Mixed visual system calibration method based on Kinect camera

Abstract

The invention relates to a mixed visual system calibration method based on a Kinect camera. A mixed visual system comprises the Kinect camera and a panoramic camera. The calibration method comprises the steps of carrying out calibration on an RGB camera of the Kinect camera and the panoramic camera, acquiring internal parameters of the RGB camera and the panoramic camera, setting a calibration board based on a checkerboard, and establishing a checkerboard coordinate system; and constructing virtual camera projection plane located in front of a panoramic camera coordinate system in space, calculating and acquiring a transformation matrix from the virtual camera projection plane to the checkerboard coordinate system, and further acquiring external parameters from an IR camera of the Kinect camera to the panoramic camera. The mixed visual system calibration method based on the Kinect camera can acquire the internal parameters of the Kinect camera and the external parameters of the mixed visual system, has low requirements for calibration conditions and a space configuration relation of the mixed visual system, and is flexible in use.

Description

technical field [0001] The invention relates to the technical field of machine vision, in particular to a hybrid vision system calibration method based on a Kinect camera. Background technique [0002] The Kinect camera released by Microsoft provides convenience for real-time acquisition of depth information. The Kinect camera consists of an RGB camera and an IR depth camera. Kinect is not only cheap but also can capture depth map and texture map of the field of view at the same time. Experts and scholars at home and abroad pay more and more attention to the research of Kinect camera, and the hybrid vision system composed of Kinect camera and panoramic vision has attracted the attention of many scholars. It combines the advantages of real-time acquisition of depth information by Kinect camera, clear imaging and large resolution, and the advantages of large field of view and large amount of scene information obtained by panoramic camera. Wide application prospects. In a m...

AI Technical Summary

Problems solved by technology

The existing calibration methods have special requirements for the position of the calibration plate, such as the calibration plate is perpendicular to the axis of the camera, the calibration plate must be placed in a known ideal position;

[0005] 2. The optimization method used to solve the external parameters has certain limitations and requires a reasonable initial value;

[0006] 3. The solution accuracy is low

It has been verified by experiments that the deviation between the cameras solved by the current method and the actual value reaches 10mm, which will cause a large error in the reconstruction result

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