Camera calibration method and camera calibration device

Abstract

The invention provides a camera calibration method and a camera calibration device and is applied in the technical filed of images and video. The method and the device mainly acquire a three-dimensional world coordinate of a characteristic point through a depth acquiring device, and realize the calibration of the camera to be calibrated by using a correspondence of the three-dimensional world coordinate of the characteristic point and an image coordinate in an image taken by the camera to be calibrated. Compared with the scheme that a plurality of cameras are calibrated through a homographic matrix between images in the prior art, the method and the device can acquire stable and accurate parameters of the camera because of not needing to estimate the homographic matrix between a master camera and a slave camera. The method and the device can accurately acquire the three-dimensional world coordinate of the characteristic point. The movement of a calibration object can be in an unfixed direction when the camera is calibrated, which improves the operability of the camera calibration. Additionally, the camera calibration method can adopt the same calibration method to a plurality of adjacent cameras so as to simplify the camera calibration process.

Description

technical field [0001] The invention relates to the technical field of images and videos, in particular to a camera calibration method and a camera calibration device. Background technique [0002] In the field of computer vision and photogrammetry, in order to obtain the corresponding relationship between computer image pixels and actual physical space points, camera calibration must be carried out. Camera calibration refers to the process of obtaining the internal and external parameters of the camera model by using a series of mathematical transformations and calculation methods after processing its image under a certain camera model. At present, there are a large number of camera calibration methods, including traditional camera calibration methods based on specific experimental conditions such as calibration reference objects with known shapes and sizes to obtain camera model parameters, and there are also methods that do not rely on calibration reference objects and on...

AI Technical Summary

Problems solved by technology

[0005] In the process of realizing the present invention, the inventors found that the camera calibration scheme of the prior art above has at least the following problems: the above-mentioned scheme of calibrating multiple cameras through the homography matrix between images needs to estimate the homography matrix between the master and slave cameras. Obtaining the external parameters of the camera, since the estimation process of the homography matrix has poor stability and reliability, the external parameters of the camera obtained based on this are also poor; The calibration object moves in a fixed direction, its operability is poor and the complexity of the calibration process is high

Images