A coding plane target used for camera internal and external parameter calibration and its coding method

Abstract

The invention discloses a coding plane target for calibrating internal and external parameters of a camera and a coding method thereof. The coding plane target comprises a coding checkerboard which is alternately composed of parallelogram coding units and parallelogram non-coding units. The intersection of parallelogram coding units connected to any diagonal is used as the calibration corner point of the coding plane target, each parallelogram coding unit is provided with a positioning pattern, an orientation pattern and a coding mark pattern, and the coding mark pattern is made up of a plurality of coding unit patterns; The encoding method can judge the rotation direction of the encoding plane target and encode each calibration corner point. The invention can give each calibration corner point in the coding plane target a definite and unique coding number, and can complete high-precision matching of the same name points; each coding unit contains its own coding information and is independent of each other, and is applied in camera calibration more robust.

Description

technical field [0001] The invention relates to the field of camera calibration in computer vision, in particular to a coding plane target for calibrating internal and external parameters of a camera and a coding method thereof, which are suitable for the fields of monocular camera calibration, binocular camera calibration, and multi-vision system calibration, etc. . Background technique [0002] Computer vision is widely used in many fields such as target recognition, visual positioning, 3D metrology, etc. The primary and fundamental problem that computer vision needs to solve is camera calibration. Camera calibration is a major difficulty in computer vision measurement technology research; its ultimate goal It is to solve the internal and external parameters of the camera and find the corresponding relationship between the pixel coordinates and the world coordinates; therefore, the camera calibration technology has received more extensive attention and has developed rapidl...

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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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