UAV Camera Calibration Using Segmented Pattern Units
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Solution Overview
Problem
Existing camera calibration methods are complex and require the entire calibration object to be included in the image, making them inefficient.
Innovation Solution
A camera calibration method and apparatus that uses a calibration object with basic units having different patterns, allowing feature points to be extracted and calibrated without needing the entire object in the image.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a precision-machined planar checkerboard is used as a calibration object with all parts having the same pattern, then the calibration can be performed using traditional methods, but the calibration process becomes complex and requires the entire calibration object to be included in the image
Solution Approach 1:
The calibration object is divided into multiple basic units (first, second, third, and fourth basic units), each with distinct patterns. This segmentation allows the system to identify and calibrate using only partial views of the calibration object rather than requiring the entire object to be visible, thereby simplifying the calibration process while maintaining accuracy.
Solution Approach 2:
Different basic units are assigned different patterns (e.g., first pattern, second pattern, third pattern, fourth pattern) to create local differentiation. This enables the camera to identify feature points and determine world coordinates based on the specific pattern of the visible basic unit, eliminating the need to capture the entire calibration object and reducing calibration complexity.
2Measurement precision
If the entire calibration object must be included in the acquired image, then traditional calibration methods can be applied, but the calibration efficiency decreases and the process becomes more time-consuming
Solution Approach 1:
The system performs calibration using only a partial view of the calibration object - specifically, by identifying which basic unit is visible in the image and using only that unit's pattern information. This partial action approach maintains calibration accuracy while significantly improving efficiency by eliminating the requirement to capture and process the entire calibration object.
Solution Approach 2:
The calibration object is pre-configured with distinct patterns on different basic units before the calibration process begins. This preliminary differentiation allows the system to quickly identify the visible basic unit and proceed with calibration using only the necessary pattern information, rather than requiring complete object capture and subsequent complex processing.
Data Source
AI summary
Embodiments of the present invention relate to the field of unmanned aerial vehicle (UAV) technologies, and in particular, to a camera calibration method and apparatus and an electronic device. The method includes: obtaining a calibration image acquired by a camera on a calibration object, where the calibration object includes at least two basic units, and each basic unit has a different pattern; extracting feature points from the basic units of the calibration image, and obtaining pixel coordinates of the feature points; obtaining world coordinates of the feature points; and performing camera calibration according to the pixel coordinates and the world coordinates of the feature points.