Camera external parameter calibration method based on camera position and two mark points

Abstract

The invention belongs to the technical field of camera parameter calibration, and relates to a camera external parameter calibration method based on a camera position and two mark points. The method comprises the following steps of: obtaining a corresponding relation of two points through geometric constraint and rotation of a camera coordinate system and a world coordinate system under the condition that the relation between the camera coordinate system and the world coordinate system is known in an initial state; and according to the rotation and translation of the camera coordinate system and the world coordinate system at the initial moment and the rotation angle in the rotation process, finishing the external parameter calibration of the camera. The method is suitable for application scenes capable of obtaining the position of the camera in advance, such as a fixed monitoring camera, a staring camera for measuring the attitude of an aircraft in an external field, or a camera with positioning equipment and the like.

Description

Technical field: [0001] The present invention belongs to the field of camera parameters, which specifically relates to a camera external parameter calibration method. Background technique [0002] The PSPECTIVE-3-POINT problem is to use three known signs in the field of view and its imaging position in the camera, to solve the camera coordinate system and the world coordinate system, that is, the outer parameters of the camera. At present, there are many P3P algorithms that use the camera known in the inner parameter, you can get up to 4 parameter solutions, through the fourth flag point and its imaging position, can eliminate multi-solution problems to obtain unique solution. In the current algorithm, while solving the parameters, if you need a unique solution, at least 4 flag points, and the precise signpoint acquisition and maintenance requires a lot of human material, such as the wild wind environment, the aircraft attitude When measuring, the camera needs to be calibrated in...

AI Technical Summary

Problems solved by technology

In the current algorithm, while solving the external parameters, if a unique solution is required, at least 4 marker points are required, and the acquisition and maintenance of accurate marker points need to consume a lot of manpower and material resources, for example, in the wild windy environment, the attitude of the aircraft is During the measurement, multiple marker points must be set up if the camera needs to be calibrated in advance, and the establishment of marker points in the wild windy environment brings severe challenges

However, there are multiple solutions to the calibration of camera extrinsic parameters down to 3 marker points

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