Batch camera device external parameter calibration method and electronic equipment
A technology of a camera device and a calibration method, which is applied in the field of image processing, can solve problems such as large influence of the camera, large errors in the calibration method, and occurrence of deviations, and achieve the effect of reducing the time-consuming and times of calibration
Pending Publication Date: 2021-10-19
富华科精密工业(深圳)有限公司 +1
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Problems solved by technology
If you use the wrong camera extrinsics, it will have a great impact on other applications involving the camera
For example, in applications involving the fusion of detection results from multiple cameras in the same world coordinate system, deviations will occur
[0003] In the existing technical solutions, the calibration method either has large errors and is not suitable for high-precision application scenarios, or although it is suitable for high-precision application scenarios, it is time-consuming because there are many world coordinates of the calibration points to be measured.
[0004] In addition, for the calibration scene of multiple cameras, since only one camera device can be calibrated at a time in the prior art, the calibration takes a long time
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[0131] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0132] Such as figure 1 Shown is a flow chart of a preferred embodiment of the method for calibrating external parameters of batch camera devices in the present invention. According to different requirements, the order of the steps in the flowchart can be changed, and some steps can be omitted.
[0133] The method for calibrating external parameters of a batch of camera devices is applied to one or more electronic devices including multiple camera devices, and the electronic device is a device capable of automatically performing numerical calculations and / or information according to preset or stored instructions. Processing equipment, its hardware includes but not limited to microprocessors, application specific integrated circuits (Application S...
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The invention provides a batch camera device external parameter calibration method and electronic equipment. The method is capable of determining the laying angle of the calibration cloth and the world coordinate of each calibration point in a prompt calibration group to which the target prompt line of each camera device belongs according to the prompt line interval, the target prompt line identification value of each camera device and the world coordinate of each calibration point in an initial calibration group; determining world coordinates of other calibration points in combination with the unit interval; determining predicted pixel coordinates of other to-be-calibrated points according to pixel coordinates of each calibration point in the prompt calibration group of each camera device and the number of calibration points of each camera device; and calculating and storing the rotation vector and the translation vector of each camera device according to the camera internal reference of each camera device, the world coordinates of all the calibration points and the pixel coordinates of all the calibration points. Therefore, automatic calibration of the camera external reference of batch camera devices is realized, the number of times of measuring the world coordinates of the calibration points is effectively reduced, and the calibration time consumption is reduced.
Description
technical field [0001] The invention relates to the technical field of image processing, in particular to a method for calibrating external parameters of batch camera devices and electronic equipment. Background technique [0002] In recent years, there are more and more applications that use the camera to acquire images and perform target positioning, detection or tracking based on further analysis and processing of the images. camera parameters. Camera parameters include intrinsic and extrinsic parameters. Internal parameters are inherent parameters of the camera itself, such as focal length, optical center position, etc.; external parameters include rotation vectors and translation vectors, which represent the position and direction of the camera in the world coordinate system, and represent the image pixel coordinate system, camera coordinate system and world coordinates Coordinate transformation relationship between systems. In the field of machine vision, the calibr...
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IPC IPC(8): G06T7/80
CPCG06T7/80G06T2207/10016
Inventor 尤琳曹鹏蕊谢恺占兆武罗为
Owner 富华科精密工业(深圳)有限公司