Calibration method, device, equipment and storage medium for camera calibration parameters

A camera calibration and correction method technology, which is applied in image data processing, image analysis, instruments, etc., can solve the problems of affecting the effect of restoring the image of real objects, large calibration errors, etc., and achieve the effect of reducing calibration errors and achieving good results

Active Publication Date: 2019-09-13
GUANGZHOU SHIYUAN ELECTRONICS CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] However, camera calibration does not achieve satisfactory calibration results in any situation. It is affected by the environment and will lead to large calibration errors, which will affect the effect of subsequent restoration of real object images.

Method used

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  • Calibration method, device, equipment and storage medium for camera calibration parameters
  • Calibration method, device, equipment and storage medium for camera calibration parameters
  • Calibration method, device, equipment and storage medium for camera calibration parameters

Examples

Experimental program
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Embodiment 1

[0033] figure 1 The flow chart of the correction method for camera calibration parameters provided by Embodiment 1 of the present invention, this embodiment is applicable to the situation where after the camera is calibrated, the parameters of the camera are corrected to reduce the calibration error. device, specifically including the following steps:

[0034] Step 110: Determine the internal parameters and external parameters of the camera according to the preset coordinates of multiple markers in the standard image and the coordinates of the markers in the captured image including the standard image acquired by the camera;

[0035] Among them, the standard image can be carried by the target panel; during the calibration process, the standard image can be displayed on the target panel by pasting a checkerboard image or other standard images with markers;

[0036] The internal parameters of the camera include the principal point of the camera, the focal length and distortion ...

Embodiment 2

[0053] Figure 5 The flow chart of the method for correcting the camera calibration parameters provided by Embodiment 2 of the present invention, this embodiment is applicable to the situation where after the camera is calibrated, the parameters of the camera are corrected to reduce the calibration error. device, this embodiment is based on the first embodiment, and provides a method for man-machine interaction to modify the theoretical coordinates, manually fine-tuning the parameters, so that the effect of reducing errors is better.

[0054] Wherein, step 120, calculating the theoretical coordinates of the marker from the coordinates of the marker in the captured image according to the internal parameters and external parameters, specifically includes:

[0055] Step 121, according to the internal parameters and external parameters, obtain the coordinates in the captured image corresponding to each coordinate in the target image to be constructed;

[0056] Step 122, extract t...

Embodiment 3

[0073] Figure 6 The structure schematic diagram of the camera calibration parameter correction device provided by the third embodiment of the present invention, this embodiment is applicable to the situation where after the camera is calibrated, the parameters of the camera are corrected to reduce the calibration error. The calibration device for the camera calibration parameters includes:

[0074] The calibration module 610 is configured to determine the internal parameters and external parameters of the camera according to the preset coordinates of multiple markers in the standard image and the coordinates of the markers in the captured image including the standard image acquired by the camera ;

[0075] A coordinate calculation module 620, configured to calculate the theoretical coordinates of the marker from the coordinates of the marker in the captured image according to the internal parameters and external parameters;

[0076] A modification module 630, configured to ...

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Abstract

Disclosed in the present invention is a method for correcting calibration parameters of a video camera, comprising: after calibrating a video camera, calculating a theoretical coordinate of a marker by the coordinate of the marker in a photographic image according to internal parameters and external parameters; if the theoretical coordinate of the marker is not matched with the coordinate of the marker in a standard image, modifying the theoretical coordinate of the marker to be matched with the coordinate in the standard image; calculating by the modified theoretical coordinate of the marker according to the external parameters to obtain an adjusted coordinate; and calculating coordinate mapping parameters between the adjusted coordinate and the coordinate of the marker in the photographic image to replace the internal parameters of the video camera. Accordingly, also disclosed in the present invention are an apparatus and device for correcting calibration parameters of a video camera, and a storage medium. According to the present invention, correcting the calibration parameters of the video camera is implemented, the calibration error is reduced, and the effect of restoring the actual object image by the calibration parameters of the video camera is better.

Description

technical field [0001] Embodiments of the present invention relate to camera calibration technology, and in particular, to a calibration method, device, device and storage medium for camera calibration parameters. Background technique [0002] Camera calibration is the process of establishing a camera imaging geometric model and solving the geometric model parameters (ie camera parameters) to determine the relationship between the geometric position of a point on the surface of a space object and its corresponding point in the captured image. [0003] However, the camera calibration can not obtain satisfactory calibration results in any situation, and the influence of the environment will lead to large calibration errors, which will affect the effect of subsequent restoration of real object images. Contents of the invention [0004] The invention provides a camera calibration parameter correction method, device, equipment and storage medium to realize the correction of the...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/80
Inventor 杨铭
Owner GUANGZHOU SHIYUAN ELECTRONICS CO LTD
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