Active Stereo Vision System Calibration Method

A technology of stereo vision and system calibration, applied in the field of service robots, can solve problems such as difficult to achieve high-quality calibration, and achieve the effect of improving the quality of calibration

CN113538598BActive Publication Date: 2022-03-25北京能创科技有限公司 +1
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2022-03-25

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Abstract

The invention belongs to the technical field of service robots, and specifically relates to a calibration method for an active stereo vision system, aiming to solve the problem that it is difficult to achieve high-quality calibration when the optical centers of each camera in the active stereo vision system deviate from the corresponding rotation axis. The method includes obtaining the first image, the second image, the third image, the fourth image, the fifth image, and the sixth image; obtaining the relative poses before and after rotation of each camera of the active stereo vision system; obtaining the corresponding rotation axis of each camera The rotation vector; combined with the rotation vector and rotation angle corresponding to the rotation axis of each camera, obtain the pose of the rotation axis of each camera in the corresponding predefined initial position coordinate system; obtain the initial position of the first camera and the second camera Then the relative pose between the rotation axis of the first camera and the rotation axis of the second camera is obtained; the external parameters of the active stereo vision system are updated online. The invention improves the calibration quality of the active stereo vision system.
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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...

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Embodiment Construction

[0038] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0039] The application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain related inventions, not to limit the invention. It should be noted that, in the case of no conflict, the embodiments in t...