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Camera calibration method and device, computing equipment and readable storage medium

A calibration method and camera technology, applied in the field of parameter calibration, can solve the problems of long operation time and high cost

Pending Publication Date: 2021-06-08
SHEN ZHEN 3IROBOTICS CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this internal parameter calibration method requires continuous shooting of at least 20 checkerboards to complete a calibration, and the angle of each checkerboard and the position from the camera are different, which requires a long operation time and high cost

Method used

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  • Camera calibration method and device, computing equipment and readable storage medium
  • Camera calibration method and device, computing equipment and readable storage medium
  • Camera calibration method and device, computing equipment and readable storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0055] This embodiment provides a method for calibrating a camera, which can calibrate internal parameters of the camera; wherein, the internal parameters of the camera include focal length, principal point coordinates and distortion parameters. The camera calibration method provided in this embodiment can be applied to a household visual sweeping robot, specifically deployed on a household visual sweeping robot (hereinafter referred to as a robot) with an RGB camera. The internal parameters of the RGB camera can be calibrated when the robot leaves the factory; after the calibration is completed, write the calibrated internal parameters into the storage device of the robot such as flash (a non-volatile memory) for the RGB camera to perform image distortion used for correction. The camera calibration method provided in this embodiment can also be applied to mobile phones, tablet computers, wearable devices, vehicle-mounted devices, augmented reality (augmented reality, AR) / virt...

Embodiment 2

[0112] Compared with Example 1, the reference Figure 8 , the camera calibration method provided in this embodiment further includes step S21 to step S25.

[0113] Step S21, comparing the calibrated internal parameters with the standard internal parameters corresponding to the camera to obtain a comparison result.

[0114] The calibration internal parameters determined above are the calibration results of the camera. Each camera has a corresponding standard result, and the standard result is the standard internal parameter. Compare the calculated calibration internal parameters with the standard internal parameters corresponding to the camera to obtain the comparison result.

[0115] Step S22, if the comparison result meets the preset first condition, obtain a new first image taken by the camera, the new first image contains A checkerboard grids, and the new first image has at least one checkerboard grid The angle and / or position is different compared to before.

[0116]St...

Embodiment 3

[0131] Corresponding to the method described in the above examples, Figure 9 A structural block diagram of the camera calibration device provided by the embodiment of the present application is shown, and for convenience of description, only parts related to the embodiment of the present application are shown.

[0132] refer to Figure 9 , the device includes an image acquisition unit 11 , a second image generation unit 12 , a corner position information acquisition unit 13 and an internal parameter calibration unit 14 .

[0133] The image acquisition unit 11 is configured to acquire a first image captured by the camera, and the first image includes A checkerboard grids.

[0134] The second image generating unit 12 is configured to generate A second images according to the first image, and the image size of each second image is the same as that of the first image.

[0135] The corner point position information obtaining unit 13 is configured to obtain the corner point posit...

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Abstract

The invention is suitable for the technical field of parameter calibration, and provides a camera calibration method and device, a computing device and a readable storage medium, and the method comprises the steps: obtaining a first image shot by a camera, the first image comprising A checkerboards; generating A second images according to the first image, wherein the image size of the second images is the same as the image size of the first image, each second image comprises a checkerboard area and a non-checkerboard area, the checkerboard area of each second image comprises one of A checkerboards, the positions of checkerboards in the checkerboard areas of the second images are the same as the positions of the checkerboards in the first image, and the non-checkerboard areas comprise contents different from the checkerboards; obtaining angular point position information of the checkerboard in each second image; and calibrating internal parameters of the camera according to the angular point position information. The operation time can be shortened, and the cost can be reduced.

Description

technical field [0001] The present application belongs to the technical field of parameter calibration, and in particular relates to a camera calibration method, device, computing device and readable storage medium. Background technique [0002] At present, the common internal parameter calibration method of the RGB camera is to take about 20 checkerboard images at different angles and different distances through the RGB camera, and then extract the corner point information of each image for opencv internal parameter calibration. However, this internal parameter calibration method requires continuous shooting of at least 20 checkerboards to complete a calibration, and the angle of each checkerboard and the position from the camera are different, which requires a long operation time and high cost. Contents of the invention [0003] Embodiments of the present application provide a camera calibration method, device, computing equipment, and readable storage medium, which can ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80
CPCG06T7/80
Inventor 杨勇吴泽晓张康健
Owner SHEN ZHEN 3IROBOTICS CO LTD