The invention discloses a
robot camera calibration method based on edge scale adaptive defocusing fuzzy
estimation, which comprises the following steps: firstly, acquiring a
checkerboard picture by using a camera to be calibrated, and carrying out Canny
edge detection and
corner detection on the acquired
checkerboard picture; secondly, constructing an edge graph with a consistent scale according to a Canny
edge detection value; then, setting a
local scale value of
edge detection while setting blurring values of two-time re-blurring images; carrying out
gaussian blur on the
checkerboard image again, and solving the gradient ratio of the two re-blurred images; then, calculating the defocusing fuzzy quantity of each corner point of the checkerboard original picture; drawing a circle by taking the detected
angular point as a circle center and the defocusing fuzzy quantity as a
radius, and setting a weight of a camera calibration
energy equation; and finally, according to the optimized camera calibration
energy equation, performing iteration on the
energy equation in the obtained circle range until convergence, and outputting an optimal camera calibration parameter, so that the camera calibration precision can be greatly improved.