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Camera calibration board, camera calibration method and device
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A technology for camera calibration and marking points, which is used in image analysis, image enhancement, instruments, etc., and can solve problems such as accuracy and reliability that cannot meet practical application requirements.
Active Publication Date: 2021-08-24
WUHAN TIANYUANSHI TECH
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Problems solved by technology
From the current technical level, the self-calibration method is very convenient and flexible, but the accuracy and reliability are usually not enough to meet the requirements of practical applications
Method used
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Embodiment 1
[0043] see figure 1 , the present embodiment provides a camera calibration board, the camera calibration board is provided with 45 circular mark points, the 45 circular mark points constitute four outer contour lines and two diagonal lines of a quadrilateral, the four outer contour lines and Both diagonals contain 9 equidistant centrosymmetric markers.
[0044] Preferably, the quadrilateral in this embodiment may be a square or a rectangle.
[0045] Preferably, the circular marking points in this embodiment are white, and the background of the circular marking points is black.
[0046] Preferably, the black background in this embodiment is surrounded by a circle of white background.
[0047] It should be noted that the circular mark in the calibration pattern of this embodiment can be replaced by other centrosymmetric figures, and the number of mark points on each diagonal line can be changed, and the range of change can be [2,∞ ), the shape of the marker points is not requ...
Embodiment 2
[0049] On the basis of Example 1, see figure 2 , the present embodiment also provides a camera calibration method, comprising the following steps:
[0050] Step 1: Place the calibration pattern on a flat object, shoot the calibration pattern from multiple angles, and make all 45 circular marker points within the imaging range when shooting;
[0051] Step 2: Automatically extract the position of each circular mark point in the calibration pattern;
[0052] Step 3: Determine the sequence number of each circular marker point;
[0053] Step 4: After obtaining the image point coordinates and numbers of each circular marker point, use the camera calibration method to calibrate the camera.
[0054] It should be noted that the automatic extraction method of the calibration pattern in step 2 of this embodiment includes the following steps:
[0055] Step 21: Use the Otsu threshold segmentation method to determine two grayscale thresholds T1 and T2, divide the calibration pattern into ...
Embodiment 3
[0072] This embodiment also provides a calibration plate identification device, including:
[0073] Acquisition module: used to acquire the target image of the calibration board taken by the camera from multiple different angles; calibration pattern automatic extraction module: used to determine the position of the calibration board in the target image, and process the picture to make the picture Only mark points are kept, and all other interfering pixels are removed; mark point automatic numbering module: used to determine the order of each mark point, so that their image space coordinates can correspond to object space coordinates.
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Abstract
The invention discloses a camera calibration board, a camera calibration method and a camera calibration device, and belongs to the field of camera measurement and computer vision. The calibration plate comprises 45 circular mark points arranged on the camera calibration plate, the 45 circular mark points form four outer contour lines and two diagonal lines of a quadrangle, and each of the four outer contour lines and the two diagonal lines comprises 9 equidistant centrosymmetric mark points. The camera calibration method comprises the following steps: placing a calibration pattern on a planar object, shooting the calibration pattern from a plurality of angles, and enabling 45 circular mark points to be in an imaging range during shooting; fully automatically extracting the position of each circular mark point in the calibration pattern; determining a sequence number of each circular mark point; and after image point coordinates and serial numbers of the circular mark points are obtained, calibrating a camera by using a camera calibration method. According to the invention, the one-to-one correspondence between the image space coordinates and the object space coordinates can be established more simply in camera calibration.
Description
technical field [0001] The invention belongs to the field of camera measurement and computer vision, and in particular relates to a camera calibration board, a camera calibration method and a device. Background technique [0002] In the field of photogrammetry and computer vision, it is very important to take pictures of the target of interest through the camera, and then use the captured photos to obtain the 3D model of the target, or the absolute size and shape of the target can be used for measurement purposes. task. To accomplish this task, camera calibration is the first step. The purpose of camera calibration, for a monocular lens, is to obtain the internal parameters of the lens, including the principal point coordinates, focal length and lens distortion parameters; for binocular lenses or multi-eye lenses, in addition to obtaining each lens In addition to internal parameters, the relative positional relationship between each lens must also be obtained. [0003] Ca...
Claims
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