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Multiple-fisheye-camera binocular calibration device and method

A fisheye camera and calibration device technology, applied in image data processing, instruments, calculations, etc., can solve problems such as inaccurate dual-target timing results

Active Publication Date: 2017-06-13
CHANGSHA PANODUX TECH CO LTD
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Problems solved by technology

[0006] In order to overcome the existing technical problem of inaccurate dual-target timing results based on common calibration boards, the present invention aims to provide a multi-channel fisheye camera dual-target calibration device and method with high calibration result accuracy

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[0059] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0060] In the existing binocular camera calibration, the same conventional calibration board as the single-target calibration is used, and the fisheye lens is used for dual-target timing. Since the field of view of the fisheye lens is very large, the edge distortion of the image is obvious at close range, and the fisheye When the eye lens is at a short distance, the overlapping area between the two cameras is very small; therefore, the image of the calibration plate...

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Abstract

The invention discloses a multiple-fisheye-camera binocular calibration device and method, and belongs to the technical field of camera calibration. The multiple-fisheye-camera binocular calibration method includes the steps that images of calibration boards at different positions in a calibration target are collected at the same time through two left-and-right-adjacent fisheye cameras of a panorama camera shooting module; an equidistant projection distortion model is selected; inner parameters of two lenses and outer parameters of all view fields are calculated according to the two collected left-and-right-adjacent fisheye lens images and an imaging model respectively; the position relationship between two adjacent camera lenses is calculated according to the position relationship between the two calibration boards on the calibration target and the obtained outer parameters of the two adjacent lenses; inner parameters and outer parameters of a binocular lens are optimized, and therefore optimal inner parameters and outer parameters of a left lens body, optimal inner parameters and outer parameters of a right lens body and the rotating relationship and the translation relationship between the left lens body and the right lens body are obtained. According to the multiple-fisheye-camera binocular calibration method, the calibration-board images with small distortion and the moderate size are collected, it is guaranteed that enough feature points can be found, and the calibration accuracy of a binocular camera is greatly increased.

Description

technical field [0001] The invention relates to the technical field of camera calibration, in particular to a multi-channel fisheye camera dual-target calibration device and method. Background technique [0002] Camera calibration is one of the key technologies in photogrammetry, 3D imaging, and image geometry correction. Its main function is to estimate the internal and external parameters of the camera. The accuracy of the calibration results and the stability of the calibration algorithm directly affect the accuracy of subsequent work. [0003] Existing camera calibration methods can be divided into the following categories: (1) Calibrate using a stereo calibration object whose spatial geometric information is precisely known. The stereo calibration object generally consists of multiple planar calibration plates, and high-precision stereo calibration plates are not convenient. Make and use. (2) Calibration is performed by precisely controlling the motion of the camera o...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80
Inventor 不公告发明人
Owner CHANGSHA PANODUX TECH CO LTD
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