Coding plane target for calibrating internal and external parameters of camera and coding method of coding plane target

Abstract

The invention discloses a coding plane target for calibrating internal and external parameters of a camera and a coding method of the coding plane target, and the coding plane target comprises a coding checkerboard composed of parallelogram coding units and parallelogram non-coding units which are alternately arranged, the coding plane target takes an intersection point of any parallelogram coding units which are diagonally connected as a calibration corner point of the coding plane target, each parallelogram coding unit is provided with a positioning pattern, a directional pattern and a coding mark pattern, and the coding mark pattern is composed of a plurality of coding unit patterns; and according to the coding method, the rotation direction of the coding plane target can be judged, and each calibration angular point can be coded. According to the method, a determined and unique code number can be given to each calibration corner point in the coding plane target, and high-precision homony point matching can be completed; and each coding unit comprises respective coding information and is independent of each other, so that the method has higher robustness when being applied to camera calibration.

Description

technical field [0001] The present invention relates to the field of camera calibration in computer vision, in particular to a coding plane target for calibration of internal and external parameters of a camera and a coding method thereof, applicable to the fields of monocular camera calibration, binocular camera calibration, and multi-eye vision system calibration, etc. . Background technique [0002] Computer vision is widely used in many fields such as target recognition, visual positioning, and three-dimensional measurement. The primary and fundamental problem that computer vision needs to solve is camera calibration. Camera calibration is a major difficulty in the research of computer vision measurement technology; its ultimate goal It is to solve the internal and external parameters of the camera and find the corresponding relationship between pixel coordinates and world coordinates; therefore, camera calibration technology has received more extensive attention and has...

AI Technical Summary

Problems solved by technology

[0003] In order to complete the camera calibration, it is necessary to calibrate the target. For example, Roger Tsai proposed a camera calibration algorithm based on radial constraints in 1896. This algorithm uses a three-dimensional target. Although the 3D three-dimensional target can achieve camera calibration and solve the camera inside and outside parameter, but it is large in size, lacks certain flexibility, and is not easy to move; Zhang Zhengyou (Z.YZhang) gave a camera calibration algorithm based on a planar target in 1999, which uses the traditional planar checkerboard target, planar checkerboard The structure of the grid target is simple, which makes the calibration process more flexible. However, in the actual calibration process, the camera often captures incomplete target images. At this time, it is impossible to use the traditional planar checkerboard target without direction information and encoding information. calibration

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