Internal and external parameter calibration method based on known camera position

Abstract

The invention belongs to the technical field of machine vision, photogrammetry, SLAM and the like, and provides an internal and external parameter calibration method based on a camera position, which only needs to arrange three mark points, measure the positions of a camera and the mark points and shoot the image of the mark points to obtain the imaging position of the mark points in the image. Under the condition that a main point and a focal length of a camera are unknown, a new camera system is established, a solving problem is converted into a traditional P3P problem, an intermediate variable and a relation between an intermediate coordinate system and an original coordinate system are solved through a P3P algorithm, and finally, solving of internal and external parameters of the camera is completed according to the relation between the intermediate variable and the coordinate system. The calibration method for the internal and external parameters of the camera does not need to know the internal parameters of the camera, does not increase the number of external mark points, and is suitable for calibration and vision measurement of the internal and external parameters of the camera under the conditions that the internal parameters of the camera are unknown and the position of the camera is fixed.

Description

Technical field: [0001] The invention belongs to the technical fields of machine vision, photogrammetry, SLAM and the like, and in particular relates to a method for calibrating internal and external parameters of a camera. Background technique [0002] In the fields of machine vision, photogrammetry, and SLAM, in order to realize functions such as camera positioning and intersection measurement, it is necessary to calibrate the internal and external parameters of the camera. There are many methods for calibrating the internal and external parameters of the camera. At present, there are many calibration methods based on multiple marker points, also called PnP (perspective-n-point) calibration method (n is the number of marker points). The internal and external parameters include the rotation and translation matrix of the camera coordinate system relative to the world coordinate system, as well as the main point of the camera and the focal length. When the number of marker p...

AI Technical Summary

Problems solved by technology

[0003] The present invention proposes a method for calibrating internal and external parameters based on the position of the camera. The purpose is to solve the problem that in the prior art, there are many mark points required for the calibration of internal and external parameters of the camera, and the acquisition of accurate mark points is expensive. Technical problems that can only solve external parameters and have multiple solutions

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