Double-camera joint calibration method, system and device
A joint calibration and dual-camera technology, which is applied in image data processing, instruments, calculations, etc., can solve the problems of insufficient calibration accuracy, complex camera calibration methods, and failure to meet application requirements, etc., to achieve improved calibration accuracy and simple calibration methods Effect
Active Publication Date: 2021-09-17
武汉库柏特科技有限公司
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Problems solved by technology
[0003]
However, most of the existing camera calibration methods are relatively complicated, and the calibration accuracy is not high enough to meet the existing application requirements.
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[0026] The principles and features of the present invention are described below in conjunction with the accompanying drawings, and the examples given are only used to explain the present invention, and are not intended to limit the scope of the present invention.
[0027] Such as figure 1 As shown, a dual-camera joint calibration method includes the following steps,
[0028] S1, control the left and right cameras to shoot the checkerboard image on the calibration board at the same time, and according to the checkerboard images taken by the left and right cameras, establish the checkerboard corner points to the left and right cameras respectively The relationship between the pixel coordinate system of the image and the positional relationship between the left and right cameras; where the left camera is a standard camera with known internal reference.
[0029] The relationship between the corner points of the checkerboard and the pixel coordinate system of the checkerboard imag...
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The invention relates to a double-camera joint calibration method, system and device, and the method comprises the steps: building a relation between a checkerboard angular point and a pixel coordinate system of a left camera and a pixel coordinate system of a right camera and a position relation between the left camera and the right camera according to checkerboard images shot by the left camera and the right camera; carrying out homogeneous transformation on the relation between the checkerboard angular points and the pixel coordinate system of the left camera, and solving external parameters of the left camera; performing joint optimization on the internal reference of the right camera according to the relation between the checkerboard angular points and the pixel coordinate system of the right camera, the external reference of the left camera and the position relation between the left camera and the right camera to obtain the optimal solution of the internal reference of the right camera; and, based on the position relation between the left camera and the right camera, calculating the external parameter of the right camera according to the external parameter of the left camera. The standard left camera with the known internal reference is adopted to calibrate the right camera to be calibrated, the internal reference of the right camera is jointly optimized in the calibration process, the calibration method is simple, and the calibration precision is high.
Description
technical field [0001] The invention relates to the field of camera calibration, in particular to a dual-camera joint calibration method, system and device. Background technique [0002] In the image measurement process and machine vision applications, in order to determine the relationship between the three-dimensional geometric position of a point on the surface of a space object and its corresponding point in the image, it is necessary to establish a geometric model of camera imaging, and these geometric model parameters are camera parameters. Under most conditions, these parameters must be obtained through experiments and calculations. This process of solving parameters is called camera calibration. Whether it is in image measurement or machine vision applications, the calibration of camera parameters is a very critical link. The accuracy of the calibration results and the stability of the algorithm directly affect the accuracy of the camera work results. Therefore, doi...
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Login to View More IPC IPC(8): G06T7/80G06T7/70
CPCG06T7/85G06T7/70Y02T10/40
Inventor 闫琳李淼张少华黄捷付中涛于天水鲁阳章楚李必强
Owner 武汉库柏特科技有限公司