Visual system with real-time parameter monitoring and on-line calibration functions

Abstract

The invention relates to a visual system with real-time parameter monitoring and on-line calibration functions. Collected images are divided into a monitoring calibration region and a visual rebuilding region; the images in the monitoring calibration region are subjected to real-time feature point extraction, and in addition, the extracted feature points are compared with the feature points calibrated in a last time; when the errors of the feature points are smaller than the set threshold, the images in a scene rebuilding region are subjected to feature point extraction, in addition, camera inner and outer parameters calibrated in the last time are used for carrying out visual calculation, and scene information such as visual target position, scale and the like is output; and when the errors of the feature points are greater than or equal to the set threshold, the feature points extracted in real time in the monitoring calibration region are used for calibrating the visual system, the calibrated feature points of the monitoring calibration region and the camera inner and outer parameters are updated according to the calibration results, and the functions of visual calculation, parameter monitoring and on-line calibration are completed. The visual system provided by the invention has the parameter real-time monitoring function and the on-line calibration function, the accuracy of the visual calculation results is ensured, and the system resources are saved.

Description

technical field [0001] The invention relates to a vision system technology, in particular to a vision system with real-time parameter monitoring and online calibration functions, which is suitable for visual navigation or monitoring systems installed on unmanned boats, and can also be used for unmanned vehicles and unmanned aerial vehicle vision systems . Background technique [0002] Visual navigation has been successfully applied in ground unmanned vehicles and aerial unmanned aerial vehicles. In recent years, people have tried to apply this technology to the navigation of surface unmanned boats. The calibration parameters will change due to the turbulence caused by hoisting, deployment or wind and waves; the vision system is affected by the reflection of the water surface, the actual working environment is different from the land calibration environment, and the calibration parameters also have deviations; therefore, people hope to be able to calibrate the vision system ...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the problems that the existing visual system has a large computational workload and lacks the functions of real-time parameter monitoring and online calibration that affect the accuracy of visual calculation, the present invention provides a visual system with real-time parameter monitoring and online calibration functions. The statistical method is used to obtain the prior probability distribution of the internal parameters of the camera. When the visual system is working under actual conditions, it can monitor and calibrate the internal and external parameters of the camera in real time.

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