Camera out-of-view object coordinate system calibration method, device and equipment and storage medium
A technology of coordinate system and pixel coordinate system, applied in image data processing, instrumentation, calculation, etc., can solve problems such as difficult conversion relationships
Pending Publication Date: 2022-04-12
黑芝麻智能科技有限公司
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[0003] Generally speaking, the camera can be used to shoot the measured object, and the internal and external parameters of the camera can be calibrated according to the two-dimensional coordinates of the measured object in the pixel coordinate system and the three-dimensional coordinates of the measured object in the world coordinate system. In order to determine the conversion relationship between the camera coordinate system and the world coordinate system where the object is located, but when the measured object is outside the camera field of view, it becomes very difficult to calibrate the conversion relationship between the camera coordinate system and the object coordinate system
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[0028] In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail 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.
[0029] In some fields, there may be a need to calibrate the conversion relationship between the camera coordinate system of the camera and the object coordinate system of objects outside the camera's field of view. For example, in the field of intelligent driving, the driver monitoring system (Driver Monitoring System, DMS) needs to monitor the behavior of the driver. The system will give an alarm reminder to reduce the occurrence of dangerous accidents. When the camera used to monitor the driver's behavior is installed on the rearview mirror at the front of the vehicle i...
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The invention relates to a camera out-of-view object coordinate system calibration method and device, computer equipment and a storage medium. The method comprises the following steps: determining a three-dimensional coordinate of each positioning point in a plurality of positioning points on a target object in an object coordinate system of the target object; aiming at each positioning point in the plurality of positioning points, determining a multi-angle extension line image of the positioning point shot in the visual field of the camera; determining a two-dimensional coordinate of an intersection point of a plurality of straight lines with different extension angles in the multi-angle extension line image of each positioning point under a pixel coordinate system corresponding to the multi-angle extension line image, and taking the two-dimensional coordinate as a two-dimensional coordinate of the positioning point under the pixel coordinate system; and according to the internal reference of the camera, the three-dimensional coordinate of each positioning point in the object coordinate system and the two-dimensional coordinate of each positioning point in the pixel coordinate system, calibrating a conversion relation parameter between the object coordinate system and the camera coordinate system. According to the method, the conversion relation between the camera coordinate system and the object coordinate system of the object outside the camera view can be calibrated.
Description
technical field [0001] The present application relates to the technical field of camera calibration, and in particular to a method, device, computer equipment and storage medium for calibrating a coordinate system of an object outside the camera's field of view. Background technique [0002] Camera calibration refers to the process of determining the conversion relationship parameters between the pixel coordinate system, camera coordinate system, and world coordinate system through measurement and calculation. By calibrating the camera to determine the internal and external parameters of the camera, it is easy to use the Shoot the two-dimensional coordinates of the object in the pixel coordinate system and the calibrated internal and external parameters to determine the three-dimensional coordinates of the object in the world coordinate system. [0003] Generally speaking, the camera can be used to shoot the measured object, and the internal and external parameters of the ca...
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IPC IPC(8): G06T7/80G06T7/70
Inventor 李洋洋
Owner 黑芝麻智能科技有限公司