A camera calibration method, device, computer device and computer storage medium

Abstract

The present disclosure provides a camera calibration method, apparatus, computer device, and computer storage medium. The method includes: obtaining first coordinate positions of at least three preset reference points in a robot coordinate system based on the established robot coordinate system; collecting a target image including at least three reference points using a robot camera; determining a rotation matrix between the robot coordinate system and the camera coordinate system based on the established camera coordinate system, the collected target image, and the first coordinate positions; determining a translation matrix according to the rotation matrix; and determining control parameters according to the rotation matrix and the translation matrix. In the embodiments of the present disclosure, the rotation matrix and the translation matrix between the two coordinate systems are determined by the coordinate positions of the preset reference points obtained in the robot coordinate system and the captured target image, and further the control parameters for the robot are determined, which simplifies the steps of determining the corresponding relationship between the coordinate systems, reduces the complexity of the operation, and improves the efficiency of obtaining goods.

Images