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Non-overlapping field-of-view multi-camera external parameter calibration method and device and storage medium

A calibration method and multi-camera technology, applied in image data processing, instruments, calculations, etc., can solve the problems of high work intensity and low work efficiency, and achieve the effect of simple operation and high calibration accuracy

Pending Publication Date: 2021-11-12
FOSHAN POLYTECHNIC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, this method needs to lay out a large number of control points, and some measurement scenarios are difficult to meet this condition, and this method has the disadvantages of high work intensity and low work efficiency.

Method used

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  • Non-overlapping field-of-view multi-camera external parameter calibration method and device and storage medium
  • Non-overlapping field-of-view multi-camera external parameter calibration method and device and storage medium
  • Non-overlapping field-of-view multi-camera external parameter calibration method and device and storage medium

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Embodiment Construction

[0033] The embodiment of the invention discloses a multi-camera external parameter calibration method with non-overlapping field of view, which can effectively solve the problems of complex actual operation and low calibration accuracy.

[0034] In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Rear", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inner", "Outer", "Axial", "Radial", "Circumferential" The orientation or positional relationship indicated by etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, use a specific Azimuth configuration and operation, therefore, should not be construed as limiting th...

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Abstract

The invention discloses a non-overlapping field-of-view multi-camera external parameter calibration method and device and a storage medium, and the calibration method comprises the steps: separately calibrating the spatial pose conversion relation among two tool cameras, two to-be-calibrated cameras and two plane targets; and finally, obtaining external parameters between the two cameras to be calibrated through mutual conversion between the local coordinate systems. Particularly, when the pose conversion relation between the two tool cameras is calibrated, the pose conversion relation can be obtained only by optimizing translation parameters and rotation parameters through the particle swarm optimization. The number of optimized parameters is small, actual operation is simpler, and calibration precision is higher.

Description

technical field [0001] The invention relates to the technical field of multi-camera extrinsic parameter calibration, in particular to a non-overlapping field of view multi-camera extrinsic parameter calibration method, device and storage medium. Background technique [0002] The primary problem faced by the multi-camera coordinate measurement system is to calibrate the transformation relationship between the local coordinate system of each camera and the overall coordinate system of the system, so as to unify the measurement results under the local coordinate systems of multiple cameras into the overall coordinate system of the system. Usually, a certain camera in the system is selected as the reference camera, and the camera coordinate system is regarded as the overall coordinate system of the system. At this time, it is necessary to accurately calibrate the external parameters of other cameras in the system and the reference camera. The external parameter calibration of th...

Claims

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Application Information

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IPC IPC(8): G06T7/80G06T7/70
CPCG06T7/80G06T7/70
Inventor 张炜万茂森耿金华陈开源陈伟豪
Owner FOSHAN POLYTECHNIC