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Multi-camera calibration method and device, terminal equipment and readable storage medium

A calibration method and multi-camera technology, applied in image data processing, instruments, calculations, etc., to achieve high calibration accuracy

Active Publication Date: 2022-02-01
NANCHANG VIRTUAL REALITY RES INST CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] Aiming at the deficiencies of the prior art, the present invention provides a multi-camera calibration method, device, terminal equipment and readable storage medium, which effectively solves the problem of external parameter calibration of hybrid multi-cameras arranged in a ring

Method used

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  • Multi-camera calibration method and device, terminal equipment and readable storage medium
  • Multi-camera calibration method and device, terminal equipment and readable storage medium
  • Multi-camera calibration method and device, terminal equipment and readable storage medium

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Embodiment

[0068] For ease of explanation, the present embodiment includes a mixed camera including an RGBD camera, a RGB camera, and a grayscale camera, a total of 8 cameras (including 2 RGBD cameras, 2 RGB cameras, and four gray cameras; Any combination can be made as needed). like Figure 5 As shown, the calibration device employed by the present embodiment includes 4 CHARUCO calibration plates, each of which is surrounded by each other, isometric symmetrical alignment; 8 cameras around 4 blocks, the equidistor is arranged. The cameras of each camera are set towards the calibration board.

[0069] The calibration method includes the following steps: (1) perform a separate calibration of all cameras, and calculate the internal parameters of the camera; (2) calibrate the RGB camera and IR camera in the RGBD camera, and calculate the outer parameters between the camera; (3) ) Calibrate the RGB camera in the RGBD camera with all the other cameras, calculate the outer parameters between the cam...

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Abstract

The invention relates to the technical field of attitude acquisition and labeling, in particular to a multi-camera calibration method and device, terminal equipment and a readable storage medium. According to the specific technical scheme, the method comprises: obtaining internal reference calibration on each camera in a camera set to obtain the internal reference of each camera; acquiring a specified camera in the camera set, and performing external parameter calibration on each camera in the specified camera to obtain external parameters among the cameras in the specified camera; and performing external parameter calibration on the cameras in the specified camera and the cameras except the specified camera in the camera set to obtain an external parameter final value between the cameras. The invention provides a new calibration device for an application scene of mixed multi-camera annular layout, the calibration device is composed of a plurality of calibration plates, and it is ensured that each camera can capture an image when external parameters are calibrated by multiple cameras; and a three-stage hybrid multi-camera calibration method is provided based on the calibration device, the problem of external parameter calibration of the annularly-arranged hybrid multi-camera can be effectively solved, and high calibration precision is achieved.

Description

Technical field [0001] The present invention relates to the field of attitude acquisition labels, and more particularly to multi-camera calibration methods, devices, terminal devices, and readable storage media. Background technique [0002] In the image measurement process and the machine visual application, the geometric model of the camera imaging must be established to determine the interrelationship between the three-dimensional geometric location of the space object, and its corresponding point in the image, the geometric model of the camera imaging must be established. These geometric model parameters are the camera parameters. These parameters need to be obtained by experiment, calculation, etc., the process of solving parameters is called camera calibration (or camera label). Whether in image measurement or machine visual applications, the calibration of the camera parameters is a very critical link, and the accuracy of the calibration result and the stability of the alg...

Claims

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Application Information

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IPC IPC(8): G06T7/80
CPCG06T7/80
Inventor 寸毛毛孙其民陈小波曾良军
Owner NANCHANG VIRTUAL REALITY RES INST CO LTD
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