Binocular camera calibration system and method

Abstract

The present invention discloses a binocular camera calibration system and method, the binocular camera calibration system comprises: a laser emitter, a first reflection surface, a second reflection surface and an adjustment mechanism, wherein: the laser emitter is used to emit light to two opposite sides to form a first calibration pattern and a second calibration pattern; the first reflection surface is arranged on the light path of the first calibration pattern on one side of the laser emitter; the second reflection surface is arranged on the light exit path of the second calibration pattern on the other side of the laser emitter, and is used to reflect the second calibration pattern to the first reflection surface, so that the second calibration pattern and the first calibration pattern overlap on the first reflection surface; the adjustment mechanism, the binocular camera is arranged on the adjustment mechanism, and the adjustment mechanism is used to adjust the position and angle of the binocular camera to complete the calibration of the binocular camera. The binocular camera calibration system according to the present invention has a simple structure, a small size, and a more accurate calibration.

Description

Technical Field

[0001] The present invention relates to the field of AR testing technology, and in particular to a binocular camera calibration system and method. Background Art

[0002] Augmented Reality (AR) technology is an emerging technology that superimposes computer-generated virtual information onto the user's real world. It is an important branch of virtual reality technology. It improves the user's perception of the real world and provides a new way for humans to communicate with the world. In recent years, augmented reality technology has been widely used in industrial maintenance, film and television entertainment, medical surgery, education and training and other fields, and has gradually become the main direction of the development of the next generation of human-computer interaction technology.

[0003] In binocular near-eye display devices, achieving the overlap of the left and right eye images at infinity is the key technology, but it is quite difficult. The light propagation path is invisible to the naked eye, and a binocular camera with absolutely parallel optical axes must be used for auxiliary correction. Currently, there is no such equipment on the market. The existing binocular camera calibration scheme is to use a binocular camera to shoot a double cross target in the distance, so that the center of the binocular camera coincides with the two centers of the double cross target respectively. However, this scheme requires a high-quality extra-long guide rail to move the target, which is expensive and the device is large. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention is to propose a binocular camera calibration system, which can complete the calibration of the binocular camera in a very small space without using a long guide rail, thereby reducing the volume of the binocular camera calibration system and reducing the cost.

[0005] According to the first aspect of the present invention, the binocular camera calibration system is used to calibrate a binocular camera, and the binocular camera calibration system includes a laser transmitter, a first reflection surface, a second reflection surface and an adjustment mechanism, wherein:

[0006] The laser emitter is used to emit light to two opposite sides to form a first calibration pattern and a second calibration pattern;

[0007] The first reflective surface is disposed on a light path of a first calibration pattern on one side of the laser transmitter;

[0008] The second reflective surface is disposed on the light exit path of the second calibration pattern on the other side of the laser emitter, and is used to reflect the second calibration pattern to the first reflective surface, so that the second calibration pattern and the first calibration pattern overlap on the first reflective surface;

[0009] An adjustment mechanism, on which the binocular camera is arranged, and the adjustment mechanism is used to adjust the position and angle of the binocular camera to complete the calibration of the binocular camera.

[0010] In some embodiments, the laser transmitter is an 8-line laser level.

[0011] In some embodiments, the first reflective surface is a diffuse reflective surface, and the second reflective surface is a specular reflective surface.

[0012] In some optional embodiments, the binocular camera calibration system further includes a curtain and a reflector, wherein the first reflective surface is a diffuse reflective surface of the curtain, and the second reflective surface is a mirror surface of the reflector.

[0013] In some optional embodiments, the binocular camera calibration system further includes a fixing frame, and the fixing frame is used to fix the reflector.

[0014] In some embodiments, the adjustment mechanism is a six-axis adjustment platform, and the six-axis adjustment platform includes adjustable structures of X-axis, Y-axis, Z-axis, Rx-axis, Ry-axis, and Rz-axis.

[0015] In some optional embodiments, the binocular camera calibration system further includes a base, and the adjustment mechanism and the binocular camera are disposed on the base.

[0016] According to the binocular camera calibration system of the present invention, by using a bidirectional laser transmitter and using a reflector to reflect the second calibration pattern, the second calibration pattern is overlapped with the first calibration pattern on the first reflection surface, and then the binocular camera is adjusted by an adjustment mechanism to achieve calibration of the binocular camera. The calibration system has a simple structure and does not require the provision of a long guide rail, which can simplify the structure of the binocular camera calibration system and reduce the production cost of the binocular camera calibration system. In addition, by using a reflection surface, when the target is at the same distance, the binocular calibration system of the embodiment of the present invention achieves nearly double the optical path, and the angle calibration adjustment is more precise, and the first reflection surface can be directly replaced by a wall, further saving space for the binocular calibration system.

[0017] According to the binocular camera calibration method of the second aspect of the present invention, the binocular camera is calibrated by the above binocular camera calibration system, and the method comprises:

[0018] Fixing the binocular camera on the adjustment mechanism and placing the binocular cameras on the same horizontal plane, aligning the center of the second reflection surface with the physical center of the binocular camera, and fixing the second reflection surface to the adjustment mechanism;

[0019] Turning on the laser emitter to emit light to two opposite sides and forming the first calibration pattern and the second calibration pattern, wherein the light of the first calibration pattern is emitted toward the first reflecting surface, and the light of the second calibration pattern is emitted toward the first reflecting surface after passing through the second reflecting surface;

[0020] adjusting the position of the second reflective surface so that the first calibration pattern and the second calibration pattern overlap on the first reflective surface;

[0021] According to the pupil distance of the binocular camera, marking respective optical axis positions in the binocular camera on both sides of the overlapping center of the first calibration pattern and the second calibration pattern on the first reflecting surface;

[0022] The adjustment mechanism is used to adjust the position and angle of the binocular camera so that the binocular cameras are aligned with their respective optical axis positions to complete the calibration of the binocular camera.

[0023] In some embodiments, before the step of adjusting the position of the second reflective surface so that the first calibration pattern and the second calibration pattern overlap on the first reflective surface, the method further includes:

[0024] The position of the laser emitter is adjusted so that the center of the second calibration pattern is located at the center of the second reflective surface.

[0025] In some optional embodiments, the step of adjusting the position of the second reflective surface so that the first calibration pattern and the second calibration pattern overlap on the first reflective surface includes:

[0026] The overall position of the adjustment mechanism and the second reflective surface is adjusted so that the first calibration pattern and the second calibration pattern overlap on the first reflective surface.

[0027] According to the binocular camera calibration method of the present invention, by using the binocular camera calibration system of the embodiment of the present invention to calibrate the binocular camera, the calibration system has a simple structure and does not need to set up a long guide rail, which can simplify the structure of the binocular camera calibration system, reduce the production cost of the binocular camera calibration system, and reduce the process difficulty of binocular camera calibration. In addition, by using a reflective surface, when the target is at the same distance, the binocular calibration system of the embodiment of the present invention achieves nearly double the optical path, and the angle calibration adjustment is more accurate, so that the binocular camera calibrated by the binocular camera calibration method of the embodiment of the present invention is more accurate.

[0028] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is a schematic diagram of a binocular camera calibration system according to an embodiment of the present invention;

[0030] Figure 2 is a schematic diagram of a first reflecting surface according to an embodiment of the present invention;

[0031] Figure 3 is a schematic diagram of a binocular camera and a second reflective surface according to an embodiment of the present invention;

[0032] Figure 4 is a flow chart of a binocular camera calibration method according to an embodiment of the present invention;

[0033] Figure 5 4 is a flow chart of a binocular camera calibration method according to another embodiment of the present invention.

[0034] Reference numerals:

[0035] 100: binocular camera calibration system; 10: laser transmitter; 20: adjustment mechanism; 30: first reflection surface; 31: first calibration pattern; 40: second reflection surface; 41: second calibration pattern; 50: base; 60: fixing frame; a: overlapping center; b: optical axis position;

[0036] 200: binocular camera; 210: left camera; 220: right camera. DETAILED DESCRIPTION

[0037] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0038] The disclosure below provides many different embodiments or examples to implement different structures of the present invention. In order to simplify the disclosure of the present invention, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present invention. In addition, the present invention can repeat reference numbers and / or letters in different examples. This repetition is for the purpose of simplicity and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides various specific processes and examples of materials, but those of ordinary skill in the art can be aware of the applicability of other processes and / or the use of other materials.

[0039] Reference below Figure 1-Figure 3The binocular camera calibration system 100 according to an embodiment of the present invention is described. The binocular camera calibration system 100 according to the embodiment of the present invention can be used to calibrate the binocular camera 200. It can be understood that in a binocular near-eye display device, since it is necessary to achieve the overlap of the left and right eye images at infinity, it is necessary to use a binocular camera 200 with parallel optical axes to calibrate the binocular near-eye display device. The present invention implements a binocular camera calibration system 100 for calibrating the binocular camera 200, so that the optical axes of the binocular camera 200 are parallel, so that the binocular camera 200 can be used to calibrate the binocular near-eye display device.

[0040] The binocular camera calibration system 100 implemented in the present invention includes a laser emitter 10, a first reflection surface 30, a second reflection surface 40 and an adjustment mechanism 20, wherein the laser emitter 10 is used to emit light to opposite sides to form a first calibration pattern 31 and a second calibration pattern 41; it can be understood that the first calibration pattern 31 and the second calibration pattern 41 can be the same, for example, the first calibration pattern 31 and the second calibration pattern 41 are both "cross", so that the center of the "cross" can be used to achieve positioning in both horizontal and vertical directions.

[0041] Please refer to Figure 1-Figure 2 , further, the first reflection surface 30 is arranged on the light path of the first calibration pattern 31 on one side of the laser emitter 10; so that the light of the first calibration pattern 31 emitted by the laser emitter 10 is projected on the first reflection surface 30. It should be noted that the binocular camera calibration system 100 of the embodiment of the present invention may not include the first reflection surface 30. In this case, when the binocular camera calibration system 100 of the embodiment of the present invention is used, the first calibration pattern 31 can be projected onto the wall surface so that the wall surface forms the first reflection surface 30. In the embodiment of the present invention, the binocular camera calibration system 100 includes the first reflection surface 30, which is only used to facilitate the understanding of the content of the present invention and does not constitute a limitation on the protection scope of the present invention.

[0042] Furthermore, the second reflective surface 40 is disposed on the light exit path of the second calibration pattern 41 on the other side of the laser emitter 10, and is used to reflect the second calibration pattern 41 to the first reflective surface 30, so that the second calibration pattern 41 and the first calibration pattern 31 overlap on the first reflective surface 30;

[0043] It should be noted that the position of the second reflecting surface 40 can be adjusted so that the second calibration pattern 41 overlaps with the first calibration pattern 31 and has an overlapping center a. It can be understood that since the laser emitter 10 emits the first calibration pattern 31 and the second calibration pattern 41 to opposite sides, when the second calibration pattern 41 is reflected by the second reflecting surface 40 and overlaps with the first calibration pattern 31 on the first reflecting surface 30, according to the law of reflection of light, the incident angle of the light is equal to the exit angle at this time, and the light of the second calibration pattern 41 emitted by the laser is vertically incident on the second reflecting surface 40. When the first calibration pattern 31 and the second calibration pattern 41 emitted by the laser emitter 10 are both "cross", positioning in both horizontal and vertical directions can be achieved.

[0044] It is understandable that, due to the small size of the laser emitter 10, the laser emitter 10 will not interfere with the light of the second calibration pattern 41 reflected by the second reflection surface 40. Alternatively, the interference generated is small and does not affect the overlap of the first calibration pattern 31 and the second calibration pattern 41.

[0045] Please refer to Figure 3 Further, the binocular camera 200 is arranged on the adjustment mechanism 20, and the adjustment mechanism 20 is used to adjust the position and angle of the binocular camera 200 to complete the calibration of the binocular camera 200. Specifically, the adjustment mechanism 20 can be set as one, and one adjustment mechanism 20 can adjust the position and angle of the left camera 210 and the right camera 220 of the binocular camera 200 at the same time. The adjustment mechanism 20 can also be set as two, and the two adjustment mechanisms 20 respectively adjust the position and angle of the left camera 210 and the right camera 220 of the binocular camera 200, thereby realizing the adjustment of the position and angle of the binocular camera 200 to complete the calibration of the binocular camera 200.

[0046] Please refer to Figure 1-Figure 3It should be noted that when the binocular camera 200 is adjusted by the adjustment mechanism 20, the physical center of the binocular camera 200 can be aligned with the center of the second calibration pattern 41 on the second reflective surface 40, that is, along the optical axis direction of the binocular camera 200, the physical center of the binocular camera 200 is aligned with the center of the second calibration pattern 41 on the second reflective surface 40, and the physical center of the binocular camera 200 refers to the midpoint of the optical axis of the left camera 210 and the optical axis of the right camera 220 in the binocular camera 200. When the second calibration pattern 41 coincides with the first calibration pattern 31, that is, at this time, the physical center of the binocular camera 200 also coincides with the center of the first calibration pattern 31. According to the pupil distance of the binocular camera 200, the optical axis positions b of the binocular cameras 200 are marked on both sides of the overlapping center a, and the position of the binocular camera 200 is adjusted using the adjustment mechanism 20 so that the left camera 210 and the right camera 220 of the binocular camera 200 are respectively aligned with their respective optical axis positions b, thereby achieving calibration of the binocular camera 200.

[0047] It should be noted that the pupil distance of the binocular camera 200 refers to the vertical distance between the optical axis of the left camera 210 and the optical axis of the right camera 220 in the binocular camera 200 .

[0048] The inventors found in actual research that the existing binocular camera calibration scheme is to use a binocular camera to shoot a double cross target in the distance so that the center of the binocular camera coincides with the two centers of the double cross target respectively. However, this scheme requires a high-quality extra-long guide rail to move the target, the guide rail is expensive and the device is large in size.

[0049] In view of this, according to the binocular camera calibration system 100 of the embodiment of the present invention, by using a bidirectional laser transmitter 10 and using a reflector to reflect the second calibration pattern 41, the second calibration pattern 41 is overlapped with the first calibration pattern 31 on the first reflection surface 30, and then the binocular camera 200 is adjusted by the adjustment mechanism 20 to achieve the calibration of the binocular camera 200. The calibration system has a simple structure and does not need to set a long guide rail, which can simplify the structure of the binocular camera calibration system 100 and reduce the production cost of the binocular camera calibration system 100. In addition, by using a reflective surface, under the condition of the same target distance, the binocular camera calibration system 100 of the embodiment of the present invention achieves nearly double the optical path, the angle calibration adjustment is more accurate, and the first reflection surface 30 can be directly replaced by a wall, further saving the space of the binocular camera calibration system 100.

[0050] In some embodiments, the laser transmitter 10 is an 8-line laser level. The 8-line laser level may include 4 horizontal lasers and 4 vertical lasers, so that the first calibration pattern 31 and the second calibration pattern 41 can be emitted to opposite sides. Specifically, for example, the 8-line laser level can form a "cross" pattern on opposite sides to form the first calibration pattern 31 and the second calibration pattern 41. Therefore, the 8-line laser level has the characteristics of high precision, high efficiency, and easy operation, so that the accuracy of the binocular camera calibration system 100 can be further improved.

[0051] In some embodiments, the first reflection surface 30 is a diffuse reflection surface, and the second reflection surface 40 is a mirror reflection surface. It should be noted that the first reflection surface 30 is mainly used to receive the first calibration pattern 31, and receive the second calibration pattern 41 reflected by the second reflection surface 40, and after the first calibration pattern 31 and the second calibration pattern 41 are overlapped, the optical axis positions b of the binocular cameras 200 are marked on the first reflection surface 30 according to the pupil distance of the binocular camera 200. Therefore, the first reflection surface 30 is set as a diffuse reflection surface, and when the second reflection surface 40 is adjusted to overlap the second calibration pattern 41 with the first calibration pattern 31, it can be more convenient for the operator to observe.

[0052] Furthermore, the second reflection surface 40 is a mirror reflection surface, so that when the second calibration pattern 41 is reflected from the second reflection surface 40 to the first reflection surface 30, the light energy loss is smaller, and by utilizing mirror reflection, when the second calibration pattern 41 coincides with the first calibration pattern 31, according to the law of reflection of light, at this time, the incident angle of the light is equal to the exit angle, and the light of the second calibration pattern 41 emitted by the laser is vertically incident on the second reflection surface 40. When the first calibration pattern 31 and the second calibration pattern 41 emitted by the laser emitter 10 are both "cross", positioning in both horizontal and vertical directions can be achieved.

[0053] In some optional embodiments, the binocular camera calibration system 100 further includes a curtain and a reflector, the first reflective surface 30 is a diffuse reflective surface of the curtain, and the second reflective surface 40 is a mirror surface of the reflector. It can be understood that the first reflective surface 30 can be a diffuse reflective surface of the curtain, so that the diffuse reflection effect is better, thereby further improving the calibration accuracy of the binocular camera calibration system 100. The second reflective surface 40 can be a mirror surface of the reflector, which has a simple structure and low cost, thereby further simplifying the structure of the binocular camera calibration system 100 and reducing the manufacturing cost.

[0054] In some optional embodiments, the binocular camera calibration system 100 further includes a fixing frame 60, and the fixing frame 60 is used to fix the reflector. Therefore, by using the fixing frame 60 to fix the reflector, the binocular camera calibration system 100 is made more stable and reliable, and the stability of the binocular camera calibration system 100 is further improved. Specifically, the fixing frame 60 and the reflector can be detachably connected by means of a slot, a buckle, etc., and the embodiment of the present invention is not limited to this.

[0055] In some embodiments, the adjustment mechanism 20 is a six-axis adjustment platform, and the six-axis adjustment platform includes an X-axis, a Y-axis, a Z-axis, an Rx-axis, an Ry-axis, and an Rz-axis adjustable structure. That is, the six-axis adjustment platform realizes translation of the X-axis, translation of the Y-axis, translation of the Z-axis, rotation of the X-axis, rotation of the Y-axis, and rotation of the Z-axis. Among them, the X-axis, the Y-axis, and the Z-axis are perpendicular to each other. Thus, the binocular camera 200 can be adjusted in six dimensions through the six-axis adjustment platform, thereby increasing the adjustable factors of the binocular camera 200, which is convenient for the binocular camera calibration system 100 to calibrate the binocular camera 200.

[0056] In some optional embodiments, the binocular camera calibration system 100 further includes a base 50, and the adjustment mechanism 20 and the binocular camera 200 are disposed on the base 50. Thus, by using the base 50 to fix the adjustment mechanism 20, the binocular camera calibration system 100 is made more stable and reliable, and the stability of the binocular camera calibration system 100 is further improved. It can be understood that the reflector can be fixed on the base 50 by a fixing frame 60. Therefore, by adjusting the position of the base 50, the overall position of the reflector and the binocular camera 200 can be adjusted.

[0057] The embodiment of the present invention provides a binocular camera calibration method, wherein the binocular camera 200 is calibrated by the binocular camera calibration system 100, and the method includes:

[0058] S10: Fix the binocular camera 200 on the adjustment mechanism 20 and place the binocular camera 200 on the same horizontal plane, align the center of the second reflection surface 40 with the physical center of the binocular camera 200, and fix the second reflection surface 40 to the adjustment mechanism 20;

[0059] It should be noted that the center of the second reflective surface 40 is aligned with the physical center of the binocular camera 200, that is, the center of the second reflective surface 40 is aligned with the midpoint of the optical axis of the left camera 210 and the optical axis of the right camera 220 in the binocular camera 200. The second reflective surface 40 may be a mirror surface of a reflector, and the reflector is fixed by a fixing frame 50, and the fixing frame 50 is fixed to the adjustment mechanism 20.

[0060] S20: Turn on the laser emitter 10 so that the laser emitter 10 emits light to two opposite sides and forms a first calibration pattern 31 and a second calibration pattern 41. The light of the first calibration pattern 31 is emitted toward the first reflection surface 30, and the light of the second calibration pattern 41 is emitted toward the first reflection surface 30 after passing through the second reflection surface 40;

[0061] It can be understood that the laser transmitter 10 can be an 8-line laser level, and the 8-line laser level can form a "cross" pattern on two opposite sides to form the first calibration pattern 31 and the second calibration pattern 41.

[0062] S30: adjusting the position of the second reflective surface 40 so that the first calibration pattern 31 and the second calibration pattern 41 overlap with the first reflective surface 30;

[0063] It should be noted that since the laser emitter 10 emits the first calibration pattern 31 and the second calibration pattern 41 to opposite sides, the light paths of the first calibration pattern 31 and the second calibration pattern 41 are symmetrical. When the position of the second reflecting surface 40 is adjusted so that the second calibration pattern 41 and the first calibration pattern 31 overlap on the first reflecting surface 30, the light of the second calibration pattern 41 of the laser emitter 10 is vertically incident on the second reflecting surface 40.

[0064] S40: marking respective optical axis positions b of the binocular camera 200 on both sides of the overlapping center a of the first calibration pattern 31 and the second calibration pattern 41 on the first reflective surface 30 according to the pupil distance of the binocular camera 200;

[0065] S50 : using the adjustment mechanism 20 to adjust the position and angle of the binocular camera 200 , so that the binocular cameras 200 are respectively aligned with their respective optical axis positions b to complete the calibration of the binocular camera 200 .

[0066] Specifically, the binocular camera 200 may be adjusted so that the central crosshairs of the binocular camera 200 coincide with the respective optical axis positions b, thereby achieving calibration of the binocular camera 200 .

[0067] It can be understood that since the physical center of the binocular camera 200 is aligned with the center of the second reflective surface 40, and when the second calibration pattern 41 coincides with the first calibration pattern 31, the light of the second calibration pattern 41 is perpendicular to the reflector, by marking the respective optical axis positions b of the left camera 210 and the right camera 220 in the binocular camera 200 on both sides of the overlapping center a of the second calibration pattern 41 and the first calibration pattern 31, the position and angle of the binocular camera 200 are adjusted so that the binocular camera 200 is respectively aligned with the respective optical axis positions b to achieve calibration of the binocular camera 200, and at this time, a binocular camera 200 with parallel optical axes can be obtained.

[0068] According to the binocular camera calibration method of the embodiment of the present invention, by using the binocular camera calibration system 100 of the embodiment of the present invention to calibrate the binocular camera 200, the calibration system has a simple structure and does not need to set a long guide rail, which can simplify the structure of the binocular camera calibration system 100, reduce the production cost of the binocular camera calibration system 100, and reduce the process difficulty of calibrating the binocular camera 200. In addition, by using the reflective surface, under the condition of the same target distance, the binocular calibration system of the embodiment of the present invention achieves nearly double the optical path, and the angle calibration adjustment is more accurate, so that the binocular camera 200 calibrated by the binocular camera calibration method of the embodiment of the present invention is more accurate.

[0069] In some embodiments, before the step of adjusting the position of the second reflective surface 40 so that the first calibration pattern 31 and the second calibration pattern 41 overlap with the first reflective surface 30, the method further includes:

[0070] S21 : adjusting the position of the laser emitter 10 so that the center of the second calibration pattern 41 is located at the center of the second reflective surface 40 .

[0071] It can be understood that by locating the center of the second calibration pattern 41 at the center of the second reflective surface 40, and since the center of the second reflective surface 40 is aligned with the midpoint of the optical axis of the left camera 210 and the optical axis of the right camera 220 in the binocular camera 200, the center of the second calibration pattern 41 is just located in the middle of the optical axis of the left camera 210 and the optical axis of the right camera 220. After marking the optical axis position b on the first reflective surface 30 according to the pupil distance, the calibration of the binocular camera 200 can be achieved by directly aligning the left camera 210 and the right camera 220 to their respective optical axis positions b. In addition, by locating the center of the second calibration pattern 41 at the center of the second reflective surface 40, it is easier to align the left camera 210 and the right camera 220 to their respective optical axis positions b, and the calibration of the binocular camera 200 can be achieved by only adjusting the angles of the left camera 210 and the right camera 220.

[0072] In some optional embodiments, the step of adjusting the position of the second reflective surface 40 so that the first calibration pattern 31 and the second calibration pattern 41 overlap with the first reflective surface 30 includes:

[0073] S31 : adjusting the overall position of the adjustment mechanism 20 and the second reflective surface 40 so that the first calibration pattern 31 and the second calibration pattern 41 overlap with the first reflective surface 30 .

[0074] It should be noted that the center of the second reflective surface 40 is aligned with the physical center of the binocular camera 200. When the overall position of the adjustment mechanism 20 and the second reflective surface 40 is adjusted, the first calibration pattern 31 and the second calibration pattern 41 overlap on the first reflective surface 30, that is, at this time, the physical center of the binocular camera 200 is aligned with the overlapping center a of the first calibration pattern 31 and the second calibration pattern 41. Therefore, after marking the optical axis position b on the first reflective surface 30 according to the pupil distance, the calibration of the binocular camera 200 can be achieved by directly aligning the left camera 210 and the right camera 220 with their respective optical axis positions b. In addition, by locating the center of the second calibration pattern 41 at the center of the second reflective surface 40, it is easier to align the left camera 210 and the right camera 220 with their respective optical axis positions b, and the calibration of the binocular camera 200 can be achieved by only adjusting the angles of the left camera 210 and the right camera 220.

[0075] Other structures and operations of the binocular camera calibration method of the binocular camera calibration system 100 according to the embodiment of the present invention are known to those skilled in the art and will not be described in detail here.

[0076] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0077] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0078] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0079] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0080] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0081] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A binocular camera calibration system, used for calibrating a binocular camera, characterized in that: The binocular camera calibration system comprises a laser transmitter, a first reflection surface, a second reflection surface and an adjustment mechanism, wherein: The binocular camera is arranged on the adjustment mechanism; The laser emitter is used to emit light to two opposite sides to form a first calibration pattern and a second calibration pattern; The first reflective surface is disposed on a light path of a first calibration pattern on one side of the laser transmitter; The second reflective surface is disposed on the light exit path of the second calibration pattern on the other side of the laser transmitter, and is used to reflect the second calibration pattern to the first reflective surface, so that the second calibration pattern and the first calibration pattern overlap on the first reflective surface, the center of the second reflective surface is aligned with the physical center of the binocular camera, and the second reflective surface is fixed to the adjustment mechanism; The adjustment mechanism is used to adjust the position and angle of the binocular camera to complete the calibration of the binocular camera.

2. The binocular camera calibration system according to claim 1, characterized in that: The laser transmitter is an 8-line laser level.

3. The binocular camera calibration system according to claim 1, characterized in that: The first reflection surface is a diffuse reflection surface, and the second reflection surface is a specular reflection surface.

4. The binocular camera calibration system according to claim 3, characterized in that: It also includes a curtain and a reflector, wherein the first reflective surface is a diffuse reflective surface of the curtain, and the second reflective surface is a mirror surface of the reflector.

5. The binocular camera calibration system according to claim 4, characterized in that: Also included is a fixing frame, which is used to fix the reflecting mirror.

6. The binocular camera calibration system according to claim 1, characterized in that: The adjustment mechanism is a six-axis adjustment platform, and the six-axis adjustment platform includes adjustable structures of X-axis, Y-axis, Z-axis, Rx-axis, Ry-axis, and Rz-axis.

7. The binocular camera calibration system according to claim 1, characterized in that: It also includes a base, and the adjustment mechanism and the binocular camera are arranged on the base.

8. A binocular camera calibration method, characterized in that: The binocular camera is calibrated by the binocular camera calibration system according to any one of claims 1 to 7, and the method comprises: Fixing the binocular camera on the adjustment mechanism and placing the binocular cameras on the same horizontal plane, aligning the center of the second reflection surface with the physical center of the binocular camera, and fixing the second reflection surface to the adjustment mechanism; Turning on the laser emitter to emit light to two opposite sides and forming the first calibration pattern and the second calibration pattern, wherein the light of the first calibration pattern is emitted toward the first reflecting surface, and the light of the second calibration pattern is emitted toward the first reflecting surface after passing through the second reflecting surface; adjusting the position of the second reflective surface so that the first calibration pattern and the second calibration pattern overlap on the first reflective surface; According to the pupil distance of the binocular camera, marking respective optical axis positions in the binocular camera on both sides of the overlapping center of the first calibration pattern and the second calibration pattern on the first reflecting surface; The adjustment mechanism is used to adjust the position and angle of the binocular camera so that the binocular cameras are aligned with their respective optical axis positions to complete the calibration of the binocular camera.

9. The method according to claim 8, characterized in that Before the step of adjusting the position of the second reflective surface so that the first calibration pattern and the second calibration pattern overlap on the first reflective surface, the method further includes: The position of the laser emitter is adjusted so that the center of the second calibration pattern is located at the center of the second reflective surface.

10. The method according to claim 9, characterized in that The step of adjusting the position of the second reflective surface so that the first calibration pattern and the second calibration pattern overlap on the first reflective surface comprises: The overall position of the adjustment mechanism and the second reflective surface is adjusted so that the first calibration pattern and the second calibration pattern overlap on the first reflective surface.

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