A multi-position camera calibration process and calibration machine

Abstract

This invention discloses a multi-station camera calibration process and system. The process includes the following steps: determining the relative positions of a first fixed plate and a second fixed plate, the second fixed plate being used to fix a target image; setting a camera module array on the first fixed plate, the camera module array being composed of multiple camera modules to be calibrated; acquiring the preset angle of the camera module to be tested in the camera module array and the attitude difference between the first and second fixed plates; acquiring target images using the camera module array based on the preset angle and attitude difference, and using the target images for calibration. By rotating the first and second fixed plates together, the attitude can be arbitrarily adjusted during calibration. By setting the camera module array on the first fixed plate, target images of multiple types of camera modules can be acquired at once, improving work efficiency. By rotating the camera modules to the first fixed plate, the angle can be finely adjusted during calibration, improving calibration accuracy.

Description

Technical Field

[0001] This invention relates to the field of camera calibration technology, and in particular to a multi-station camera calibration process and machine system. Background Technology

[0002] With technological advancements, cameras have become widely used in various terminal devices, such as mobile phones, in-vehicle terminals, and other smart terminals. After camera modules are assembled, they need to be calibrated and used in conjunction with corresponding registration, depth estimation, or enhancement algorithms to enable smart electronic terminals or devices to achieve functions such as optical focusing, dual-camera bokeh, and low-light night shooting, thereby providing a better user experience. The calibration process requires acquiring multiple pairs of calibration board images from different positions, angles, and orientations.

[0003] In order to acquire a suitable image of the calibration board, the shooting angle and attitude need to be adjusted. However, the existing calibration equipment can only take one image of the calibration board at a time when calibrating the camera module, which results in low work efficiency. Summary of the Invention

[0004] Existing calibration equipment has low calibration efficiency when calibrating camera modules due to limitations in posture and angle.

[0005] To address the aforementioned issues, a multi-station camera calibration process and system are proposed. By rotatably connecting the first and second fixed plates with their corresponding fixed supports, the orientation can be arbitrarily adjusted during calibration to obtain the orientation difference. By setting a camera module array on the first fixed plate, target images of multiple camera modules of different models can be acquired simultaneously for calibration, improving work efficiency. By rotatably connecting the camera modules to the first fixed plate, the angle can be finely adjusted during calibration to obtain a suitable shooting angle, improving calibration accuracy.

[0006] Firstly, a multi-position camera calibration process includes the following steps:

[0007] The relative positions of the first fixing plate and the second fixing plate are determined, and the second fixing plate is used to fix the target image;

[0008] A camera module array is set on the first fixed plate, the camera module array being composed of multiple camera modules to be calibrated;

[0009] Obtain the preset angle of the camera module under test in the camera module array and the attitude difference between the first fixed plate and the second fixed plate;

[0010] Based on the preset angle and the attitude difference, a target image is acquired using a camera module array, and the target image is used for calibration.

[0011] In conjunction with the multi-position camera calibration process described in this invention, in a first possible implementation, the step of determining the relative positions of the first fixing plate and the second fixing plate, wherein the second fixing plate is used to fix the target image, includes the following steps:

[0012] The first fixing bracket and the second fixing bracket are fixed at preset positions respectively;

[0013] The first fixing plate and the second fixing plate are rotatably connected to the first fixing bracket and the second fixing bracket, respectively, to determine their relative positions.

[0014] In conjunction with the multi-position camera calibration process described in this invention, in a second possible implementation, the step of setting a camera module array on a first fixed plate, wherein the camera module array is composed of multiple camera modules to be calibrated, includes the following steps:

[0015] Obtain the parameters to be tested from the camera modules and the number of camera modules to be tested;

[0016] An array of fine-tuning devices is arranged on the first fixed plate according to the number of camera modules to be tested.

[0017] In conjunction with the second and third possible embodiments of the present invention, the step of: setting a camera module array on a first fixed plate, the camera module array being composed of multiple camera modules to be calibrated, further includes the step of:

[0018] Based on the parameters to be tested, the camera module is fixed on the fine-tuning device at the corresponding position to obtain the camera module array.

[0019] In conjunction with the third and fourth possible embodiments of the present invention, the step of obtaining the preset angle of the camera module under test in the camera module array and the attitude difference between the first fixing plate and the second fixing plate includes the following steps:

[0020] Based on the parameters to be measured, obtain the preset angle of the elements in the camera module array;

[0021] Each camera module is adjusted according to the preset angle.

[0022] In conjunction with the fourth and fifth possible embodiments of the present invention, the step of obtaining the preset angle of the camera module under test in the camera module array and the attitude difference between the first fixing plate and the second fixing plate further includes the step of:

[0023] Rotate the first fixed plate according to the parameters to be tested to obtain the first posture;

[0024] Rotate the second fixed plate according to the parameters to be measured to obtain the second posture;

[0025] The attitude difference between the first fixed plate and the second fixed plate is calculated based on the first attitude and the second attitude.

[0026] In conjunction with the fifth and sixth possible embodiments of the present invention, the step of: acquiring a target image using a camera module array based on the preset angle and the attitude difference, and calibrating using the target image, includes the following steps:

[0027] Determine whether the target image is within the field of view of the camera module array;

[0028] If within the field of view, the target image is acquired using the camera module array.

[0029] In conjunction with the fifth and sixth possible embodiments of the present invention, the step of: acquiring a target image using a camera module array based on the preset angle and the attitude difference, and calibrating using the target image, further includes the step of:

[0030] Determine whether the target image is within the field of view of the camera module array;

[0031] If the target image is not within the field of view, the corresponding camera module elements are adjusted based on the preset angle until the target image is within the field of view of all camera module elements.

[0032] The target image was acquired using the adjusted camera module array.

[0033] Secondly, a multi-station camera calibration machine system, employing the calibration process described in the first aspect to calibrate camera modules, includes:

[0034] First fixed bracket;

[0035] Second fixed bracket;

[0036] First fixing plate;

[0037] Second fixing plate;

[0038] Camera module array;

[0039] The first fixing plate and the second fixing plate are rotatably connected to the first fixing bracket and the second fixing bracket, respectively;

[0040] The camera module array is arranged on the first fixed plate, and each element therein is rotatably connected to the first fixed plate;

[0041] The second fixing plate is used to fix the target image and drive the target image to rotate.

[0042] In conjunction with the multi-station camera calibration system described in the second aspect of the present invention, in a first possible embodiment, the camera module array includes:

[0043] Fine-tuning device array;

[0044] The fine-tuning device array consists of multiple fine-tuning devices arranged together.

[0045] The fine-tuning device array is fixed on the first fixed plate, and the camera module is fixed on the fine-tuning device at the corresponding position according to the parameter to be measured, so that each camera module is rotatably connected to the first fixed plate.

[0046] The multi-station camera calibration process and machine system described in this invention allows for arbitrary adjustment of the posture during calibration by rotatably connecting the first fixed plate, the second fixed plate, and the corresponding fixed bracket, thereby obtaining the posture difference. By setting a camera module array on the first fixed plate, target images of multiple camera modules of different models can be acquired at once for calibration, improving work efficiency. By rotatably connecting the camera module to the first fixed plate, the angle can be finely adjusted during calibration to obtain a suitable shooting angle, improving calibration accuracy. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 This is a first schematic diagram of the multi-position camera calibration process of the present invention;

[0049] Figure 2 This is a second schematic diagram of the multi-station camera calibration process of the present invention;

[0050] Figure 3 This is a third schematic diagram of the multi-position camera calibration process of the present invention;

[0051] Figure 4 This is the fourth schematic diagram of the multi-station camera calibration process of the present invention;

[0052] Figure 5 This is the fifth schematic diagram of the multi-position camera calibration process of the present invention;

[0053] Figure 6 This is the sixth schematic diagram of the multi-position camera calibration process of the present invention;

[0054] Figure 7 This is the seventh schematic diagram of the multi-position camera calibration process of the present invention;

[0055] Figure 8 This is a schematic diagram of the overall machine system of the present invention;

[0056] Figure 9 This is a schematic diagram of the camera module array of the machine tool system of the present invention;

[0057] Figure 10 This is a schematic diagram of the target of the machine system of the present invention; Detailed Implementation

[0058] The technical solutions of this invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are all within the scope of protection of this invention.

[0059] The existing calibration equipment has low calibration efficiency when calibrating the camera module 32 due to limitations in posture and angle.

[0060] To address the above issues, a multi-station camera calibration process and machine system are proposed.

[0061] Example 1

[0062] Firstly, a multi-position camera calibration process, such as Figure 1 , Figure 1 This is a first schematic diagram of the multi-position camera calibration process of the present invention; including the following steps:

[0063] Step 100: Determine the relative positions of the first fixing plate 30 and the second fixing plate 40, whereby the second fixing plate 40 is used to fix the target image 41; Step 200: Set up an array of camera modules 32 on the first fixing plate 30, wherein the array of camera modules 32 is composed of multiple camera modules 32 to be calibrated; Step 300: Obtain the preset angle of the camera module 32 to be tested in the array of camera modules 32 and the attitude difference between the first fixing plate 30 and the second fixing plate 40; Step 400: Based on the preset angle and attitude difference, use the array of camera modules 32 to acquire the target image 41 and use the target image 41 for calibration.

[0064] In this embodiment, the first fixing plate 30 is used to arrange the camera module 32 array, and the second fixing plate 40 is used to fix the target image 41.

[0065] It is worth noting that the arrangement pattern of multiple camera modules 32 can also be arbitrarily set according to the parameters to be tested, which also falls within the scope of protection of this application.

[0066] Any camera module 32 in the array or arrangement pattern of camera modules 32 can rotate relative to the first fixed plate 30 in order to adjust the shooting angle.

[0067] In this embodiment, the first fixing plate 30 and the second fixing plate 40 are rotatably connected to the corresponding fixing brackets so that they can rotate when acquiring the target image 41, adjust their relative posture, acquire the posture difference, and thus improve the accuracy of calibration.

[0068] In this embodiment, the relative position can be set using a corresponding fixed bracket. Specifically, it can be implemented as follows:

[0069] like Figure 2 , Figure 2 This is a second schematic diagram of the multi-position camera calibration process of the present invention; step 100 includes the following steps: step 110, fixing the first fixing bracket 10 and the second fixing bracket 20 at preset positions respectively; step 120, rotatably connecting the first fixing plate 30 and the second fixing plate 40 to the first fixing bracket 10 and the second fixing bracket 20 respectively to determine their relative positions. The first fixing plate 30 and the second fixing plate 40 are rotatably connected to the corresponding first fixing bracket 10 and second fixing bracket 20 respectively, so that when acquiring the target image 41, the posture can be arbitrarily adjusted to obtain the posture difference and shoot at the optimal angle.

[0070] The aforementioned rotary connection can be achieved using a ball joint, a rotary bearing, or a robotic arm.

[0071] Before arranging the camera module array 32, the fine-tuning device array 31 must first be arranged on the first fixed plate 30. Specifically, this can be implemented as follows:

[0072] like Figure 3 , Figure 3 This is a third schematic diagram of the multi-station camera calibration process of the present invention; step 200 includes the following steps: step 210, obtaining the test parameters of the camera module 32 and the number of camera modules 32 to be tested; step 220, arranging an array of fine-tuning devices 31 on the first fixed plate 30 according to the number of camera modules 32 to be tested.

[0073] The fine-tuning device 31 is used to rotate the corresponding camera module 32 to adjust the angle. Since each camera module 32 has a different model, different parameters to be measured, and a different corresponding position, the position of the fine-tuning device 31 needs to be determined based on the parameters to be measured and the number of camera modules 32. The aforementioned rotational connection can be achieved using a ball joint or a rotary bearing.

[0074] After the fine-tuning device 31 array is set up, the camera module 32 needs to be fixed onto the corresponding fine-tuning device 31. Specifically, step 200 also includes the following steps:

[0075] Step 230: According to the parameters to be tested, fix the camera module 32 on the fine-tuning device 31 at the corresponding position to obtain the camera module 32 array.

[0076] Since the camera module 32 has different models, the parameters to be measured are different, the position on the first fixed plate 30 is different, and the attitude difference is not significant, so it is necessary to fix the camera module 32 with the corresponding fine-tuning device 31.

[0077] Furthermore, the camera modules 32 in the camera module array 32 are adjusted according to a preset angle, such as... Figure 4 , Figure 4 This is the fourth schematic diagram of the multi-station camera calibration process of the present invention; specifically, it can be implemented as follows:

[0078] As shown in Figure 300, step 300 includes the following steps:

[0079] Step 310: Obtain the preset angle of the elements in the array of camera modules 32 according to the parameters to be measured; Step 320: Adjust each camera module 32 according to the preset angle.

[0080] Furthermore, such as Figure 5 , Figure 5 This is the fifth schematic diagram of the multi-station camera calibration process of the present invention; step 300 of obtaining the attitude difference includes the following steps:

[0081] Step 330: Rotate the first fixed plate 30 according to the parameters to be tested to obtain the first posture; Step 340: Rotate the second fixed plate 40 according to the parameters to be tested to obtain the second posture; Step 350: Calculate the posture difference between the first fixed plate 30 and the second fixed plate 40 based on the first posture and the second posture.

[0082] After adjusting the angle and posture, the field of view of each camera module 32 is further determined, such as... Figure 6 , Figure 6 This is the sixth schematic diagram of the multi-station camera calibration process of the present invention; specifically, it can be implemented as follows:

[0083] Step 400 includes the following steps: Step 410, determining whether the target image is within the field of view of the camera module 32 array; Step 420, if it is within the field of view, acquiring the target image 41 using the camera module 32 array.

[0084] The field of view of the camera module array 32 includes the field of view of each camera module 32. That is, when acquiring the target image 41, the target image 41 on the second fixing plate 40 must be within the field of view of all camera modules 32 for accurate calibration. If the target image 41 is within the field of view, each camera module 32 acquires its own target image 41, and then calibration is performed.

[0085] Example 2

[0086] In this embodiment, if the target image 41 on the second fixing plate 40 is not within the field of view of part of the camera module 32, then the camera module 32 needs to be fine-tuned. Specifically, for example... Figure 7 , Figure 7 This is the seventh schematic diagram of the multi-position camera calibration process of the present invention; it can be implemented as follows:

[0087] Step 400 includes the following steps: Step 430, determining whether the target image is within the field of view of the camera module 32 array; Step 440, if it is not within the field of view, adjusting the corresponding camera module 32 elements based on a preset angle until the target image 41 is within the field of view of all camera module 32 elements; Step 450, acquiring the target image 41 using the adjusted camera module 32 array.

[0088] The shooting angle of the camera module 32 is finely adjusted based on the preset angle until the target image 41 is within the field of view of all camera modules 32.

[0089] By rotatably connecting the first fixed plate 30 and the second fixed plate 40 to the corresponding fixed bracket, the posture can be arbitrarily adjusted during calibration to obtain the posture difference. By setting an array of camera modules 32 on the first fixed plate 30, target images 41 of multiple models of camera modules 32 can be acquired at one time for calibration, improving work efficiency. By rotatably connecting the camera module 32 to the first fixed plate 30, the angle can be finely adjusted during calibration to obtain a suitable shooting angle, improving calibration accuracy.

[0090] Example 3

[0091] Secondly, such as Figure 8 , Figure 9 and Figure 10 , Figure 8 This is a schematic diagram of the overall machine system of the present invention. Figure 9 This is a schematic diagram of the camera module 32 array in the machine system of the present invention. Figure 10 This is a schematic diagram of the target in the machine system of the present invention; a multi-station camera calibration machine system, which uses the calibration process of the first aspect to calibrate the camera module 32, includes: a first fixed bracket 10, a second fixed bracket 20, a first fixed plate 30, a second fixed plate 40, and an array of camera modules 32; the first fixed plate 30 and the second fixed plate 40 are rotatably connected to the first fixed bracket 10 and the second fixed bracket 20, respectively; the array of camera modules 32 is arranged on the first fixed plate 30, and each element therein is rotatably connected to the first fixed plate 30; the second fixed plate 40 is used to fix the target image 41 and drive the target image 41 to rotate.

[0092] Furthermore, the camera module 32 array includes: an array of fine-tuning devices 31; the array of fine-tuning devices 31 is composed of multiple fine-tuning devices 31 arranged together; the array of fine-tuning devices 31 is fixed on the first fixed plate 30, and the camera module 32 is fixed on the fine-tuning device 31 at the corresponding position according to the parameter to be measured, so that each camera module 32 is rotatably connected to the first fixed plate 30. The fine-tuning device 31 can be implemented as a rotating clamp.

[0093] The multi-station camera calibration process and machine system of this invention, by rotatably connecting the first fixed plate 30 and the second fixed plate 40 with the corresponding fixed bracket, allows for arbitrary adjustment of the posture during calibration to obtain the posture difference. By setting an array of camera modules 32 on the first fixed plate 30, target images 41 of multiple types of camera modules 32 can be acquired at one time for calibration, improving work efficiency. By rotatably connecting the camera module 32 with the first fixed plate 30, the angle can be finely adjusted during calibration to obtain a suitable shooting angle, improving calibration accuracy.

[0094] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A multi-position camera calibration process, characterized in that, Including the following steps: Step 100: Determine the relative positions of the first fixing plate and the second fixing plate, wherein the second fixing plate is used to fix the target image; Step 200: Set up a camera module array on the first fixed plate, wherein the camera module array is composed of multiple camera modules to be calibrated. Step 300: Obtain the preset angle of the camera module under test in the camera module array and the attitude difference between the first fixed plate and the second fixed plate; Step 400: Based on the preset angle and the attitude difference, acquire target images using a camera module array, and perform calibration using the target images; Step 100 includes: Step 110: Fix the first fixing bracket and the second fixing bracket at the preset positions respectively; Step 120: Rotate the first fixing plate and the second fixing plate to the first fixing bracket and the second fixing bracket respectively to determine their relative positions; Step 200 includes: Step 210: Obtain the parameters to be tested for the camera modules and the number of camera modules to be tested; Step 220: Arrange a fine-tuning device array on the first fixed plate according to the number of camera modules to be tested; Step 300 includes: Step 310: Obtain the preset angle of the element in the camera module array according to the parameter to be measured; Step 320: Adjust each camera module according to the preset angle; Step 330: Rotate the first fixed plate according to the parameters to be tested to obtain the first posture; Step 340: Rotate the second fixed plate according to the parameters to be tested to obtain the second posture; Step 350: Calculate the attitude difference between the first fixed plate and the second fixed plate based on the first attitude and the second attitude.

2. The multi-position camera calibration process according to claim 1, characterized in that, Step 200 further includes step 230: according to the parameters to be tested, fix the camera module on the fine-tuning device at the corresponding position to obtain the camera module array.

3. The multi-position camera calibration process according to claim 1, characterized in that, Step 400 includes: Step 410, determining whether the target image is within the field of view of the camera module array; Step 420, if it is within the field of view, acquiring the target image using the camera module array.

4. The multi-position camera calibration process according to claim 3, characterized in that, The step 400 further includes: step 430, determining whether the target image is within the field of view of the camera module array; Step 440: If the target image is not within the field of view, the corresponding camera module elements are adjusted based on the preset angle until the target image is within the field of view of all camera module elements. Step 450: Acquire target images using the adjusted camera module array.

5. A multi-position camera calibration machine system, employing the calibration process described in any one of claims 1-4 to calibrate camera modules, characterized in that, include: First fixed bracket; Second fixed bracket; First fixing plate; Second fixing plate; Camera module array; The first fixing plate and the second fixing plate are rotatably connected to the first fixing bracket and the second fixing bracket, respectively; The camera module array is arranged on the first fixed plate, and each element therein is rotatably connected to the first fixed plate; The second fixing plate is used to fix the target image and drive the target image to rotate.

6. The multi-station camera calibration system according to claim 5, characterized in that, The camera module array includes: a fine-tuning device array; The fine-tuning device array consists of multiple fine-tuning devices arranged together. The fine-tuning device array is fixed on the first fixed plate, and the camera module is fixed on the fine-tuning device at the corresponding position according to the parameter to be measured, so that each camera module is rotatably connected to the first fixed plate.

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