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System calibration method, system and device for optimizing feature extraction and medium

A system calibration and feature extraction technology, applied in the field of computer vision, can solve the problem of low system calibration accuracy, and achieve the effect of improving accuracy and reducing errors

Pending Publication Date: 2021-12-24
杭州灵西机器人智能科技有限公司
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Problems solved by technology

[0004] The embodiment of the present application provides a system calibration method, system, device and medium for optimizing feature extraction, so as to at least solve the problem of low system calibration accuracy due to image factors in the related art

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  • System calibration method, system and device for optimizing feature extraction and medium
  • System calibration method, system and device for optimizing feature extraction and medium
  • System calibration method, system and device for optimizing feature extraction and medium

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Embodiment Construction

[0046] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be described and illustrated below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application. Based on the embodiments provided in the present application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0047] Obviously, the accompanying drawings in the following description are only some examples or embodiments of the present application, and those skilled in the art can also apply the present application to other similar scenarios. In addition, it can also be understood that although such development efforts may be complex and lengthy, for those of ...

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Abstract

The invention relates to a system calibration method, system and device for optimizing feature extraction and a medium, and the method comprises the steps: carrying out system calibration through extracting feature points of a calibration plate in an original image, and obtaining external parameters of a camera; repeatedly executing the preset iterative calculation until a preset termination condition is met, and completing system calibration. The preset iterative calculation comprises the following steps: calculating to obtain a conversion matrix according to a pinhole camera model and obtained camera external parameters, and converting an original image into a front view containing a calibration plate; extracting the feature points of the calibration plate in the front view, back-projecting the pixel coordinates of the feature points to the original image according to the conversion matrix, and performing system calibration to obtain the external parameters of the camera by obtaining the pixel coordinates of the back-projected feature points. According to the invention, the problem of low system calibration accuracy caused by image factors is solved, the accuracy of feature point extraction of the calibration plate is improved, and the influence of feature point extraction errors introduced by distortion and perspective back projection on a final system calibration result is reduced.

Description

technical field [0001] The present application relates to the field of computer vision, in particular to a system calibration method, system, device and medium for optimizing feature extraction. Background technique [0002] At present, the usual method of system calibration is to directly obtain the feature points of the calibration board on the image through the calibration board recognition and feature extraction algorithm in the original image, use its known physical size to obtain the mapping relationship between the image point and the physical point, and combine the existing Based on the known camera internal parameters and distortion parameters, the rotation and translation relationship between the calibration plate coordinate system and the camera coordinate system is obtained by using the pinhole camera model. However, due to the fact that extracting feature points from a calibration plate pattern with distortion and non-orthoscopic (existing perspective transforma...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80
CPCG06T7/80G06T2207/30208
Inventor 王灿郭骏杰丁丁
Owner 杭州灵西机器人智能科技有限公司
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