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Multi-camera calibration and parameter optimization method based on sphere projection common tangent line

An optimization method and common tangent technology, applied in the field of computer vision, can solve the problems of lack of geometric meaning of parameters, easy to be affected by noise, cumbersome and inefficient, etc., to achieve high calibration accuracy, overcome cumbersome inefficiency, and optimize camera parameters.

Active Publication Date: 2018-02-09
SOUTHEAST UNIV
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Problems solved by technology

Therefore, the traditional methods are cumbersome and inefficient, or lack the geometric meaning of parameters, or are easily affected by noise.

Method used

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  • Multi-camera calibration and parameter optimization method based on sphere projection common tangent line
  • Multi-camera calibration and parameter optimization method based on sphere projection common tangent line
  • Multi-camera calibration and parameter optimization method based on sphere projection common tangent line

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Embodiment Construction

[0055] The technical solution of the present invention will be further described in detail below in conjunction with the embodiments and the accompanying drawings.

[0056] A multi-camera calibration and parameter optimization method based on the common tangent of sphere projection, including two parts: multi-camera calibration and parameter optimization. The specific steps are as follows:

[0057] 1. Contour extraction and curve fitting:

[0058] Place at least 3 calibration spheres (with known radii) under the common field of view of the camera, and ensure that each camera can capture the calibration sphere without occlusion. For each image, the Canny operator is used to extract the contour, and the least squares ellipse fitting method is used to perform curve fitting on the projected outer contour of the calibration sphere to obtain the outer contour curve C of the sphere projection.

[0059] 2. Determine the projection of the center of the sphere by the common tangent:

...

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Abstract

The invention discloses a multi-camera calibration and parameter optimization method based on a sphere projection common tangent line. The method includes obtaining the coordinates of the sphere center projection on the phase plane according to the collinear principle of the sphere projection common tangent line intersection point and the sphere center projection point; 2, through the combinationwith the sphere center projection, obtaining the inner parameters and the outer parameters of the camera through the algebraic relation between the image of the absolute quadratic curve and the projection of the sphere; 3, representing the projection of the sphere by using the oval parameters, dividing the error between the projection curve and the reprojection of the projection curve into two relatively independent parts accordingly, and adopting a nonlinear optimization method for gradually optimizing the deviation of the two parts to obtain a final calibration result of the camera; 4, unifying the calibration results of the multiple cameras to the same world coordinate system through the matching method, and completing the multi-camera calibration. According to the method, the parametergeometric significance is reserved in the solution process, the calibration precision is high, and the simultaneous calibration of the multiple cameras is simply and efficiently completed.

Description

technical field [0001] The invention relates to the field of computer vision, in particular to a multi-camera parameter calibration and parameter optimization method using a sphere as a calibration object. Background technique [0002] Camera calibration is an important step in 3D reconstruction. Its purpose is to restore the internal and external parameters of the camera model to determine the relationship between the 3D geometric position of a point on the surface of a space object and its corresponding point in the image. Generally, camera calibration can be divided into two categories: one is a calibration object based on certain geometric size information, such as a checkerboard; the other is a self-calibration method without any calibration object. With the rapid development of modern vision applications, multi-camera systems have become more and more common. However, using general calibration objects to calibrate multi-cameras, because the points on the calibration o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80
CPCG06T7/85
Inventor 达飞鹏俞健
Owner SOUTHEAST UNIV
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