Calibration method and calibration system for panoramic annular camera
A calibration method and camera technology, applied in image data processing, instruments, calculations, etc., can solve problems such as the inapplicability of the pinhole camera model, and achieve the effects of improving accuracy, reducing search range, and increasing speed
Active Publication Date: 2021-12-17
杭州环峻科技有限公司
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Problems solved by technology
Due to the large field of view of the panoramic ring lens, the general pinhole camera model is not applicable
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[0044] In order to illustrate the embodiments of the present invention more clearly, the specific implementation manners of the present invention will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention, and those skilled in the art can obtain other accompanying drawings based on these drawings and obtain other implementations.
[0045] Such as figure 1 As shown, the calibration method of the panoramic ring camera in the embodiment of the present invention includes the following steps:
[0046] (1) Collect pictures
[0047] The calibration board used is a checkerboard grid, and the panoramic ring camera is used to shoot the calibration board in different directions. During the shooting process, the calibration board should cover all the visible areas of the panoramic ring camera as much as possible, and several required calibration pictures are col...
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The invention relates to a calibration method and a calibration system for a panoramic annular camera. The calibration method comprises the following steps: collecting a plurality of calibration pictures; extracting a central point of the angular point setting calibration picture as an initial central point, and calculating by using a Taylor camera model to obtain an internal parameter and an external parameter of the camera; determining a search range near the initial center point, uniformly taking points in the search range, respectively taking the selected points as current center points, calculating re-projection errors of the current center points by utilizing internal parameters and external parameters of a camera, comparing the re-projection errors, and selecting the current center point with the minimum re-projection error as the center point of the next search range; repeating the step until a search termination condition is met, and obtaining a target center point; removing the calibration picture of which the re-projection error is greater than a threshold value; calculating and comparing re-projection errors of all angular points in the picture, and removing the angular points with the re-projection errors larger than a threshold value; and recalculating the internal reference and the external reference of the camera. According to the invention, the calibration speed and accuracy of the panoramic annular camera are improved.
Description
technical field [0001] The invention belongs to the technical field of image correction, and in particular relates to a calibration method and a calibration system for a panoramic ring camera. Background technique [0002] The panoramic annular optical system is a catadioptric optical system, and its structure is different from that of ordinary catadioptric optical systems. [0003] Among them, the ordinary catadioptric optical system is generally composed of a fisheye camera and a mirror independent of the front of the fisheye camera; the panoramic ring optical system is composed of a panoramic ring block unit and a subsequent lens. Together they form an integrated panoramic ring lens. The horizontal viewing angle of the panoramic ring optical system is generally 360°, and the vertical viewing angle can cover below the horizontal plane, and the acquired environmental information is very rich. Due to the large field of view of the panoramic ring lens, the general pinhole c...
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IPC IPC(8): G06T7/80G06T3/00
CPCG06T7/80G06T3/08Y02T10/40
Inventor 王之丰张可欣冯逸鹤
Owner 杭州环峻科技有限公司