Camera calibration method, device and electronic equipment in multi-camera system

Abstract

The application provides a camera calibration method in a multi-camera system, the multi-camera system comprising a visible light camera and an infrared camera, the method comprising: calibrating the visible light camera to obtain first intrinsic parameters and first extrinsic parameters; calibrating the infrared camera to obtain second extrinsic parameters; converting two-dimensional pixel coordinates of a visible light image obtained by the visible light camera under the first intrinsic parameters and the first extrinsic parameters into three-dimensional world coordinates; converting the three-dimensional world coordinates into two-dimensional pixel coordinates of an infrared image according to preset initial intrinsic parameters and the second extrinsic parameters, the preset initial intrinsic parameters being intrinsic parameters preset in the infrared camera; fusing the visible light image and the infrared image to obtain a dual-light fusion image; adjusting the preset initial intrinsic parameters in response to a user operation until the dual-light fusion image meets an expected effect, and obtaining target intrinsic parameters; and calibrating the target intrinsic parameters as intrinsic parameters of the infrared camera. The application also provides a camera calibration device in a multi-camera system and an electronic device. The technical scheme of the application effectively solves the problems of high difficulty and high cost in calibrating the infrared camera in the multi-camera system.

Description

Technical Field

[0001] This invention relates to the field of imaging equipment technology, and in particular to a camera calibration method, apparatus and electronic device in a multi-camera system. Background Technology

[0002] With the widespread application of machine vision, the demand for multi-camera vision systems is increasing. In multi-camera systems, the alignment of coordinate points between multiple cameras is a critical issue. Existing coordinate point alignment techniques mainly include feature-point-based alignment and camera-model-based alignment. However, feature-point-based alignment has high computational complexity and inconsistent performance in different scenarios, making it difficult to implement, especially for low-cost chips. In camera-model-based alignment, infrared cameras can only capture light in specific wavelengths, making image calibration difficult and thus requiring high-precision intrinsic parameter calibration of the infrared camera, resulting in higher calibration costs. Summary of the Invention

[0003] In view of this, it is necessary to provide a camera calibration method, device and electronic equipment in a multi-camera system, which can solve the problems of high difficulty and high cost of infrared camera calibration in the coordinate alignment process of a multi-camera system.

[0004] In a first aspect, embodiments of the present invention provide a camera calibration method in a multi-camera system, the multi-camera system including a visible light camera and an infrared camera. The method includes calibrating the visible light camera using intrinsic and extrinsic parameters to obtain a first intrinsic parameter and a first extrinsic parameter; calibrating the infrared camera using extrinsic parameters to obtain a second extrinsic parameter; obtaining two-dimensional pixel coordinates of a visible light image using the visible light camera under the first intrinsic and first extrinsic parameters, and converting the two-dimensional pixel coordinates of the visible light image into three-dimensional world coordinates; converting the three-dimensional world coordinates into two-dimensional pixel coordinates of the infrared image according to a preset initial value of the intrinsic parameter and the second extrinsic parameter, wherein the preset initial value of the intrinsic parameter is a value pre-set on the intrinsic parameter of the infrared camera; fusing the visible light image and the infrared image to obtain a dual-light fused image; adjusting the preset initial value of the intrinsic parameter in response to user operation until the dual-light fused image meets the expected effect, thereby obtaining a target intrinsic parameter; and calibrating the target intrinsic parameter as the intrinsic parameter of the infrared camera.

[0005] Secondly, embodiments of the present invention provide a camera calibration device in a multi-camera system, the device comprising a visible light camera calibration module, an infrared camera calibration module, a first coordinate transformation module, a second coordinate transformation module, an image generation module, a calibration module, and an infrared intrinsic parameter calibration module. The system includes: a visible light camera calibration module for calibrating the visible light camera using intrinsic and extrinsic parameters to obtain a first intrinsic parameter and a first extrinsic parameter; an infrared camera calibration module for calibrating the infrared camera using extrinsic parameters to obtain a second extrinsic parameter; a first coordinate transformation module for obtaining two-dimensional pixel coordinates of a visible light image using the visible light camera under the first intrinsic and first extrinsic parameters, and converting the two-dimensional pixel coordinates of the visible light image into three-dimensional world coordinates; a second coordinate transformation module for converting the three-dimensional world coordinates into two-dimensional pixel coordinates of an infrared image based on a preset initial value of the intrinsic parameter and the second extrinsic parameter, wherein the preset initial value of the intrinsic parameter is a value pre-set in the intrinsic parameter settings of the infrared camera; an image generation module for fusing the visible light image and the infrared image to obtain a dual-light fused image; a calibration module for adjusting the preset initial value of the intrinsic parameter in response to user operation until the dual-light fused image meets the expected effect, thereby obtaining the target intrinsic parameter; and an infrared intrinsic parameter calibration module for calibrating the target intrinsic parameter as the intrinsic parameter of the infrared camera.

[0006] Thirdly, embodiments of the present invention provide an electronic device, including a visible light camera module, an infrared camera module, a memory, and a processor. The visible light camera module is used to capture visible light images; the infrared camera module is disposed at a measurable position relative to the visible light camera module and is used to capture infrared images; the memory is used to store a computer-executable program; and the processor is used to execute the computer-executable program to implement the camera calibration method in the multi-camera system described above.

[0007] In the camera calibration method of the above multi-camera system, the intrinsic parameter calibration of the infrared camera is obtained by transforming the intrinsic and extrinsic parameters of the visible light camera and the extrinsic parameters of the infrared camera. There is no need to directly calibrate the infrared camera, which reduces the requirements for the calibration environment, reduces the computational complexity, and increases the robustness, effectively reducing the calibration difficulty and cost. Attached Figure Description

[0008] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0009] Figure 1This is a flowchart of a camera calibration method in a multi-camera system provided in an embodiment of the present invention.

[0010] Figure 2 This is a first sub-flowchart of the camera calibration method in a multi-camera system provided in an embodiment of the present invention.

[0011] Figure 3 This is a second sub-flowchart of the camera calibration method in a multi-camera system provided in an embodiment of the present invention.

[0012] Figure 4 This is a schematic diagram of a camera calibration device in a multi-camera system provided in an embodiment of the present invention.

[0013] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention.

[0014] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0015] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without inventive effort are within the scope of protection of this invention.

[0016] The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and accompanying drawings of this invention are used to distinguish similar planned objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data are interchangeable where appropriate; in other words, the described embodiments are implemented according to a sequence other than that illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, may also include other content; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0017] It should be noted that the descriptions involving "first," "second," etc., in this invention are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0018] Please refer to the following: Figure 1 This is a flowchart illustrating a camera calibration method in a multi-camera system provided in an embodiment of the present invention. The multi-camera system includes a visible light camera and an infrared camera. Two or more cameras are mounted on a stable platform, ensuring that each image covers as much of the same area as possible, and that the relative positions of the cameras can be measured. The camera calibration method in the multi-camera system includes the following steps.

[0019] Step S101: The visible light camera is calibrated using intrinsic and extrinsic parameters to obtain a first intrinsic parameter and a first extrinsic parameter. In this embodiment, the first intrinsic parameter includes the focal length of the visible light camera. and and the principal point coordinates of the visible light camera and The first extrinsic parameters include the visible light camera's position in a three-dimensional world coordinate system and the angles of rotation around the three coordinate axes. Focal length is measured in millimeters, and the principal point is the intersection of the principal optical axis and the camera's imaging plane, measured in pixels. Specifically, This represents the position coordinates of the visible light camera along the x-axis in a three-dimensional world coordinate system. This indicates the position coordinates of the visible light camera along the y-axis in a three-dimensional world coordinate system. This represents the position coordinate of the visible light camera along the z-axis in the three-dimensional world coordinate system. This represents the angle of rotation of the visible light camera around the x-axis in a three-dimensional world coordinate system. This represents the angle of rotation of the visible light camera around the y-axis in a three-dimensional world coordinate system. This represents the angle of rotation of the visible light camera around the z-axis in a three-dimensional world coordinate system. Specifically, the world coordinate system is a user-defined three-dimensional coordinate system with its origin defined by the user. It describes the position of the target object in the real world, and the unit is meters (m).

[0020] Step S102 involves calibrating the infrared camera to obtain a second extrinsic parameter. The second extrinsic parameter includes the infrared camera's position in a three-dimensional world coordinate system and its rotation angles around the three coordinate axes. Specifically, This indicates the position coordinates of the infrared camera along the x-axis in a three-dimensional world coordinate system. This indicates the position coordinates of the infrared camera along the y-axis in a three-dimensional world coordinate system. This represents the position coordinate of the infrared camera along the z-axis in a three-dimensional world coordinate system. This represents the angle of rotation of the infrared camera around the x-axis in a three-dimensional world coordinate system. This represents the angle of rotation of the infrared camera around the y-axis in a three-dimensional world coordinate system. This represents the angle by which the infrared camera rotates around the z-axis in a three-dimensional world coordinate system.

[0021] Step S103 involves obtaining the two-dimensional pixel coordinates of the visible light image using the visible light camera under the first intrinsic and first extrinsic parameters, and then converting these two-dimensional pixel coordinates into three-dimensional world coordinates. Specifically, the pixel coordinate system is the coordinate system in which the information actually read from the camera resides; it describes the coordinates of the pixels of an object after imaging, and the unit is pixels. The specific steps of step S103 will be described in detail below.

[0022] Step S104: Convert the three-dimensional world coordinates into two-dimensional pixel coordinates of the infrared image based on the preset initial intrinsic parameter value and the second extrinsic parameter. The preset initial intrinsic parameter value is a value pre-set in the intrinsic parameter of the infrared camera. Specific steps will be described in detail below.

[0023] Step S105: The visible light image and the infrared image are fused to obtain a dual-light fused image. Specifically, the two-dimensional pixel coordinates of the visible light image and the two-dimensional pixel coordinates of the infrared image are weighted to generate the dual-light fused image. In other embodiments, the methods for generating a dual-light fused image based on the pixel coordinates of the visible light image and the infrared image are not limited to this, and will not be listed here.

[0024] Step S106: In response to user operation, adjust the initial value of the preset intrinsic parameter until the two-light fusion image meets the expected effect, and obtain the target intrinsic parameter. Specifically, the user determines whether there is ghosting in the two-light fusion image. If ghosting exists, adjust the initial value of the preset intrinsic parameter to eliminate ghosting, so that the two-light fusion image generated according to the camera calibration method in the multi-camera system meets the expected effect under this initial value of the preset intrinsic parameter.

[0025] Step S107: The target intrinsic parameters are calibrated as the intrinsic parameters of the infrared camera.

[0026] In the above embodiments, by calibrating the intrinsic and extrinsic parameters of the visible light camera and the extrinsic parameters of the infrared camera, and by preset the initial value of the intrinsic parameters, a dual-light fusion image is generated to determine the intrinsic parameters of the infrared camera. This achieves the alignment of camera coordinates in a multi-camera system with pixel-level accuracy, low computational complexity, and high robustness.

[0027] Please refer to the following: Figure 2 This is the first sub-flowchart of the camera calibration method in a multi-camera system provided in the embodiments of the present invention.

[0028] Step S103 specifically includes the following steps.

[0029] Step S1031: Obtain the two-dimensional pixel coordinates of the visible light image. For example, in this embodiment, the obtained two-dimensional pixel coordinates of the visible light image are (u... vis ,v vis ).

[0030] Step S1032: Define a first intrinsic parameter matrix using the first intrinsic parameter, and back-project the two-dimensional pixel coordinates of the visible light image according to the first intrinsic parameter matrix to obtain the first normalized coordinates.

[0031] In this embodiment, the first intrinsic parameter is used. as well as and Define the intrinsic parameter matrix K of the visible light camera vis as follows:

[0032]

[0033] Then, based on the first intrinsic parameter matrix K vis Two-dimensional pixel coordinates (u) of a visible light image vis ,v vis The first normalized coordinates are obtained by back-projection:

[0034]

[0035] Among them, (u vis ,v vis ,1) is the normalized coordinate in the z-direction.

[0036] Step S1033: Convert the first normalized coordinates into three-dimensional world coordinates (X) based on the first extrinsic parameter. vis ,Y vis Z vis ).

[0037]

[0038] Among them, the rotation matrix R of the visible light camera vis And the translation vector T of the visible light camera vis It is based on the first extrinsic parameter as well as Constructed.

[0039] The above embodiments establish the process of transforming two-dimensional pixel coordinates of visible light images into three-dimensional world coordinates.

[0040] Please refer to the following: Figure 3 This is the second sub-flowchart of the camera calibration method in a multi-camera system provided in the embodiments of the present invention.

[0041] Step S104 specifically includes the following steps.

[0042] Step S1041: The three-dimensional world coordinates are converted into three-dimensional infrared camera coordinates using the second extrinsic parameter. The second extrinsic parameter includes the rotation matrix of the infrared camera and the translation vector of the infrared camera relative to the visible light camera. The translation vector reflects the positional relationship between the infrared camera and the visible light camera. The translation vector of the infrared camera relative to the visible light camera is calculated based on the translation vectors of the visible light camera and the infrared camera. The three-dimensional world coordinates (X...) can be obtained from step S103. vis ,Y vis Z vis The method for converting to 3D infrared camera coordinates is as follows:

[0043]

[0044] Among them, the rotation matrix R of the infrared camera inf It utilizes the second extrinsic parameter The constructed matrix, T inf_rel T is the translation vector of the infrared camera relative to the visible light camera, describing the position of the infrared camera relative to the visible light camera. inf_rel The calculation method is as follows:

[0045] Assume T vis T is the translation vector of the visible light camera and the translation vector of the infrared camera. inf It utilizes the second extrinsic parameter Constructed. Then, the translation vector T of the infrared camera relative to the visible light camera... inf_rel The calculation method is as follows:

[0046] Step S1042: Obtain the second normalized coordinates based on the coordinates of the three-dimensional infrared camera.

[0047] 3D infrared camera coordinates (X inf ,Yinf Z inf Normalizing in the z-direction yields the second normalized coordinate (x). inf ,y inf ).

[0048]

[0049] Step S1043: Define a second intrinsic parameter matrix using the preset intrinsic parameter initial value, and perform a forward projection of the second normalized coordinates based on the second intrinsic parameter matrix to obtain the two-dimensional pixel coordinates of the infrared image.

[0050] First, the intrinsic parameter matrix K of the infrared camera inf The definition is as follows:

[0051]

[0052] in, and It is the focal length of the infrared camera, and and These are the principal coordinates of the infrared camera.

[0053] In this embodiment, the initial values ​​of the preset intrinsic parameters are calculated based on the image width, image height, preset horizontal field of view, and vertical field of view of the infrared camera. The calculation method is as follows:

[0054]

[0055]

[0056] in, This represents the initial value of the horizontal intrinsic parameter of the infrared camera. ω represents the initial value of the vertical intrinsic parameter of the infrared camera, h represents the image width, and FOV represents the image height. x Indicates the preset horizontal field of view, FOV y Indicates the vertical field of view.

[0057] Using the second intrinsic parameter matrix K inf For the second normalized coordinate (x) inf ,y inf Perform forward projection:

[0058]

[0059] Obtain the two-dimensional pixel coordinates (u) of the infrared image. inf ,v inf ).

[0060] The above embodiments establish the conversion process from three-dimensional world coordinates to two-dimensional coordinates of infrared images.

[0061] In summary, the transformation relationship from two-dimensional coordinates of a visible light image to two-dimensional coordinates of an infrared image can be established as follows:

[0062]

[0063] This mapping transformation relationship is called F, i.e., F(u vis ,v vis )=(u inf ,v inf ).

[0064] By performing an F-mapping on all the two-dimensional pixel coordinates of the visible light image, a series of two-dimensional pixel coordinates of the infrared camera can be obtained, which can then be used to generate a dual-light fusion image.

[0065] Please refer to the following: Figure 4 This is a schematic diagram of a camera calibration device in a multi-camera system provided in an embodiment of the present invention.

[0066] In this embodiment, the camera calibration device 400 in the multi-camera system includes a visible light camera calibration module 401, an infrared camera calibration module 402, a first coordinate transformation module 403, a second coordinate transformation module 404, an image generation module 405, a calibration module 406, and an infrared intrinsic parameter calibration module 407.

[0067] The visible light camera calibration module 401 is used to calibrate the visible light camera's intrinsic and extrinsic parameters to obtain the first intrinsic parameter and the first extrinsic parameter;

[0068] Infrared camera calibration module 402 is used to perform external parameter calibration on the infrared camera to obtain a second external parameter;

[0069] The first coordinate transformation module 403 is used to obtain the two-dimensional pixel coordinates of the visible light image using the visible light camera under the first intrinsic parameters and the first extrinsic parameters, and to convert the two-dimensional pixel coordinates of the visible light image into three-dimensional world coordinates.

[0070] The second coordinate transformation module 404 is used to convert the three-dimensional world coordinates into two-dimensional pixel coordinates of the infrared image according to the preset intrinsic parameter initial value and the second extrinsic parameter. The preset intrinsic parameter initial value is the intrinsic parameter value preset in the infrared camera.

[0071] Image generation module 405 is used to fuse the visible light image and the infrared image to obtain a dual-light fused image;

[0072] The calibration module 406 is used to adjust the initial value of the preset intrinsic parameter in response to user operation until the dual-light fusion image meets the expected effect, thereby obtaining the target intrinsic parameter; and

[0073] The infrared intrinsic parameter calibration module 407 is used to calibrate the target intrinsic parameters as the intrinsic parameters of the infrared camera.

[0074] In the above embodiments, the visible light camera calibration module calibrates the intrinsic and extrinsic parameters of the visible light camera, and the infrared camera calibration module calibrates the extrinsic parameters of the infrared camera. Then, the first coordinate transformation module and the second coordinate transformation module obtain the transformation from two-dimensional pixel coordinates of the visible light image to two-dimensional pixel coordinates of the infrared image. After the image generation module generates a dual-light fused image based on the coordinate transformation result, the target intrinsic parameters are finally determined by the user calibration module. The infrared intrinsic parameter calibration module determines the target intrinsic parameters as the intrinsic parameters of the infrared camera, effectively reducing the calibration complexity and cost of the multi-camera system.

[0075] Please refer to the following: Figure 5 This is a schematic diagram of the structure of the electronic device provided in the embodiment of the present invention.

[0076] In this embodiment, the electronic device 500 includes a visible light camera module 503, an infrared camera module 504, a memory 502, and a processor 501. Specifically, the electronic device 500 may be a camera assembly containing two binocular cameras, or it may be an electronic device such as a smartphone, tablet computer, computer, or camera equipped with two binocular cameras, which will not be listed here.

[0077] Visible light camera module 503 is used to capture visible light images; infrared camera module 504 is positioned at a measurable location relative to visible light camera module 503 and is used to capture infrared images; memory 502 is used to store computer-executable programs; processor 501 is used to execute the computer-executable programs to implement the camera calibration method in the multi-camera system described above. In some embodiments, processor 501 may be a central processing unit (CPU), controller, microcontroller, microprocessor, or other data processing chip, used to run the camera calibration program instructions in the multi-camera system stored in memory 502.

[0078] The memory 502 includes at least one type of readable storage medium, including flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, the memory 502 can be an internal storage unit of a computer device, such as a hard disk. In other embodiments, the memory 502 can be an external storage device of a computer device, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, FlashCard, etc., mounted on a computer device. Furthermore, the memory 502 can include both internal and external storage units of a computer device. The memory 502 can be used not only to store application software and various types of data installed on the computer device, such as code for camera calibration in a multi-camera system, but also to temporarily store data that has been output or will be output.

[0079] In the camera calibration method of the above multi-camera system, the intrinsic parameter calibration of the infrared camera is obtained by transforming the intrinsic and extrinsic parameters of the visible light camera and the extrinsic parameters of the infrared camera. There is no need to directly calibrate the infrared camera, thus reducing the requirements for the calibration environment and effectively reducing the calibration difficulty and cost.

[0080] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

[0081] The above-listed embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of the present invention. Therefore, any equivalent variations made in accordance with the claims of the present invention are still within the scope of the present invention.

Claims

1. A camera calibration method in a multi-camera system, the multi-camera system comprising a visible light camera and an infrared camera, characterized in that, The camera calibration method in the multi-camera system includes: The visible light camera is calibrated using intrinsic and extrinsic parameters to obtain the first intrinsic parameter and the first extrinsic parameter; The second external parameter is obtained by calibrating the external parameters of the infrared camera; The visible light camera is used to obtain the two-dimensional pixel coordinates of the visible light image under the first intrinsic parameter and the first extrinsic parameter, and the two-dimensional pixel coordinates of the visible light image are converted into three-dimensional world coordinates; The three-dimensional world coordinates are converted into two-dimensional pixel coordinates of the infrared image based on the preset initial value of the intrinsic parameter and the second extrinsic parameter. The preset initial value of the intrinsic parameter is the value of the intrinsic parameter set in the infrared camera in advance. The visible light image and the infrared image are fused to obtain a dual-light fused image; In response to user operation, the initial value of the preset intrinsic parameter is adjusted until the dual-light fusion image meets the expected effect, and the target intrinsic parameter is obtained. Specifically, if the dual-light fusion image has ghosting, the initial value of the preset intrinsic parameter is adjusted to eliminate ghosting. The target intrinsic parameters are calibrated as the intrinsic parameters of the infrared camera.

2. The camera calibration method in a multi-camera system as described in claim 1, characterized in that, The process of converting the two-dimensional pixel coordinates of the visible light image into three-dimensional world coordinates specifically includes: Obtain the two-dimensional pixel coordinates of a visible light image; A first intrinsic parameter matrix is ​​defined using the first intrinsic parameter, and the first normalized coordinates are obtained by back-projecting the two-dimensional pixel coordinates of the visible light image based on the first intrinsic parameter matrix. The first normalized coordinates are converted into three-dimensional world coordinates based on the first extrinsic parameter.

3. The camera calibration method in a multi-camera system as described in claim 1, characterized in that, The step of converting the three-dimensional world coordinates into two-dimensional pixel coordinates of an infrared image based on a preset intrinsic parameter initial value and the second extrinsic parameter specifically includes: The three-dimensional world coordinates are converted into three-dimensional infrared camera coordinates using the second extrinsic parameter, wherein the second extrinsic parameter includes the rotation matrix of the infrared camera and the translation vector of the infrared camera relative to the visible light camera, and the translation vector is used to reflect the positional relationship of the infrared camera relative to the visible light camera; The second normalized coordinates are obtained based on the three-dimensional infrared camera coordinates; The second intrinsic parameter matrix is ​​defined using the preset intrinsic parameter initial value, and the two-dimensional pixel coordinates of the infrared image are obtained by forward projection of the second normalized coordinates based on the second intrinsic parameter matrix.

4. The camera calibration method in a multi-camera system as described in claim 3, characterized in that, The translation vector of the infrared camera relative to the visible light camera is calculated based on the translation vectors of the visible light camera and the infrared camera.

5. The camera calibration method in a multi-camera system as described in claim 1, characterized in that, The initial values ​​of the preset intrinsic parameters are calculated based on the image width, image height, preset horizontal field of view, and vertical field of view of the infrared camera, and the calculation method is as follows: in, This represents the initial value of the horizontal intrinsic parameter of the infrared camera. This represents the initial value of the vertical intrinsic parameter of the infrared camera. Indicates the image width. Indicates the image height. Indicates the preset horizontal field of view. Indicates the vertical field of view.

6. The camera calibration method in a multi-camera system as described in claim 1, characterized in that, The process of fusing the visible light image and the infrared image to obtain a dual-light fused image specifically includes: The two-dimensional pixel coordinates of the visible light image and the two-dimensional pixel coordinates of the infrared image are weighted and processed to generate a dual-light fused image.

7. The camera calibration method in a multi-camera system as described in claim 1, characterized in that, The first and second extrinsic parameters include the camera's position in the three-dimensional world coordinate system and the angle of rotation around the three coordinate axes, respectively.

8. A camera calibration device in a multi-camera system, characterized in that, The device includes: Visible light camera calibration module: used to calibrate the intrinsic and extrinsic parameters of the visible light camera to obtain the first intrinsic parameter and the first extrinsic parameter; Infrared camera calibration module: used to calibrate the external parameters of the infrared camera to obtain the second external parameter; First coordinate transformation module: used to obtain the two-dimensional pixel coordinates of the visible light image using the visible light camera under the first intrinsic parameter and the first extrinsic parameter, and to convert the two-dimensional pixel coordinates of the visible light image into three-dimensional world coordinates; The second coordinate transformation module is used to convert the three-dimensional world coordinates into two-dimensional pixel coordinates of the infrared image based on the preset initial value of the intrinsic parameter and the second extrinsic parameter. The preset initial value of the intrinsic parameter is the intrinsic parameter value that is preset in the infrared camera. Image generation module: used to fuse the visible light image and the infrared image to obtain a dual-light fused image; Calibration module: Used to adjust the initial value of the preset intrinsic parameters in response to user operation until the two-light fusion image meets the expected effect, obtaining the target intrinsic parameters. If ghosting exists in the two-light fusion image, the initial value of the preset intrinsic parameters is adjusted to eliminate ghosting; and Infrared intrinsic parameter calibration module: used to calibrate the target intrinsic parameters as the intrinsic parameters of the infrared camera.

9. An electronic device, characterized in that, The electronic device includes: Visible light camera module, used to capture visible light images; An infrared camera module is positioned at a measurable relative position to the visible light camera module, and is used to capture infrared images; Memory, used to store computer executable programs; and A processor for executing the computer-executable program to implement the camera calibration method in a multi-camera system as described in any one of claims 1-7.

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