binocular camera calibration based on automatic positioning, can solve problems such as small field of view and complex point cloud data processing, and achieve improved calibration accuracy, strong practicability, and realization The effect of automatic positioning

Active Publication Date: 2021-07-02
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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  • A calibration method for crossed binocular cameras based on automatic positioning
  • A calibration method for crossed binocular cameras based on automatic positioning
  • A calibration method for crossed binocular cameras 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 rang...

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Abstract

The invention discloses a cross-type binocular camera calibration method based on automatic positioning. First, two CMOS cameras are selected as binocular cameras, and the shooting posture and cross angle of view of the binocular cameras are adjusted. Calibrate the board image, calculate the corner pixel coordinate information under different poses, calibrate the parameter matrix of the cross-type binocular camera, and establish the camera imaging model; collect the workpiece image synchronously again, use the image processing algorithm to separate the background to obtain the image domain, and extract the image pair The two-dimensional pixel coordinate information of the workpiece feature point matching; finally, the two-dimensional pixel coordinates after the feature point matching are input into the camera imaging model in pairs, and its three-dimensional coordinates in the main camera space coordinate system are obtained to realize the automatic positioning function. The invention fully considers the practical problems such as feature point occlusion and loss in the imaging process, and effectively improves the calibration accuracy by changing the camera intersection angle, and the positioning accuracy is within 5%, which has strong 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...

Claims

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Application Information

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Patent Type & Authority Patents(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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