Automatic calibration method and device, electronic equipment and medium

Abstract

The invention discloses an automatic calibration method and device, electronic equipment and a medium, which are used for solving the problem of low calibration accuracy in related technologies. One of the camera and the calibration plate is installed on the mechanical arm and recorded as a mobile device, the other one is placed in a working area, and the method comprises the steps: receiving a trigger signal, and obtaining a first sampling point group in response to the trigger signal; querying a reference internal parameter and a reference external parameter, adjusting each first sampling point in the first sampling point group based on the reference external parameter, and marking the adjusted first sampling point group as an actual sampling point group; controlling the camera to cooperatively shoot the calibration plate to obtain a first image, calculating internal parameters and external parameters based on the first image group, and respectively recording the internal parameters and the external parameters as first internal parameters and first external parameters; and judging whether the difference value between the corresponding parameters of the first internal reference and the reference internal reference does not exceed a corresponding preset value, if so, outputting the reference internal reference or the first internal reference and generating a trigger signal, and if not, controlling the first internal reference and the first external reference to replace the reference internal reference and the reference external reference.

Description

Technical field [0001] The present invention relates to the field of image processing, in particular, to an automated calibration method, apparatus, electronic device, and medium. Background technique [0002] In the logistics industry, the dismantling of the packing box needs to spend a lot of manpower, and people have been trying to use the robot to replace the people to carry out this heavy and repeated work. However, the camera needs to be calibrated before the robot is simply deduplicated. [0003] In the relevant technique, during the calibration process, the calibration board is typically placed in the work area, and then the camera is controlled to move to each sampling point for sampling, so that the image group can be obtained, and then internal parametric can be calculated according to the image group. However, since the sampling point group is fixed, and the sampling point may not be adapted to the camera model, it can result in the calculation of the calculated inter...

AI Technical Summary

Problems solved by technology

However, since the set of sampling points is fixed, and the sampling points may not match the camera model, the accuracy of the calculated internal reference will be low, that is, the accuracy of the calibration result will be low

[0004] At present, no effective solution has been proposed for the problem of low calibration accuracy in related technologies

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