Panoramic image calibration method and system, electronic equipment and storage medium

Abstract

The invention discloses a panoramic image calibration method and system, electronic equipment and a storage medium, and the method comprises the steps: carrying out the image collection of a checkerboard through a model calibration machine, and obtaining a plurality of checkerboard images; all checkerboard images are calibrated and analyzed through a calibration tool, and a model calibration result file is generated; obtaining a plurality of to-be-calibrated products, and building a calibration production line; performing image acquisition on a to-be-calibrated product to obtain a plurality of product images; inputting all product images and model calibration result files into a calibration tool for calibration analysis, and outputting a product calibration result file; creating a mask image corresponding to the product image, and performing parameter configuration on the mask image and the product calibration result file through a calibration tool to obtain a lookup table and an effective region boundary table; and splicing the product images according to the lookup table and the effective region boundary table to obtain a target panoramic image. According to the embodiment of the invention, the calibration precision is improved, so that high-quality and high-efficiency panoramic image calibration is realized.

Description

Technical Field

[0001] The present application relates to the field of image processing technology, and in particular to a panoramic image calibration method, system, electronic device and storage medium. Background Art

[0002] Panoramic camera technology is widely used in virtual reality (VR), augmented reality (AR), autonomous driving and other fields. Panoramic cameras use multiple lenses to synchronously capture images of the surrounding environment and merge these images into a seamless panorama through image stitching technology. In order to ensure the quality and accuracy of the stitched image, related technologies usually calibrate each lens.

[0003] In the field of computer vision and machine vision, camera calibration is a crucial step. It involves the precise measurement and correction of the camera's intrinsic and extrinsic parameters to ensure that the image data can accurately reflect objects and scenes in the real world. However, due to individual differences and environmental factors, the imaging process of the actual camera will be affected by factors such as lens distortion and optical center offset, which may lead to certain errors in the calibration results, further resulting in poor stitching image quality. Summary of the invention

[0004] The embodiments of the present application provide a panoramic image calibration method, system, electronic device and storage medium to improve calibration accuracy, thereby achieving high-quality and efficient panoramic image calibration.

[0005] In a first aspect, an embodiment of the present application provides a panoramic image calibration method, the method comprising:

[0006] The chessboard is imaged by a preset model calibration machine to obtain a plurality of chessboard images;

[0007] Performing calibration analysis on all the checkerboard images using a preset calibration tool to generate a model calibration result file;

[0008] Obtain multiple products to be calibrated, build a calibration production line, and add all the products to be calibrated to the calibration production line;

[0009] Capturing images of the products to be calibrated on the calibration production line by the model calibration machine to obtain a plurality of product images;

[0010] Inputting all the product images and the model calibration result files into the calibration tool for calibration analysis, and outputting the product calibration result files;

[0011] Creating a mask image corresponding to the product image, and configuring parameters of the mask image and the product calibration result file through the calibration tool to obtain a lookup table and a valid area boundary table;

[0012] The product images are spliced ​​according to the lookup table and the effective area boundary table to obtain a target panoramic image.

[0013] The panoramic image calibration method provided in the embodiment of the present application has at least the following beneficial effects: first, a checkerboard image is captured by a preset model calibration machine to obtain a plurality of checkerboard images, and then all the checkerboard images are calibrated and analyzed by a preset calibration tool, so that the position and direction of the model calibration machine in space can be determined, and a model calibration result file can be generated to improve the calibration accuracy of the model calibration machine. The model calibration result file can reduce the errors introduced in the feature point extraction and matching process, and improve the reliability of the calibration result. Then, a plurality of products to be calibrated are obtained, and a calibration production line is built, and all the products to be calibrated are added to the calibration production line, so as to simplify the production line calibration process and improve the calibration efficiency and accuracy. Afterwards, the image of the products to be calibrated on the calibration production line is captured by the model calibration machine, so that the differences between individual products can be resolved, and a plurality of product images can be obtained. The single product can be reduced through assembly line operation. The time required for product calibration is reduced, and errors caused by improper operation are reduced. All product images and the model calibration result file are then input into the calibration tool for calibration analysis, and the product calibration result file is output, thereby reducing manual intervention and improving the degree of automation of the calibration process. Finally, a mask image corresponding to the product image is created to improve the fusion effect, and the mask image and the product calibration result file are configured with parameters through the calibration tool to obtain a lookup table and a valid area boundary table, which is convenient for subsequent improvement of the accuracy of the puzzle. The product images are then spliced ​​according to the lookup table and the valid area boundary table to obtain the target panoramic image. The lookup table can ensure that the color of the image remains consistent between different devices, making the transition at the splicing point smoother. The relative position of each image can be determined through the effective area boundary to ensure boundary alignment, so that a smooth and coherent panorama can be obtained, thereby improving the stitching quality of the panorama.

[0014] In some embodiments, the image acquisition of the checkerboard by a preset model calibration machine to obtain multiple checkerboard images includes:

[0015] The chessboard is calibrated with a single lens through a preset model calibration machine to obtain multiple internal reference calibration images;

[0016] The adjacent lenses of the chessboard are calibrated by a preset model calibration machine to obtain multiple extrinsic calibration images;

[0017] The internal reference calibration image and the external reference calibration image are sorted to obtain a plurality of checkerboard images.

[0018] In some embodiments, the single-lens calibration of the chessboard is performed by a preset model calibration machine to obtain multiple internal reference calibration images, including:

[0019] Acquiring the field of view angle of the model calibration machine, and determining the field of view range of the model calibration machine according to the field of view angle;

[0020] Setting a first position, a second position, a third position and a fourth position of the model calibration machine, wherein the distances of the first position, the second position, the third position and the fourth position from the chessboard are increased in sequence;

[0021] At the first position, adjusting the position of the checkerboard so that the checkerboard occupies the field of view of the model calibration machine, and performing image acquisition on the checkerboard through the model calibration machine to obtain a first image;

[0022] At the second position, a plurality of test checkerboards are arranged, the positions of the plurality of test checkerboards are adjusted, and images of the test checkerboards are captured by the model calibration machine to obtain a plurality of second images;

[0023] At the third position and the fourth position, multiple test positions are selected in the field of view, the chessboard is rotated multiple times according to the test positions, and the model calibration machine is used to collect images of the chessboard after each rotation operation to obtain multiple third images corresponding to the third position and multiple fourth images corresponding to the fourth position;

[0024] A plurality of internal reference calibration images are obtained according to the first image, a plurality of the second images, a plurality of the third images and a plurality of the fourth images.

[0025] In some embodiments, the adjacent lens calibration of the chessboard is performed by a preset model calibration machine to obtain a plurality of external parameter calibration images, including:

[0026] Acquiring the field of view angle of the model calibration machine, and determining the field of view range of the model calibration machine according to the field of view angle;

[0027] Setting a fifth position, a sixth position and a seventh position of the model calibration machine, wherein the distances of the fifth position, the sixth position and the seventh position from the chessboard are increased in sequence;

[0028] Splicing the first chessboard grid and the second chessboard grid to determine an overlapping area between the first chessboard grid and the second chessboard grid;

[0029] At the fifth position, adjusting the field of view of the model calibration machine to align with the overlapping area, and performing image acquisition on the first chessboard and the second chessboard to obtain a plurality of fifth images;

[0030] At the sixth position, adjusting the positions of the first chessboard and the second chessboard according to the overlapping area, and performing image acquisition on the first chessboard and the second chessboard by the model calibration machine to obtain a plurality of sixth images;

[0031] At the seventh position, the model calibration machine is used to collect images of the first chessboard and the second chessboard to obtain a plurality of seventh images;

[0032] A plurality of extrinsic calibration images are obtained according to the plurality of fifth images, the plurality of sixth images and the plurality of seventh images.

[0033] In some embodiments, adjusting the positions of the plurality of test checkerboards and acquiring images of the test checkerboards by the model calibration machine to obtain a plurality of second images includes:

[0034] Adjusting the positions of the plurality of test checkerboards so that the plurality of test checkerboards occupy the entire field of view of the model calibration machine, and performing image acquisition on the test checkerboards by the model calibration machine to obtain a plurality of first-perspective images;

[0035] Performing a trapezoidal transformation on the test chessboard, and tilting the test chessboard at a preset angle, and performing image acquisition on the tilted test chessboard by the model calibration machine to obtain a plurality of second-viewing angle images;

[0036] A plurality of second images are obtained according to the plurality of first-perspective images and the plurality of second-perspective images.

[0037] In some embodiments, the test positions include a first test position, a second test position, and a third test position; performing multiple rotation operations on the chessboard according to the test positions, and performing image acquisition on the chessboard after each rotation operation by the model calibration machine, includes:

[0038] At the first test position, rotating the checkerboard at a preset rotation angle, determining a first angle of the checkerboard, and performing image acquisition of the checkerboard at the first angle by the model calibration machine;

[0039] At the second test position, the checkerboard is rotated at a preset rotation angle based on the first angle to determine a second angle of the checkerboard, and an image of the checkerboard at the second angle is captured by the model calibration machine;

[0040] At the third test position, the checkerboard is rotated at a preset rotation angle based on the second angle to determine a third angle of the checkerboard, and an image of the checkerboard at the third angle is captured by the model calibration machine.

[0041] In some embodiments, the parameter configuration of the mask image and the product calibration result file by the calibration tool to obtain a lookup table and a valid area boundary table includes:

[0042] Obtaining the field of view angle and machine position of the model calibration machine;

[0043] Determine a valid area in the mask image, and configure stitching parameters of the calibration tool, wherein the stitching parameters are obtained according to the field of view angle and machine position of the model calibration machine;

[0044] Generate a lookup table according to the splicing parameters and the product calibration result file;

[0045] Determine the region boundary of the effective region, and extract the region coordinates of the region boundary;

[0046] A valid area boundary table is generated according to the area coordinates.

[0047] In a second aspect, an embodiment of the present application further provides a panoramic image calibration system, the panoramic image calibration system comprising:

[0048] An image acquisition module is used to acquire images of the chessboard through a preset model calibration machine to obtain multiple chessboard images;

[0049] A calibration analysis module, used to perform calibration analysis on all the checkerboard images using a preset calibration tool to generate a model calibration result file;

[0050] A production line building module is used to obtain multiple products to be calibrated, build a calibration production line, and add all the products to be calibrated to the calibration production line;

[0051] A product acquisition module, used to acquire images of the products to be calibrated on the calibration production line through the model calibration machine to obtain multiple product images;

[0052] A file output module, used for inputting all the product images and the model calibration result files into the calibration tool for calibration analysis, and outputting the product calibration result files;

[0053] A parameter configuration module, used to create a mask image corresponding to the product image, and perform parameter configuration on the mask image and the product calibration result file through the calibration tool to obtain a lookup table and a valid area boundary table;

[0054] An image stitching module is used to stitch the product images according to the lookup table and the effective area boundary table to obtain a target panoramic image.

[0055] In a third aspect, an embodiment of the present application further provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the panoramic image calibration method as described in the first aspect is implemented.

[0056] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the panoramic image calibration method as described in the first aspect.

[0057] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or understood by practicing the present application. The purpose and other advantages of the present application can be realized and obtained through the structures particularly pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] The accompanying drawings are used to provide further understanding of the technical solution of the present application and constitute a part of the specification. Together with the examples of the present application, they are used to explain the technical solution of the present application and do not constitute a limitation on the technical solution of the present application.

[0059] Figure 1 is a specific flow chart of a panoramic image calibration method provided by an embodiment of the present application;

[0060] Figure 2 is a specific flow chart of step S101 provided in an embodiment of the present application;

[0061] Figure 3 is a specific flow chart of step S201 provided in an embodiment of the present application;

[0062] Figure 4 is a specific flow chart of step S202 provided in an embodiment of the present application;

[0063] Figure 5 is a specific flow chart of step S304 provided in an embodiment of the present application;

[0064] Figure 6 is a specific flow chart of step S305 provided in an embodiment of the present application;

[0065] Figure 7 It is a specific flow chart of configuring parameters of a mask image and a product calibration result file through a calibration tool provided in an embodiment of the present application;

[0066] Figure 8 is a system schematic diagram of a panoramic image calibration system provided in an embodiment of the present application;

[0067] Fig. 9 It is a schematic diagram of the hardware structure of the electronic device provided in the embodiment of the present application. DETAILED DESCRIPTION

[0068] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0069] It should be noted that, although the functional modules are divided in the device schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first", "second", etc. in the specification, claims and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0070] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0071] A panoramic image calibration method provided in an embodiment of the present application can be applied to a terminal, can be applied to a server, or can be software running in a terminal or a server. In some embodiments, the terminal can be a smart phone, a tablet computer, a laptop computer, a desktop computer, or a smart watch, etc.; the server can be configured as an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content distribution networks (CDNs), and big data and artificial intelligence platforms; the software can be an application that implements the above method, etc., but is not limited to the above forms.

[0072] Embodiments of the present application can be used in numerous general or special computer system environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer computer devices, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, etc. The present application can be described in the general context of computer executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application can also be practiced in distributed computing environments, in which tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0073] Panoramic camera technology is widely used in virtual reality (VR), augmented reality (AR), autonomous driving and other fields. Panoramic cameras use multiple lenses to synchronously capture images of the surrounding environment and merge these images into a seamless panorama through image stitching technology. In order to ensure the quality and accuracy of the stitched image, related technologies usually calibrate each lens.

[0074] In the field of computer vision and machine vision, camera calibration is a crucial step. It involves the precise measurement and correction of the camera's intrinsic and extrinsic parameters to ensure that the image data can accurately reflect objects and scenes in the real world. However, due to individual differences and environmental factors, the imaging process of the actual camera will be affected by factors such as lens distortion and optical center offset, which may lead to certain errors in the calibration results, further resulting in poor stitching image quality.

[0075] In order to solve the above problems, the embodiments of the present application provide a panoramic image calibration method, system, electronic device and storage medium. First, a preset model calibration machine is used to collect images of the chessboard to obtain multiple chessboard images. Then, a preset calibration tool is used to calibrate and analyze all the chessboard images, so that the position and direction of the model calibration machine in space can be determined, and a model calibration result file is generated to improve the calibration accuracy of the model calibration machine. The model calibration result file can reduce the errors introduced in the feature point extraction and matching process, and improve the reliability of the calibration result. Then, multiple products to be calibrated are obtained, and a calibration production line is built. All products to be calibrated are added to the calibration production line, thereby simplifying the production line calibration process and improving the calibration efficiency and accuracy. Afterwards, the model calibration machine is used to collect images of the products to be calibrated on the calibration production line, so as to resolve the differences between individual products and obtain multiple product images. The operation can reduce the time required for calibration of a single product and reduce errors caused by improper operation. All product images and the model calibration result file are then input into the calibration tool for calibration analysis, and the product calibration result file is output, thereby reducing manual intervention and improving the degree of automation of the calibration process. Finally, a mask image corresponding to the product image is created to improve the fusion effect. The mask image and the product calibration result file are configured with parameters through the calibration tool to obtain a lookup table and a valid area boundary table, which is convenient for subsequent improvement of the accuracy of the puzzle. The product images are then spliced ​​according to the lookup table and the valid area boundary table to obtain the target panoramic image. The lookup table can ensure that the color of the image remains consistent between different devices, making the transition at the splicing point smoother. The relative position of each image can be determined through the valid area boundary to ensure boundary alignment, thereby obtaining a smooth and coherent panorama and improving the stitching quality of the panorama.

[0076] Reference Figure 1 , Figure 1 1 is a specific flow chart of a panoramic image calibration method provided in an embodiment of the present application. In some embodiments, the panoramic image calibration method includes but is not limited to steps S101 to S107.

[0077] Step S101, collecting images of a chessboard through a preset model calibration machine to obtain a plurality of chessboard images.

[0078] In some embodiments, a preset model calibration machine is used to capture images of the chessboard. During calibration, the machine needs to take a large number of chessboard pictures to obtain multiple chessboard images to ensure the robustness of the calibration results. In addition, in the process of capturing images of the chessboard in the embodiments of the present application, it is necessary to capture images of two types of scenes for calibration. The first type is a scene for calibrating the distortion correction of a single lens, and the second type is a scene for calibrating the relative positions of adjacent lenses, so as to facilitate the subsequent seamless stitching of multi-camera images and create a continuous panoramic image. This process will be described in detail later and will not be repeated in the embodiments of the present application.

[0079] It should be noted that the model calibration machine in the embodiment of the present application can be a camera, a sensor, etc. The embodiment of the present application takes the model calibration machine as a camera as an example for explanation, and the number of inner corner points of the chessboard is 9x6, and the inner corner points are the corner intersections of all small black squares and white squares excluding the outermost circle. The size of a single grid is 5 cm, and the edge of the chessboard retains a white edge of at least 8 cm, which is beneficial to improve the speed and accuracy of chessboard detection.

[0080] Step S102, performing calibration analysis on all chessboard images using a preset calibration tool to generate a model calibration result file.

[0081] In some embodiments, all checkerboard images are calibrated and analyzed through a preset calibration tool to generate a model calibration result file, wherein the generated model calibration result file contains the precise geometric information of the checkerboard calibration plate, including the physical size and spatial layout of the grid points. The model calibration result file can improve the accuracy of camera calibration, facilitate subsequent auxiliary calibration software to automatically identify and extract feature points in the checkerboard image, reduce manual intervention, and improve the degree of automation of the calibration process.

[0082] It should be noted that the calibration tool of the embodiment of the present application is an AVSP (Advanced Vision-based Sensor Positioning) calibration tool.

[0083] Step S103, obtain multiple products to be calibrated, build a calibration production line, and add all products to be calibrated to the calibration production line.

[0084] In some embodiments, multiple products to be calibrated are obtained. Since each product to be calibrated needs to be calibrated, in order to resolve the differences between individual products to be calibrated, the embodiment of the present application will build a calibration production line, and add all products to be calibrated to the calibration production line. Through assembly line operation, the efficiency of the calibration process can be significantly improved, and the time required for calibration of a single product can be reduced. In addition, the calibration production line facilitates the monitoring and management of the calibration process, and the calibration progress and status can be understood in real time.

[0085] Step S104: Capture images of the products to be calibrated on the calibration production line using a model calibration machine to obtain a plurality of product images.

[0086] In some embodiments, a model calibration machine is used to capture images of products to be calibrated on the calibration production line. During the calibration process, it is only necessary to place the product to be calibrated in a specific spherical environment and take an image to obtain multiple product images, thereby reducing the impact of environmental changes on the calibration accuracy, simplifying the production line calibration process, and improving calibration efficiency and accuracy. The automated calibration process reduces manual intervention and improves production efficiency and calibration repeatability.

[0087] Step S105, input all product images and model calibration result files into the calibration tool for calibration analysis, and output product calibration result files.

[0088] In some embodiments, all product images and model calibration result files are input into the calibration tool for calibration analysis, and the product calibration result files are output. The captured product images and the model calibration result files generated in step S102 are used as inputs to the calibration tool. The AVSP calibration tool can be used to generate a product calibration result file for the product to be calibrated, and calibration results are generated for the specific characteristics of different individuals or cameras to ensure that the calibration result of each camera is optimal. Accurate calibration results can improve the geometric distortion of the image and improve the image quality.

[0089] Step S106, creating a mask image corresponding to the product image, and configuring parameters of the mask image and the product calibration result file through a calibration tool to obtain a lookup table and a valid area boundary table.

[0090] In some embodiments, a mask image corresponding to the product image is created. Specifically, the embodiments of the present application need to create a mask image to identify the valid area of ​​the product image, and the mask image must be an image with the same input resolution as the product image. In the mask image, the white area represents the valid area, and the black area represents the invalid area. The mask image and the product calibration result file are parameterized through a calibration tool to obtain a lookup table and a valid area boundary table, which facilitates the subsequent creation of various visual effects and stylized processing through the lookup table, and the valid area boundary table is used to define the bounding box of the target to quickly locate and identify the target.

[0091] It should be noted that, in most cases, it is not necessary to crop part of the overlapping area. Only when the system processing pressure is high, the effective area of ​​the mask image can be adjusted, for example, the overlapping area can be reduced to reduce the system processing performance pressure.

[0092] Step S107 , stitching the product images according to the lookup table and the effective area boundary table to obtain a target panoramic image.

[0093] In some embodiments, product images are stitched according to a lookup table and a valid area boundary table. Specifically, the color space of each image is matched through the lookup table, the brightness and contrast of the image are adjusted to ensure that the stitched image maintains color consistency, and the relative position of each image is determined through the valid area boundary table to ensure boundary alignment and reduce seams after stitching, thereby creating a smooth transition effect and obtaining a target panoramic image, thereby creating a seamless or less-seamful panoramic image.

[0094] Reference Figure 2 , Figure 2 is a specific flow chart of step S101 provided in an embodiment of the present application. In some embodiments, step S101 specifically includes but is not limited to step S201 and step S203.

[0095] Step S201 , single-lens calibration is performed on the chessboard using a preset model calibration machine to obtain a plurality of internal reference calibration images.

[0096] Step S202, calibrating adjacent lenses on the chessboard using a preset model calibration machine to obtain a plurality of extrinsic calibration images.

[0097] Step S203, sorting the internal reference calibration image and the external reference calibration image to obtain a plurality of checkerboard images.

[0098] In steps S201 to S203 of some embodiments, in the process of acquiring images of the chessboard by a preset model calibration machine, it is necessary to capture images of two types of scenes for calibration, the first being a scene for calibrating the distortion correction of a single lens, and the second being a scene for calibrating the relative positions of adjacent lenses. Specifically, the embodiment of the present application performs single-lens calibration on the chessboard by a preset model calibration machine, thereby achieving distortion correction of the image acquired by the model calibration machine, and obtaining a plurality of internal reference calibration images, thereby improving the geometric quality of the image and reducing the bending and deformation of the edges. The preset model calibration machine performs adjacent lens calibration on the chessboard, thereby determining the relative position and direction between each lens in the camera array, and providing the necessary spatial reference for the multi-camera system. Finally, the internal reference calibration images and the external reference calibration images are sorted to obtain a plurality of chessboard images, which facilitates the subsequent seamless stitching of multi-camera images and creates a continuous panoramic image.

[0099] Reference Figure 3 , Figure 3 It is a specific flow chart of step S201 provided in an embodiment of the present application. In some embodiments, step S201 specifically includes but is not limited to step S301 and step S306.

[0100] Step S301, obtaining the field of view angle of the model calibration machine, and determining the field of view range of the model calibration machine according to the field of view angle.

[0101] Step S302, setting the first position, the second position, the third position and the fourth position of the model calibration machine.

[0102] It should be noted that the distances from the first position, the second position, the third position and the fourth position to the chessboard grid increase in sequence.

[0103] Step S303, at the first position, adjusting the position of the chessboard so that the chessboard occupies the field of view of the model calibration machine, and performing image acquisition on the chessboard through the model calibration machine to obtain a first image.

[0104] Step S304, setting a plurality of test checkerboards at the second position, adjusting the positions of the plurality of test checkerboards and performing image acquisition on the test checkerboards through a model calibration machine to obtain a plurality of second images.

[0105] Step S305, at the third position and the fourth position, select multiple test positions in the field of view, perform multiple rotation operations on the chessboard according to the test positions, and use the model calibration machine to capture images of the chessboard after each rotation operation to obtain multiple third images corresponding to the third position and multiple fourth images corresponding to the fourth position.

[0106] Step S306, obtaining a plurality of internal reference calibration images according to the first image, the plurality of second images, the plurality of third images and the plurality of fourth images.

[0107] In steps S301 to S306 of some embodiments, in the process of single-lens calibration of the chessboard by a preset model calibration machine, first, the field of view (FOV) of the model calibration machine is obtained, and the field of view of the model calibration machine is determined according to the field of view, that is, the field of view that the model calibration machine can capture, and then the first position, second position, third position and fourth position of the model calibration machine are set to facilitate subsequent image acquisition at different positions based on the model calibration machine, which helps to improve the measurement accuracy of the image and ensure that high-quality images can be obtained under various shooting conditions. Specifically, at the first position, the position of the chessboard is adjusted so that the chessboard occupies the field of view of the model calibration machine, and the model calibration machine is used to collect images of the chessboard so that the chessboard can fully cover the field of view of the model calibration machine, thereby ensuring that the chessboard is complete and maximized in the picture, and obtaining a first image, thereby achieving image acquisition at close range and with full coverage by a single chessboard card; at the second position, multiple test chessboards are set, the positions of the multiple test chessboards are adjusted, and the model calibration machine is used to collect images of the test chessboards, thereby ensuring that the entire field of view is evenly covered, which helps to more comprehensively estimate the intrinsic parameters of the camera and obtain multiple second images. Tilting the card can make more chessboard corner points located at different positions of the image. and direction, and by covering the entire screen, every area of ​​the image, including the edges, is fully utilized, which helps to more accurately estimate the distortion parameters of the camera and thus improve the accuracy of the intrinsic calibration; at the third position and the fourth position, a plurality of test positions are selected in the field of view, the chessboard is rotated multiple times according to the test positions, and the chessboard is imaged after each rotation operation through the model calibration machine to obtain a plurality of third images corresponding to the third position and a plurality of fourth images corresponding to the fourth position; by acquiring the image of the chessboard after each rotation operation, a wider field of view can be covered, and by calibrating at different distances, the lens distortion can be more comprehensively estimated, including radial distortion and tangential distortion at different distances.

[0108] It is worth noting that the embodiments of the present application can improve the detection accuracy of feature points by capturing images of the checkerboard at different positions, and improve the adaptability and robustness of the calibration process to different imaging conditions through multi-position and multi-angle shooting.

[0109] It can be understood that the distances between the first position, the second position, the third position and the fourth position in the embodiment of the present application and the chessboard are increased in sequence. Specifically, the first position in the embodiment of the present application is 350 mm away from the chessboard, the second position is 800 mm away from the chessboard, the third position is 2000 mm away from the chessboard, and the fourth position is 6000 mm away from the chessboard.

[0110] Specifically, the specific parameters of the scene for calibrating the distortion correction of a single lens in the embodiment of the present application can be referred to the following table.

[0111] Table 1 Internal reference calibration images

[0112]

[0113]

[0114] Reference Figure 4 , Figure 4 It is a specific flow chart of step S202 provided in an embodiment of the present application. In some embodiments, step S202 specifically includes but is not limited to step S401 and step S407.

[0115] Step S401, obtaining the field of view angle of the model calibration machine, and determining the field of view range of the model calibration machine according to the field of view angle.

[0116] Step S402, setting the fifth position, the sixth position and the seventh position of the model calibration machine.

[0117] It should be noted that the distances between the fifth position, the sixth position and the seventh position and the chessboard grid increase in sequence.

[0118] Step S403, splicing the first chessboard and the second chessboard to determine the overlapping area of ​​the first chessboard and the second chessboard.

[0119] Step S404: at the fifth position, adjust the field of view of the model calibration machine to align with the overlapping area, and capture images of the first chessboard and the second chessboard to obtain a plurality of fifth images.

[0120] Step S405, at the sixth position, adjusting the positions of the first chessboard and the second chessboard according to the overlapping area, and performing image acquisition on the first chessboard and the second chessboard through the model calibration machine to obtain a plurality of sixth images.

[0121] Step S406: At the seventh position, the model calibration machine is used to collect images of the first chessboard and the second chessboard to obtain a plurality of seventh images.

[0122] Step S407, obtaining a plurality of extrinsic calibration images according to the plurality of fifth images, the plurality of sixth images and the plurality of seventh images.

[0123] In steps S401 to S407 of some embodiments, in the process of calibrating adjacent lenses on the chessboard by a preset model calibration machine, first, the field of view angle of the model calibration machine is obtained, and the field of view range of the model calibration machine is determined according to the field of view angle, that is, the field of view range that the model calibration machine can capture, and then the fifth position, the sixth position and the seventh position of the model calibration machine are set to facilitate subsequent image acquisition at different positions based on the model calibration machine, which helps to improve the measurement accuracy of the image and ensure that high-quality images can be obtained under various shooting conditions. The present application is an embodiment of splicing the first chessboard and the second chessboard, determining the overlapping area of ​​the first chessboard and the second chessboard, and then at the fifth position, adjusting the field of view of the model calibration machine to align the overlapping area, so that the two narrow sides can be aligned with the overlapping area, maximizing the overlapping area of ​​the chessboard, and performing image acquisition on the first chessboard and the second chessboard to obtain multiple fifth images, thereby achieving image acquisition with full coverage of the overlapping area at the closest distance, and the chessboard maximization can ensure that the overlapping areas between different images have higher consistency, which is convenient for image stitching and stereoscopic vision applications; at the sixth position, adjusting according to the overlapping area The positions of the first chessboard and the second chessboard ensure that the field of view between different images is more fully covered, and the first chessboard and the second chessboard are imaged by the model calibration machine to obtain multiple sixth images. Increasing the distance can reduce the impact of lens distortion on imaging, and the feature points of the chessboard may be clearer after the distance is increased, thereby improving the accuracy of feature point detection. At the seventh position, the first chessboard and the second chessboard are imaged by the model calibration machine to obtain multiple seventh images. Increasing the distance helps to improve the accuracy of the calibration results. For lenses with different focal lengths, increasing the distance helps to adapt to the characteristics of the lens and achieve more accurate calibration. Image acquisition of the chessboard at different positions can improve the accuracy of stereo matching, help to reduce stitching errors in the future, and achieve smoother image transitions.

[0124] In some embodiments, in the process of adjusting the positions of the first chessboard and the second chessboard according to the overlapping area, the embodiment of the present application first shoots the diagonals of the first chessboard and the second chessboard close to the seam of the two sides. The diagonals of the first chessboard and the second chessboard close to the seam can ensure a more comprehensive field of view coverage between different images, which helps to more comprehensively estimate the external parameters of the camera. After that, each pair is rotated about thirty degrees for each shot. The rotating chart can provide imaging data in different directions, which helps to optimize the parameters of the model calibration machine.

[0125] It is worth noting that the distances between the fifth position, the sixth position and the seventh position and the chessboard in the embodiment of the present application can be increased successively. Specifically, the fifth position in the embodiment of the present application is at a distance of 1800 mm from the chessboard, the sixth position is at a distance of 2900 mm from the chessboard, and the seventh position is at a distance of 5000 mm from the chessboard.

[0126] Specifically, the specific parameters of the scene for calibrating the relative positions of adjacent lenses in the embodiment of the present application can be referred to the following table.

[0127] Table 2 External parameter calibration images

[0128]

[0129] Reference Figure 5 , Figure 5 It is a specific flow chart of step S304 provided in the embodiment of the present application. In some embodiments, step S304 specifically includes but is not limited to step S501 and step S503.

[0130] Step S501, adjusting the positions of the multiple test chessboards so that the multiple test chessboards occupy the entire field of view of the model calibration machine, and performing image acquisition on the test chessboards through the model calibration machine to obtain multiple first-person perspective images.

[0131] Step S502 , performing a trapezoidal transformation on the test chessboard, and tilting the test chessboard at a preset angle, and performing image acquisition on the tilted test chessboard through a model calibration machine to obtain a plurality of second-view images.

[0132] Step S503: obtaining a plurality of second images according to the plurality of first-view images and the plurality of second-view images.

[0133] In steps S501 to S503 of some embodiments, in the process of adjusting the positions of multiple test checkerboards and collecting images of the test checkerboards through the model calibration machine, the embodiments of the present application first adjust the positions of the multiple test checkerboards so that the multiple test checkerboards occupy the entire field of view of the model calibration machine, ensuring that the entire field of view is evenly covered, so that the multiple test checkerboards occupy the entire field of view of the model calibration machine, and collect images of the test checkerboards through the model calibration machine to obtain multiple first-person perspective images, which are convenient for subsequent estimation of the internal parameters of the model calibration machine, and then perform trapezoidal transformation on the test checkerboards, so as to correct the perspective distortion and improve the image quality. The calibration accuracy of the center and edge of the high image is improved, and the test chessboard is tilted at a preset angle, which increases the diversity of the distribution of feature points in the image. The model calibration machine collects images of the tilted test chessboard to obtain multiple second-perspective images, which improves the stability and accuracy of feature matching. The tilted test chessboard can make more chessboard corner points located in different positions and directions of the image. Multiple second images are obtained based on multiple first-perspective images and multiple second-perspective images. By covering the entire screen, every area of ​​the image, including the edges, is fully utilized, which helps to more accurately estimate the distortion parameters of the camera, thereby improving the accuracy of the intrinsic calibration.

[0134] It is worth noting that in the process of tilting the test squares at a preset angle in the embodiment of the present application, the tilting is performed with the edges of multiple test squares as the axis, and the preset angle can be set according to the user's needs, for example, thirty degrees, ten degrees, forty-five degrees, etc. In the embodiment of the present application, the tilting of thirty degrees with the edges of multiple test squares as the axis is used as an example for explanation.

[0135] Reference Figure 6 , Figure 6 It is a specific flow chart of step S305 provided in the embodiment of the present application. In some embodiments, step S305 specifically includes but is not limited to step S601 and step S603.

[0136] It should be noted that the test position includes a first test position, a second test position and a third test position, wherein the first test position, the second test position and the third test position are at a preset angle, and the first test position, the second test position and the third test position do not overlap with each other. Specifically, the first test position, the second test position and the third test position in the embodiment of the present application can be the three vertices of a triangle.

[0137] Step S601, at a first test position, the checkerboard is rotated at a preset rotation angle to determine a first angle of the checkerboard, and an image of the checkerboard at the first angle is captured by a model calibration machine.

[0138] Step S602, at the second test position, the checkerboard is rotated at a preset rotation angle based on the first angle, a second angle of the checkerboard is determined, and an image of the checkerboard at the second angle is captured by the model calibration machine.

[0139] Step S603, at the third test position, the checkerboard is rotated at a preset rotation angle based on the second angle, a third angle of the checkerboard is determined, and an image of the checkerboard at the third angle is captured by the model calibration machine.

[0140] In steps S601 to S603 of some embodiments, in the process of performing multiple rotation operations on the chessboard according to the test position and capturing images of the chessboard after each rotation operation through the model calibration machine, at the first test position, the chessboard is rotated at a preset rotation angle to determine a first angle of the chessboard, and the image of the chessboard at the first angle is captured by the model calibration machine to achieve image capture at the first angle. At the second test position, the chessboard is rotated at a preset rotation angle based on the first angle, that is, the preset rotation angle is rotated on the basis of the first angle to determine a second angle of the chessboard. For example, in the embodiment of the present application, the first angle is thirty degrees, and the preset rotation angle is thirty degrees. At this time, the second angle is sixty degrees, and through The model calibration machine captures images of the chessboard at the second angle. Finally, at the third test position, the chessboard is rotated at a preset rotation angle based on the second angle, that is, the preset rotation angle is continued to be rotated on the basis of the second angle to determine the third angle of the chessboard. For example, the first angle after the first rotation in the embodiment of the present application is thirty degrees, and the preset rotation angle is thirty degrees, then the second angle after the second rotation is sixty degrees, and the third angle after the third rotation is ninety degrees. The model calibration machine captures images of the chessboard at the third angle. Rotating the chart card at different positions helps to cover a wider field of view, thereby more comprehensively estimating the intrinsic parameters of the camera, and rotating the chessboard can provide imaging data in different directions, which is convenient for subsequent estimation of the intrinsic parameters.

[0141] It should be noted that the preset rotation angle in the embodiment of the present application can be set according to the needs of the user, for example, thirty degrees, ten degrees, forty-five degrees, etc. The embodiment of the present application is described using the preset rotation angle of thirty degrees as an example.

[0142] Reference Figure 7 , Figure 7 It is a specific flow chart of configuring parameters of a mask image and a product calibration result file through a calibration tool provided in an embodiment of the present application. In some embodiments, the method includes but is not limited to steps S701 to S705.

[0143] Step S701, obtaining the field of view angle and machine position of the model calibration machine.

[0144] Step S702, determining the valid area in the mask image and configuring the stitching parameters of the calibration tool.

[0145] It should be noted that the stitching parameters are obtained according to the field of view angle and machine position of the model calibration machine.

[0146] Step S703, generating a lookup table according to the splicing parameters and the product calibration result file.

[0147] Step S704: determine the region boundary of the effective region and extract the region coordinates of the region boundary.

[0148] Step S705: Generate a valid area boundary table according to the area coordinates.

[0149] In steps S701 to S705 of some embodiments, in the process of configuring parameters of the mask image and the product calibration result file through the calibration tool, the embodiment of the present application first obtains the field of view angle and the machine position of the model calibration machine, then determines the valid area in the mask image, and configures the stitching parameters of the calibration tool, wherein the stitching parameters are obtained according to the field of view angle and the machine position of the model calibration machine, that is, the stitching parameters are used to characterize the physical distance and overlapping area between the model calibration machines, and are also used to characterize the field of view angle of the model calibration machine. Thereafter, a lookup table is generated according to the stitching parameters and the product calibration result file to ensure that the lookup table format meets the hardware requirements, wherein the lookup table is used for color correction, gamma correction, etc. Thereafter, the region boundary of the valid area is determined, and the boundary coordinates of the non-zero region in the region boundary are extracted. Finally, an effective region boundary table is generated according to the region coordinates, so that the boundaries of each object in the image can be determined, thereby improving the efficiency and accuracy of feature extraction.

[0150] Reference Figure 8 The present application also provides a panoramic image calibration system, the panoramic image calibration system comprising:

[0151] An image acquisition module 801 is used to acquire images of the chessboard through a preset model calibration machine to obtain multiple chessboard images;

[0152] The calibration analysis module 802 is used to perform calibration analysis on all chessboard images using a preset calibration tool to generate a model calibration result file;

[0153] The production line building module 803 is used to obtain multiple products to be calibrated, build a calibration production line, and add all the products to be calibrated to the calibration production line;

[0154] The product acquisition module 804 is used to acquire images of the products to be calibrated on the calibration production line through the model calibration machine to obtain multiple product images;

[0155] The file output module 805 is used to input all product images and model calibration result files into the calibration tool for calibration analysis and output product calibration result files;

[0156] The parameter configuration module 806 is used to create a mask image corresponding to the product image, and perform parameter configuration on the mask image and the product calibration result file through a calibration tool to obtain a lookup table and a valid area boundary table;

[0157] The image stitching module 807 is used to stitch the product images according to the lookup table and the effective area boundary table to obtain a target panoramic image.

[0158] The panoramic image calibration system of the embodiment of the present application is used to execute the panoramic image calibration method in the above embodiment. Its specific processing process is the same as the panoramic image calibration method in the above embodiment, and will not be repeated here.

[0159] An embodiment of the present application further provides an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor is used to execute the panoramic image calibration method in the above embodiment of the present application.

[0160] See also Fig. 9 , Fig. 9 The hardware structure of the electronic device provided in the embodiment of the present application is illustrated, and the electronic device includes:

[0161] The processor 901 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application;

[0162] The memory 902 may be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 902 may store an operating system and other application programs. When the technical solution provided in the embodiment of this specification is implemented by software or firmware, the relevant program code is stored in the memory 902, and the processor 901 calls and executes the panoramic image calibration method of the embodiment of this application;

[0163] Input / output interface 903, used to implement information input and output;

[0164] Communication interface 904, used to realize communication interaction between the device and other devices, which can be realized through wired mode (such as USB, network cable, etc.) or wireless mode (such as mobile network, WI FI, Bluetooth, etc.);

[0165] A bus 905 that transmits information between the various components of the device (e.g., the processor 901, the memory 902, the input / output interface 903, and the communication interface 904);

[0166] The processor 901 , the memory 902 , the input / output interface 903 and the communication interface 904 are connected to each other in communication within the device via a bus 905 .

[0167] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the above-mentioned panoramic image calibration method is implemented.

[0168] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0169] The embodiments described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0170] It can be understood by those skilled in the art that Figure 1-9 The technical solutions shown in the figure do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than those shown in the figure, or a combination of certain steps, or different steps.

[0171] The system embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment.

[0172] Those skilled in the art will appreciate that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices may be implemented as software, firmware, hardware, or a suitable combination thereof.

[0173] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0174] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0175] In the several embodiments provided in the present application, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the system embodiments described above are only schematic. For example, the division of the above units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of systems or units, which can be electrical, mechanical or other forms.

[0176] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0177] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0178] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including multiple instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), disk or optical disk and other media that can store programs.

[0179] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but the scope of the rights of the present invention is not limited thereto. Any modification, equivalent substitution and improvement made by a person skilled in the art without departing from the scope and essence of the present invention should be within the scope of the rights of the present invention.

Claims

1. A panoramic image calibration method, characterized in that: The method comprises: The chessboard is imaged by a preset model calibration machine to obtain a plurality of chessboard images; Performing calibration analysis on all the checkerboard images using a preset calibration tool to generate a model calibration result file; Obtain multiple products to be calibrated, build a calibration production line, and add all the products to be calibrated to the calibration production line; Capturing images of the products to be calibrated on the calibration production line by the model calibration machine to obtain a plurality of product images; Inputting all the product images and the model calibration result files into the calibration tool for calibration analysis, and outputting the product calibration result files; Creating a mask image corresponding to the product image, and configuring parameters of the mask image and the product calibration result file through the calibration tool to obtain a lookup table and a valid area boundary table; The product images are spliced ​​according to the lookup table and the effective area boundary table to obtain a target panoramic image.

2. The panoramic image calibration method according to claim 1, characterized in that: The chessboard is imaged by a preset model calibration machine to obtain a plurality of chessboard images, including: The chessboard is calibrated with a single lens through a preset model calibration machine to obtain multiple internal reference calibration images; The adjacent lenses of the chessboard are calibrated by a preset model calibration machine to obtain multiple extrinsic calibration images; The internal reference calibration image and the external reference calibration image are sorted to obtain a plurality of checkerboard images.

3. The panoramic image calibration method according to claim 2, characterized in that: The single-lens calibration of the chessboard is performed by a preset model calibration machine to obtain multiple internal reference calibration images, including: Acquiring the field of view angle of the model calibration machine, and determining the field of view range of the model calibration machine according to the field of view angle; Setting a first position, a second position, a third position and a fourth position of the model calibration machine, wherein the distances of the first position, the second position, the third position and the fourth position from the chessboard are increased in sequence; At the first position, adjusting the position of the checkerboard so that the checkerboard occupies the field of view of the model calibration machine, and performing image acquisition on the checkerboard through the model calibration machine to obtain a first image; At the second position, a plurality of test checkerboards are arranged, the positions of the plurality of test checkerboards are adjusted, and images of the test checkerboards are captured by the model calibration machine to obtain a plurality of second images; At the third position and the fourth position, multiple test positions are selected in the field of view, the chessboard is rotated multiple times according to the test positions, and the model calibration machine is used to collect images of the chessboard after each rotation operation to obtain multiple third images corresponding to the third position and multiple fourth images corresponding to the fourth position; A plurality of internal reference calibration images are obtained according to the first image, a plurality of the second images, a plurality of the third images and a plurality of the fourth images.

4. The panoramic image calibration method according to claim 2, characterized in that: The method uses a preset model calibration machine to calibrate adjacent lenses on the chessboard to obtain multiple external parameter calibration images, including: Acquiring the field of view angle of the model calibration machine, and determining the field of view range of the model calibration machine according to the field of view angle; Setting a fifth position, a sixth position and a seventh position of the model calibration machine, wherein the distances of the fifth position, the sixth position and the seventh position from the chessboard are increased in sequence; Splicing the first chessboard grid and the second chessboard grid to determine an overlapping area between the first chessboard grid and the second chessboard grid; At the fifth position, adjusting the field of view of the model calibration machine to align with the overlapping area, and performing image acquisition on the first chessboard and the second chessboard to obtain a plurality of fifth images; At the sixth position, adjusting the positions of the first chessboard and the second chessboard according to the overlapping area, and performing image acquisition on the first chessboard and the second chessboard by the model calibration machine to obtain a plurality of sixth images; At the seventh position, the model calibration machine is used to collect images of the first chessboard and the second chessboard to obtain a plurality of seventh images; A plurality of extrinsic calibration images are obtained according to the plurality of fifth images, the plurality of sixth images and the plurality of seventh images.

5. The panoramic image calibration method according to claim 3, characterized in that: The adjusting the positions of the plurality of test checkerboards and performing image acquisition on the test checkerboards by the model calibration machine to obtain a plurality of second images comprises: Adjusting the positions of the plurality of test checkerboards so that the plurality of test checkerboards occupy the entire field of view of the model calibration machine, and performing image acquisition on the test checkerboards by the model calibration machine to obtain a plurality of first-perspective images; Performing a trapezoidal transformation on the test chessboard, and tilting the test chessboard at a preset angle, and performing image acquisition on the tilted test chessboard by the model calibration machine to obtain a plurality of second-viewing angle images; A plurality of second images are obtained according to the plurality of first-perspective images and the plurality of second-perspective images.

6. The panoramic image calibration method according to claim 3, characterized in that: The test positions include a first test position, a second test position, and a third test position; performing multiple rotation operations on the chessboard according to the test positions, and performing image acquisition on the chessboard after each rotation operation by the model calibration machine, including: At the first test position, rotating the checkerboard at a preset rotation angle, determining a first angle of the checkerboard, and performing image acquisition of the checkerboard at the first angle by the model calibration machine; At the second test position, the checkerboard is rotated at a preset rotation angle based on the first angle to determine a second angle of the checkerboard, and an image of the checkerboard at the second angle is captured by the model calibration machine; At the third test position, the checkerboard is rotated at a preset rotation angle based on the second angle to determine a third angle of the checkerboard, and an image of the checkerboard at the third angle is captured by the model calibration machine.

7. The panoramic image calibration method according to claim 1, characterized in that: The calibration tool is used to configure parameters of the mask image and the product calibration result file to obtain a lookup table and a valid area boundary table, including: Obtaining the field of view angle and machine position of the model calibration machine; Determine a valid area in the mask image, and configure stitching parameters of the calibration tool, wherein the stitching parameters are obtained according to the field of view angle and machine position of the model calibration machine; Generate a lookup table according to the splicing parameters and the product calibration result file; Determine the region boundary of the effective region, and extract the region coordinates of the region boundary; A valid area boundary table is generated according to the area coordinates.

8. A panoramic image calibration system, characterized in that: The panoramic image calibration system comprises: An image acquisition module is used to acquire images of the chessboard through a preset model calibration machine to obtain multiple chessboard images; A calibration analysis module, used to perform calibration analysis on all the checkerboard images using a preset calibration tool to generate a model calibration result file; A production line building module is used to obtain multiple products to be calibrated, build a calibration production line, and add all the products to be calibrated to the calibration production line; A product acquisition module, used to acquire images of the products to be calibrated on the calibration production line through the model calibration machine to obtain multiple product images; A file output module, used for inputting all the product images and the model calibration result files into the calibration tool for calibration analysis, and outputting the product calibration result files; A parameter configuration module, used to create a mask image corresponding to the product image, and perform parameter configuration on the mask image and the product calibration result file through the calibration tool to obtain a lookup table and a valid area boundary table; An image stitching module is used to stitch the product images according to the lookup table and the effective area boundary table to obtain a target panoramic image.

9. An electronic device, characterized in that: The electronic device includes a memory and a processor, the memory stores a computer program, and the processor implements the panoramic image calibration method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the panoramic image calibration method according to any one of claims 1 to 7.

Images