Camera coordinate transformation method, calibration environment correction method and robot

By constructing a standard plane and world coordinate system in the calibration environment, the problem of inaccurate calculation of depth camera extrinsic parameters caused by the non-vertical calibration environment is solved, high-precision pose transformation matrix solution and calibration environment correction are achieved, and the accuracy of mobile robot calibration is improved.

CN114581527BActive Publication Date: 2025-10-03MIDEA GRP (SHANGHAI) CO LTD +1
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Patent Information

Application Number
CN202210019854.9
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2022-01-07
Publication Date
2025-10-03
Estimated Expiration
2042-01-07

AI Technical Summary

Technical Problem

In the existing technology, due to processing errors, installation errors and data acquisition errors in the calibration environment, the calculation of the depth camera's extrinsic parameters is inaccurate, and the requirement that the planes are perpendicular to each other cannot be met, affecting the accuracy of the mobile robot's multi-sensor calibration.

Method used

By obtaining the point cloud data of the calibration environment where the camera is located, plane segmentation and fitting are performed, a standard plane is constructed, the intersection direction vector is calculated, a completely vertical world coordinate system is established, and the camera's posture transformation matrix in this coordinate system is calculated. The calibration environment deflection is corrected to improve accuracy.

Benefits of technology

The proposed method can accurately solve the depth camera extrinsic parameters in a non-perfectly vertical calibration environment, improve the calibration accuracy, ensure the orthogonality of the pose transformation matrix, and simplify the calculation process.

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Abstract

The present application discloses a camera coordinate transformation method, a calibration environment correction method, and a robot. The camera coordinate transformation method includes: obtaining point cloud data of the calibration environment where the camera is located; performing plane segmentation and plane fitting on the point cloud data to obtain three point cloud planes that intersect with each other; taking one of the point cloud planes as a standard plane, calculating the intersection direction vector of the standard plane and the other point cloud plane, and determining three standard planes with the intersection direction vector and the standard plane; constructing a world coordinate system with the three standard planes; and calculating the camera's posture transformation matrix in the world coordinate system. The method of the present application can calculate mutually perpendicular standard world coordinate systems, avoiding the use of a calibration environment with deviations as a world coordinate system, thereby accurately solving the depth camera's external parameters and solving the orthogonal posture transformation matrix, thereby improving the accuracy of calibration.
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