20 results about "Projector calibration" patented technology

A method for calibrating a sensor and projector with respect to a work area, the method including positioning a projector to project light indicators at locations in the work area and positioning a sensor with respect to the projector such that the sensor's field of view includes a selected portion of the work area. The sensor captures video or encoded data of activities at the work area. The sensor and projector are aimed at a set of coordinates upon the work area and the associated aim-point coordinates of the sensor and projector are recorded. The sensor and projector are aimed at additional sets of coordinates upon the work area, and the associated aim-point coordinates are recorded until a sufficient quantity of aim-point coordinates have been collected to form a calibration data set sufficient to calibrate the sensor and projector to the work area.

The invention discloses a projector calibration method and device, a storage medium and electronic equipment, and relates to the technical field of projection, and the method comprises the steps: sequentially projecting a plurality of pictures of different colors through a projector, and carrying out the color coordinate collection of the plurality of pictures, and obtaining the test color coordinate data of a plurality of colors; performing combination processing on the test color coordinate data of the plurality of colors according to a projection calibration matrix layout to obtain a test polynomial matrix; performing conversion and rearrangement processing on the test polynomial matrix to obtain a test color gamut matrix matched with the specification of the projection processor; and calculating according to the test color gamut matrix and a standard color gamut matrix to obtain a color gamut mapping conversion matrix, so that the projector performs projection based on the color gamut mapping conversion matrix. According to the invention, the color of the projector can be effectively calibrated, the color distortion improvement effect of the projector is improved, and the user experience is improved.

The invention discloses a dynamic projection interaction calibration method and system for an annular science magic space, and belongs to the technical field of projection interaction. The method comprises the steps of obtaining three-dimensional point cloud data of an annular wall surface and spatial pose information of each projector, constructing a wall surface point cloud model, completing projector calibration according to the wall surface point cloud model, and obtaining a pose parameter data set; and based on the data set, mapping each frame of pixel of a preset picture sequence to a corresponding position of the wall surface in real time. And if user interaction is detected, determining an interaction area and executing corresponding logic. In the process, projection feedback images are continuously collected, dynamic calibration and tiny compensation are carried out in combination with pose parameters, calibration projection coordinates and real-time interaction response data are generated, and accordingly, all projectors are controlled to complete real-time and stable projection display on the annular wall surface. According to the scheme, the projection picture is highly consistent with the annular wall surface and user operation, dynamic calibration and real-time interaction are realized, the display precision and stability of projection are improved, and the immersion experience of a user is enhanced.

The application discloses a kind of based on precision verification device's calibration method for digital plane array projector, comprising the following steps: based on digital plane array projector and camera builds digital plane array projection system;The parameter of the digital plane array projection system is calibrated;Based on SBOA algorithm optimization BP neural network's weight and threshold, obtain SBOA-BP neural network model;Based on the SBOA-BP neural network model, the calibration error of the digital plane array projection system is optimized;Precision verification device is constructed, and the calibration result of the digital plane array projection system is evaluated based on the precision verification device.The present application designs a kind of precision verification device, utilizes the device and carries out digital plane array projector calibration by means of camera, and then generates projection pattern, realizes calibration precision verification, solves the problem that neural network is applied to projector calibration and is difficult to calibrate precision verification.

The application discloses a kind of multi-projector calibration method, device, equipment and storage medium, applied to projector calibration field, according to the number of projector projection range that binocular vision system field of view range can cover simultaneously, it is divided into multiple projector calibration groups for projector, binocular vision system is sequentially arranged in each projector calibration group, each projector projects fixed calibration pattern, and the calibration image that each projector projects calibration pattern is photographed on different posture receiving plate by binocular vision system, the three-dimensional coordinates of the feature point world coordinate system of calibration image are determined, and according to corresponding map pattern two-dimensional coordinates, single projector calibration is completed, according to the transformation matrix between each projector and binocular vision system, the transformation matrix between each projector is calculated, and multi-projector calibration is completed. By realizing the calibration of multiple projectors, the problem that only single-projector calibration exists in the prior art and single-projector cannot realize super-large field of view imaging is solved.

The invention discloses a laser demarcation device calibration system and method, and belongs to the technical field of laser demarcation device calibration, the laser demarcation device calibration system comprises a standard horizontal line camera group, a standard contour line camera group, a standard plumb line camera group and a four-dimensional workbench, the standard horizontal line camera group comprises a third CCD camera and a sixth CCD camera, the standard contour line camera group comprises a first CCD camera and a fourth CCD camera, the standard plumb line camera group comprises a second CCD camera and a fifth CCD camera, the first CCD camera, the third CCD camera, the fourth CCD camera and the sixth CCD camera are located in the same horizontal plane, and the second CCD camera, the fourth CCD camera and the fifth CCD camera are located on the same plumb line; the four-dimensional workbench comprises a base table, a height lifting assembly, a two-dimensional inclination assembly, a rotation assembly and a pentaprism. According to the invention, not only is the measurement accuracy of the laser demarcation device improved, but also the calibration work efficiency of the laser demarcation device is improved.

The invention discloses a projector calibration method and device, equipment and a medium, relates to the technical field of calibration, and is used for solving the technical problem that an existing projector calibration method needs to depend on an external auxiliary camera. The method is applied to a projector calibration system comprising a calibration plate, a projector and a computer, a plurality of image acquisition devices are arranged on the back of the calibration plate, the image acquisition devices are cameras or optical fiber probes, and one image acquisition device corresponds to one calibration hole; comprising the following steps: projecting to a calibration board by using a projector; determining a phase point of each image acquisition device according to the plurality of projection images acquired by each image acquisition device; according to the phase point of each image acquisition device, determining a feature point coordinate subset of the projector under any calibration board attitude; according to the objective function constructed by the total coordinate set of the feature points of the projector, the internal parameters, the external parameters and the distortion coefficient of the projector are calculated, so that dependence on an external camera is eliminated.

The utility model discloses a kind of projector ranging TOF calibration workbench, belong to projector calibration equipment technical field, including support frame and fixed in the light shield shell of support frame surface, the inner wall of the light shield shell is provided with light-absorbing layer, the bottom wall of the inner chamber of the light shield shell is equipped with mounting groove, and linear reciprocating motor is installed in mounting groove, the driving end of the linear reciprocating motor is installed with jig base, the side outer wall of the jig base is installed with stepper motor, the output of the stepper motor is fixed with support seat, projector main body is placed on the surface of the support seat, and the surface of support seat movably connects two clamping plates for clamping projector main body, moving groove is equipped on the bottom plate of the light shield shell, and operating door is movably connected in moving groove. The projector ranging TOF calibration workbench can efficiently complete the accurate calibration of TOF board, improve the projection accuracy of projector, and is convenient to operate, suitable for industrial production line scene.

The present application provides a kind of high-precision calibration method of projector overcoming nonlinear error, the present application adopts phase encoding technique, obtains absolute phase value by projecting gray code and sinusoidal stripe pattern.Hilbert transform is used to compensate phase error, reduce the error introduced by nonlinear factors of projector and camera.The feature points of calibration board are converted from camera pixel coordinate system to projector coordinate system by local homography matrix, further reduce the influence of nonlinear error on calibration accuracy.Finally, Zhang Zhengyou calibration method is used to calibrate the projector, and its internal and external parameters are obtained.This method can effectively improve the calibration accuracy and reduce the calibration difficulty.

The invention belongs to the technical field of optical system precision detection, and particularly relates to a binocular-assisted single-objective telecentric structured light system calibration and measurement method and system. The method comprises the following steps: obtaining a phase difference value and a height difference value of a reference plane based on a measurement system, fitting a mapping relation between the phase difference value and the height difference value, and realizing calibration from phases to heights of two monocular targets; and converting the phase value of the to-be-measured object into a height value and a point cloud coordinate based on the fitted mapping relation between the phase difference value and the height difference value, and realizing three-dimensional reconstruction and measurement of the to-be-measured object through point cloud splicing. According to the method, the symbol ambiguity problem of a monocular camera lens calibration method is solved, meanwhile, the precision and efficiency problems brought by a traditional projector calibration method are avoided, the phase matching link of an object is avoided, and therefore the problems of matching errors and information loss caused by phase matching under the shielding condition are effectively solved.

The invention relates to the field of laser demarcation device calibration, and provides a laser demarcation device calibration system which comprises a laser demarcation device, a base platform, a laser detector and a calibration component. The base platform is constructed to be used for supporting a laser demarcation device to be mounted on the base platform; the laser detector is arranged on the base platform and is configured to receive laser; the calibration component is configured to enter a corresponding adjusting hole site on the laser demarcation device under the condition that the laser demarcation device is installed on the base platform, and determine the calibration amount of the laser demarcation device based on the deviation distance of the laser emitted by the laser demarcation device on the laser detector before and after the laser rotates by a first angle. And the calibration component drives the counterweight assembly to move based on the calibration amount so as to calibrate the laser demarcation device. According to the invention, a lot of manual operations are saved, the automatic calibration of the laser demarcation device is realized, the time and energy required for calibrating the precision of the device are greatly saved, and the calibration efficiency of the device is improved.

The application discloses a kind of three-dimensional reconstruction method and 3D structure light, it is related to three-dimensional reconstruction technical field, it is difficult to obtain accurate circle point edge in circle point calibration process, resulting in the technical problem that three-dimensional reconstruction effect is not ideal.The method includes S1, using the circle point calibration method based on ENet model to carry out camera calibration, obtains camera internal and external parameters;S2, using 16 step phase shift method to carry out projector calibration, obtains the internal and external parameters of projector;Wherein, using the grating compensation algorithm based on binary stripe to carry out grating compensation in projection process;S3, according to the internal and external parameters of the camera, projector, the conversion relationship of image pixel coordinate system and world coordinate system is established, according to the conversion relationship obtains the three-dimensional coordinate information of target object, completes three-dimensional reconstruction.The application extracts accurate circle point edge by establishing ENet model, greatly improves the accuracy of three-dimensional reconstruction.

The present invention discloses a three-dimensional reconstruction system for bulk cargo pile measurement and its calibration method, which relates to the field of computer vision technology and aims to improve the accuracy and efficiency of bulk cargo pile measurement. First, the Zhang-Zhengyou calibration method is used to accurately calibrate the camera to obtain the internal parameters and distortion coefficients of the camera. Secondly, the projector is regarded as an inverse camera model, and the inverse camera method is used to calibrate the projector to determine its internal parameters and distortion coefficients. Since the surface of the calibration device may not be completely flat in practice, the present invention further performs bundle adjustment on the camera calibration results, the projector calibration results, and the feature points on the calibration device simultaneously to optimize the system parameters and reduce the requirements for the calibration device. Through this comprehensive calibration method, the present invention can more accurately use the fringe projection profilometry to perform three-dimensional reconstruction measurement on the bulk cargo pile, thereby improving the measurement accuracy and reliability.

The invention discloses a high-precision structured light three-dimensional measurement and calibration method suitable for a single-axis MEMS projector. Firstly, an MEMS coordinate system is established for an MEMS mirror, a simple constraint relation of a three-dimensional point in the MEMS coordinate system (MCS) is obtained, and then a simple triangular stereo method expression is obtained to recover three-dimensional information. In addition, a simple and efficient MEMS galvanometer calibration method is provided on the basis of MCS, model calibration is completed only through a checkerboard image at one position, the calibration process is greatly simplified, a three-dimensional measurement method convenient to transplant, an innovative calibration method suitable for a single-axis MEMS galvanometer and an efficient MEMS galvanometer projector calibration method are achieved, and the calibration efficiency is greatly improved. Compared with the prior art, the method has the advantages that the measurement accuracy and stability are improved, the system cost and complexity are reduced, the overall complexity and implementation cost of the system are effectively reduced, the MEMS projector can be widely applied to various application scenes, and the method is particularly suitable for measurement tasks needing miniaturization, low cost and high frequency.

The invention discloses a projector calibration method, and belongs to the technical field of computer vision. The calibration method comprises the steps that firstly, a projector calibration system is built, and the system comprises a camera, a projector and a calibration plate with a black and white checkerboard pattern printed on the surface; secondly, obtaining a plurality of single checkerboard images and a plurality of superposed checkerboard images under different calibration postures by using a camera; then, respectively acquiring an angular point coordinate set of each single checkerboard image and an angular point coordinate set of each superposed checkerboard image, and obtaining an angular point coordinate set of each projection checkerboard by making a difference set between the angular point coordinate set of each superposed checkerboard image and the angular point coordinate set of the single checkerboard image corresponding to the same calibration posture; and finally, calculating respective parameters of the camera and the projector, and a pose transformation matrix between the camera and the projector. The problem that in the prior art, the real object checkerboard and the projection checkerboard are not allowed to be overlapped is solved, and the calibration efficiency of the projector and the flexibility of the calibration process are improved.

This invention discloses a telecentric camera parameter calibration method using a projector-assisted approach. First, the telecentric camera captures images of a planar calibration plate in multiple poses, and the projector projects images of grating fringes onto the planar calibration plate. The initial parameters of the telecentric camera are then calibrated using an orthographic projection imaging model. Next, three-dimensional feature points are constructed using projector extrinsic parameters; these feature points are used only to complete the missing rotation matrix parameters of the telecentric camera. Finally, a reprojection error model for telecentric camera imaging is constructed, and all parameters of the telecentric camera are nonlinearly optimized. This invention eliminates the need for additional equipment such as lifting platforms when completing the missing rotation matrix parameters, improving the flexibility of the calibration process. Furthermore, the use of projector extrinsic parameters to construct three-dimensional feature points to complete the missing parameters of the telecentric camera rotation matrix effectively reduces the transmission error of the projector calibration results, improving the reliability and accuracy of the results.

This invention provides a projector calibration method and system. The projector includes a collimating element and a diffractive optical element. The calibration method includes the following steps: aligning the central axis of the camera with the central axis of the collimating element placed on a fixture; identifying the pose difference between the collimating element and the diffractive optical element, and performing rotational correction based on the pose difference; selecting a pattern in a first region for defocus testing to obtain the optimal position of the vertical distance between the collimating element and the diffractive optical element, and making corresponding position adjustments; comparing the sharpness of the four corners of the obtained pattern in the first region, and performing tilt correction based on the comparison results; obtaining the position coordinates of the optical center point based on the center point coordinates of the feature points of the region pattern; and performing translational correction on the collimating element and the diffractive optical element based on the obtained center point position coordinates, so that the center point coordinates coincide with the camera center point. This invention achieves automatic calibration, which can improve the calibration accuracy and quality of the projector.

The invention provides a projector calibration method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining at least three images projected by a projector to a preset rectangular calibration region, the at least three images being images projected by the projector at at least three positions; for any part in the camera and the ray machine, calibrating parameters of the part according to the corresponding relation between the pixel coordinates and the world coordinates of the at least three images under the part coordinate system; and calibrating external parameters between every two of the camera, the ray machine and the IMU according to the rotation relations between the camera, the ray machine and the IMU and the world coordinate system. By adopting the implementation mode, calibration can be carried out by means of the preset rectangular calibration area, and the equipment cost can be reduced. In addition, in the technical scheme, calibration can be completed by obtaining three images, and the cost of a CPU can be reduced.

An improved calibration method for a grating projection measurement system. In the present invention, the method for solving model parameters in a traditional grating projection measurement system is improved. Specifically, the four-step phase-shifting method is used to solve the phase difference, and the model parameters are solved through the proposed mathematical method and finally substituted into the phase-shift height model to realize the three-dimensional reconstruction of the object. This experiment is divided into two parts: mask topography reconstruction and metal block measurement experiment. The present invention proposes a method for extracting the expressions of the projection plane and the camera optical center in the world coordinate system during the projector calibration process and the single-object calibration process of the camera without the help of external objects, and directly calculating the distance between the two optical centers of the projector and the camera and the vertical distance from the projector optical center (CCD camera optical center) to the reference plane. This not only simplifies the cumbersome process and poor operability problems in the system calibration process, but also realizes the accuracy of the calibration process.