Method and system for camera calibration based on incomplete calibration board
A camera calibration and calibration board technology, applied in the field of computer vision, can solve the problem of inefficient use of images
Active Publication Date: 2021-09-10
杭州灵西机器人智能科技有限公司
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[0004] The embodiment of the present application provides a method and system for camera calibration based on an incomplete calibration board, to at least solve the problem in the related art that images containing incomplete calibration boards cannot be efficiently utilized
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[0064] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be described and illustrated below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application. Based on the embodiments provided in the present application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.
[0065] Obviously, the accompanying drawings in the following description are only some examples or embodiments of the present application, and those skilled in the art can also apply the present application to other similar scenarios. In addition, it can also be understood that although such development efforts may be complex and lengthy, for those of ...
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The present application relates to a method and system for camera calibration based on an incomplete calibration board, wherein the method includes: by acquiring a number of marking points and direction markings on the calibration board, traversing the marking points and orientation markings, and determining the size of the orientation markings Adjacent direction markers, determine the neighboring marker points of the marker points, store the marker points in several marker point groups, filter several marker point groups, determine the preset marker point group with the most marker points, and combine the preset marker point group and the marker point group. The other marker point groups are integrated into the maximum connected domain; the marker points in the maximum connected domain are positioned to obtain the pixel coordinates of the marker point feature, and the calibration of the camera internal parameters is completed according to the pixel coordinates and physical coordinates of the marker point feature. The present application solves the problem that an image containing an incomplete calibration plate cannot be used efficiently, and reduces the cost of re-acquiring a complete calibration plate image after an incomplete calibration plate is obtained due to external factors.
Description
technical field [0001] The present application relates to the field of computer vision, in particular to a camera calibration method and system based on an incomplete calibration board. Background technique [0002] At present, in the camera internal parameter calibration process, manual hand-holding or placing and changing the relative posture of the camera and the calibration board are mostly used to obtain calibration board images under several cameras for camera internal parameter calibration. Instability may lead to blurred images, and manual placement may also cause it to be difficult to detect corners in a certain posture. For example, some corners of the checkerboard may fail to be detected due to reflections on the checkerboard or dark edges of the checkerboard, especially Especially in scenes with a relatively complex environment, it is necessary to adjust the posture many times to obtain a satisfactory image. Therefore, in the camera internal parameter calibration...
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IPC IPC(8): G06T7/80
CPCG06T7/80
Inventor 王灿郭骏杰丁丁
Owner 杭州灵西机器人智能科技有限公司