An intelligent calibration method for the intrinsic and extrinsic parameters of a binocular camera based on a coded plane target

Abstract

The invention discloses an intelligent calibration method for the internal and external parameters of a binocular camera based on a coded plane target. Two cameras are used to shoot coded plane targets with different attitudes in space at the same time, and multiple coded plane target images are obtained; The sub-pixel coordinates, unique coding serial number and target coordinates of each calibrated corner point in the coded plane target image are obtained by the decoding method using the decoding method; 1 left camera calibration image, G 2 The calibration image of the right camera is used to solve the internal and external parameters of the two cameras, as well as the rotation and translation relationship between the left camera and the right camera. The invention can realize the automatic calibration of the binocular camera, and can still make full use of the local encoded plane target image to complete the binocular camera calibration when limited by the public field of view, thereby improving the applicability and robustness of the multi-objective camera calibration.

Description

technical field [0001] The invention relates to the field of camera calibration in the field of computer vision, in particular to an intelligent calibration method for internal and external parameters of a binocular camera based on a coded plane target. Background technique [0002] Computer vision technology has a wide range of applications in industrial control, surveying and other fields. Computer vision technology mainly uses the imaging of cameras to obtain the three-dimensional information of the measured objects in space through image information, thereby reconstructing and identifying objects. The fundamental problem of computer vision technology is camera calibration. Through the camera calibration technology, the mapping relationship between the three-dimensional coordinates of the space and the two-dimensional coordinates of the image can be obtained. The camera calibration technology is the research focus of computer vision measurement technology. The task of came...

AI Technical Summary

Problems solved by technology

[0003] In 1986, Roger Tsai proposed a camera calibration algorithm based on radial constraints, which required a 3D stereo target, making the calibration process inflexible; around 1999, Zhang Zhengyou (Z.Y Zhang) proposed a camera calibration algorithm based on a plane target, the calibration The algorithm uses a plane target that does not contain direction information and coding information. During the calibration process, the rotation direction of the plane target without direction information cannot be judged, and the camera calibration algorithm based on the plane target proposed by Z.Y Zhang requires the camera to capture the complete However, in the actual calibration process, the camera often fails to capture a complete planar target. At this time, it is difficult to perform camera calibration and ensure the accuracy of camera calibration using traditional planar targets that do not contain direction information and encoding information.

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