A method and system for unmanned aerial vehicle calibration based on color three-dimensional calibration object

Abstract

The invention discloses a method and system for unmanned aerial vehicle calibration based on a color three-dimensional calibration object. The method includes: placing a color checkerboard three-dimensional calibration object in the scene to be photographed; The image of the three-dimensional calibration object of the checkerboard grid; according to the image of the three-dimensional calibration object of the color checkerboard grid, the internal parameters of the UAV camera are linearly solved using the vanishing point theory; according to the internal parameters of the UAV camera, the coordinate projection transformation method is used to determine the UAV camera The spatial position and image geometric constraint relationship. The present invention adopts the color checkerboard three-dimensional calibration object for camera calibration, which is easy to measure accurately, has high detection accuracy, is convenient to install and has strong versatility; it only needs to take images of the color checkerboard three-dimensional calibration object from at least three different directions and combine them The vanishing point theory obtains the internal parameters of the UAV camera to complete the calibration of the internal parameters of the camera, which is more convenient to use. The invention can be widely used in the field of computer vision.

Description

technical field [0001] The invention relates to the field of computer vision, in particular to an unmanned aerial vehicle calibration method and system based on a color stereo calibration object. Background technique [0002] The ultimate goal in the field of computer vision research is to enable computers to have the same ability to perceive the 3D environment as humans. In this field, the image-based 3D reconstruction process is generally the reverse process from 2D image restoration to 3D scenes, that is, through computer analysis. The two-dimensional images of the target scene or object under different viewing angles restore the three-dimensional spatial geometric information of the scene or object. 3D reconstruction has a wide range of applications and plays a huge role in a variety of scenarios, such as the restoration of precious historical relics and ancient buildings, 3D reconstruction of medical human organs, autonomous driving of unmanned vehicles, etc., using ord...

AI Technical Summary

Problems solved by technology

[0006] 3D reconstruction technology generally needs to take images of the target object from multiple angles through the camera. If the distance between the camera and the object is fixed, the spatial range that can be reconstructed is very limited

Since the marker points and reference objects are uncertain, surveying and mapping is required at any time, the measurement accuracy is not easy to guarantee, and the actual operation is cumbersome, and there are many uncertain factors. If high-precision 3D reconstruction is to be achieved, it is necessary to set up calibration objects

If simply adopting the planar black-and-white checkerboard calibration object in the existing ground close-range photographic exploration method, it is difficult to provide three-dimensional information; if a combination of two checkerboard calibration planes is used, it cannot meet the needs of observation and calibration at any position in space; and If the black and white checkerboard is used on multiple surfaces of the cube at the same time, there will be certain visual recognition difficulties and large errors for both photographers and photo users

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