Active stereoscopic vision system calibration method

Abstract

The invention belongs to the technical field of service robots, particularly relates to an active stereoscopic vision system calibration method, and aims to solve the problem that high-quality calibration is difficult to realize under the condition that the optical center of each camera in an active stereoscopic vision system deviates from a corresponding rotating shaft. The method comprises the following steps: acquiring a first image, a second image, a third image, a fourth image, a fifth image and a sixth image; obtaining relative poses of all cameras of the active stereoscopic vision system before and after rotation; acquiring a rotation vector corresponding to the rotation axis of each camera; in combination with the rotation vector and the rotation angle corresponding to the rotation axis of each camera, obtaining the pose of the rotation axis of each camera in the corresponding predefined initial position coordinate system; obtaining the relative pose of the first camera and the second camera at the initial position, and further obtaining the relative pose between the rotating shaft of the first camera and the rotating shaft of the second camera; and updating the external parameters of the active stereoscopic vision system on line. The calibration quality of the active stereoscopic vision system is improved.

Description

technical field [0001] The invention belongs to the technical field of service robots, and in particular relates to an active stereo vision system calibration method. Background technique [0002] In recent years, service robots have been widely used in helping the elderly and the disabled, medical treatment, and automatic driving. The robot obtains the depth information of the scene through stereo vision, providing a solid foundation for environmental perception. To use stereo vision to perceive the environment, it is necessary to know the spatial relationship between the two cameras in the stereo vision system, which requires effective calibration of the stereo vision system to obtain the external parameters of the stereo vision system. According to whether the relative pose between the cameras is variable, the stereo vision system is divided into a fixed stereo vision system and an active stereo vision system, in which the relative pose between the cameras of the fixed st...

AI Technical Summary

Problems solved by technology

[0005] In order to solve the above-mentioned problems in the prior art, that is, in order to solve the problem that it is difficult to achieve high-quality calibration when the optical center of each camera in the active stereo vision system deviates from the corresponding rotation axis, the present invention proposes a calibration method for the active stereo vision system , including the following steps:

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