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Video camera parameter calibration method by adopting single circle as marker

A technology for camera internal parameters and calibration methods, applied in image data processing, optical devices, image analysis, etc., can solve inconvenience and other problems, and achieve the effect of reducing measurement errors

Inactive Publication Date: 2008-12-31
SHANGHAI JIAO TONG UNIV
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Problems solved by technology

The above two methods are simpler than the method proposed by Meng Xiaoqiao, but they both need to use two circles as calibration objects, which is also quite inconvenient

Method used

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  • Video camera parameter calibration method by adopting single circle as marker
  • Video camera parameter calibration method by adopting single circle as marker
  • Video camera parameter calibration method by adopting single circle as marker

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Embodiment Construction

[0018] In order to better understand the present invention, the technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0019] figure 1 Shown is a schematic diagram of the projection of the calibration object proposed by the present invention on the image plane. figure 1 Among them, OXYZ is the camera coordinate system, and ouv is the image coordinate system in pixels. The circle S used for calibration lies on the plane π. There is a black dot Q with a radius of about 5 mm at its center, and the center of gravity of its projected area on the image is p. Assuming that the internal parameter matrix of the camera is K, then according to the pinhole model, K = f 1 s u 0 ...

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Abstract

The invention relates to a calibration method for the intrinsic parameters of a camera by adopting a single circle as a calibration object; the method comprises the following steps that: first, three different images of a calibration object are shot by using a camera; then an image point location of a circular point of each image is identified; by utilizing the image point of the three groups of the circular points, projection curve equation of absolute conic is fitted; finally, all intrinsic parameters of the camera are calculated in a way linearly, including a principal point location, aspect ratio and tilt factor. The method of the invention can identify all intrinsic parameter of the camera once, and can realize automatic calibration and reduce calculation error caused by human intervention, and is particularly applicable to a non-contact type industrial inspection and an autonomous navigation system based on vision.

Description

technical field [0001] The invention relates to a camera internal parameter calibration method using a single circle as a calibration object, and is especially suitable for non-contact industrial detection and vision-based autonomous navigation systems. The invention belongs to the field of advanced measurement technology. Background technique [0002] The purpose of camera internal calibration is to use specific calibration objects to determine the internal parameters of the camera, which is the basis of non-contact measurement and autonomous navigation based on machine vision. Because the circle has the advantages of easy detection and anti-occlusion, it is usually used as a calibration object to calibrate the camera. [0003] A lot of work has been done on the use of circles for camera calibration, and some results have been achieved. Meng Xiaoqiao proposed a method to calibrate the internal parameters of the camera with a single circle and a cluster of straight lines p...

Claims

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Application Information

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IPC IPC(8): G06T7/00G01B11/00
Inventor 黄茂祥郑银强刘允才
Owner SHANGHAI JIAO TONG UNIV
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