Multi-camera internal and external parameter calibration method based on three-point calibration object

Abstract

The invention discloses a multi-camera internal and external parameter calibration method based on a three-point calibration object. The method comprises steps of S10, image point data acquisition; S20, every-two-camera internal and external parameter calibration; S30, multi-camera internal and external parameter calibration under a unified reference camera coordinate system; and S40, multi-camera internal and external parameter calibration under a designated world coordinate system. The method is advantaged in that a calibration tool is simple to make, limiting the calibration objects to move in a public view field of all the cameras is not needed, strong operability is realized, a multi-camera cascade path is determined through utilizing the common view field relationship, more image points participate into operation, and algorithm robustness is better.

Description

technical field [0001] The invention belongs to the technical field of computer vision and camera calibration, and in particular relates to a multi-camera internal and external parameter calibration method based on three-point calibration objects. Background technique [0002] Camera calibration technology uses the 2D image of the calibrated object to recover the internal and external parameters of the camera, and then reconstructs the 3D information of the scene. It is a key step in the field of computer vision and a prerequisite for the application of visual sensors in various fields. and other fields have a wide range of applications. [0003] In recent years, with the vigorous development of virtual reality, the perspective of a single camera cannot meet people's expectations for a large-scale three-dimensional space, and multi-camera combination and calibration have gradually become a new research hotspot. However, the existing multi-camera calibration methods often re...

AI Technical Summary

Problems solved by technology

[0003] In recent years, with the vigorous development of virtual reality, the perspective of a single camera cannot meet people's expectations for a large-scale three-dimensional space, and multi-camera combination and calibration have gradually become a new research hotspot.

However, the existing multi-camera calibration methods often require the calibration object to move in the common field of view of all cameras at the same time, which increases the difficulty of actual operation and the calibration accuracy is low

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