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Muti-constraint-based high-precision binocular camera calibration method

A technology of binocular camera and calibration method, applied in image data processing, instrumentation, computing, etc., can solve problems such as only considering adjacent distance constraints, lacking geometric constraints of 3D reconstruction points, ignoring geometric constraints, etc.

Active Publication Date: 2018-05-18
ZHEJIANG UNIV
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Problems solved by technology

At the same time, only the local adjacent distance constraints are considered, and the geometric constraints between other reconstructed feature points are ignored.
[0004] At present, the existing binocular camera calibration methods fail to comprehensively utilize the constraint information of the 2D image plane and the constraint information between the feature points after 3D reconstruction, and lack a more comprehensive 3D reconstruction point including local and overall geometric constraints

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Embodiment Construction

[0067] The present invention will be further described below in conjunction with drawings and embodiments.

[0068] Embodiments of the present invention and its implementation process are as follows:

[0069] The experiment uses a binocular vision calibration platform consisting of two CMOS industrial cameras with a pixel size of 2448*2048 and a chessboard calibration board.

[0070] (1) Place and fix the same black and white chessboard containing 54 feature points, and use a binocular camera to take a pair of images from 13 viewing angles, and obtain a total of 26 images. The angle between the shooting direction and the plane where the checkerboard is located is greater than 30 degrees, the distance between the binocular camera and the checkerboard is between 1 and 3m, and the checkerboard is completely displayed in the images of the left and right cameras.

[0071] Use Zhang Zhengyou's calibration method to calculate the internal parameter matrix A of the left camera l , l...

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Abstract

The invention discloses a muti-constraint-based high-precision binocular camera calibration method. The method comprises the steps that initial binocular camera parameters are calculated through a Zhang zhengyou calibration method, and re-projection errors and polar line errors are calculated, and then according to feature point coordinates in left and right camera images and the binocular cameraparameters, three-dimensional feature points are rebuilt; 3D geometric errors formed by adjacent distance errors, collinear errors and right angle errors are calculated. An optimized objective function formed by re-projection error cumulative sum, adjacent distance error cumulative sum, collinear error cumulative sum and right angle error cumulative sum is built, the optimized objective function is solved through a Levenberg-Marquardt method, and the optimal binocular camera parameters are obtained. Compared with the Zhang zhengyou calibration method, a binocular camera is calibrated, the distance measurement errors, collinear errors and right angle errors are obviously lowered.

Description

technical field [0001] The invention relates to a high-precision binocular camera calibration method, in particular to a multi-constraint-based high-precision binocular camera calibration method. Background technique [0002] Because the machine vision inspection system can improve the flexibility and automation of production, and can be used in some occasions where manual inspection conditions do not exist, it has played an increasingly important role in the fields of geometric measurement and mechanical manufacturing in recent years. Camera calibration is the basis for a series of subsequent operations of machine vision, so scholars have carried out a lot of research in the field of camera calibration. By constructing the relationship between the world coordinate system and the image coordinate system, the initial camera parameters can be obtained by solving the matrix equation. However, these initial parameters often lead to large measurement errors in practical applicat...

Claims

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Application Information

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IPC IPC(8): G06T7/80G06T5/00
CPCG06T7/80G06T2207/30208G06T5/80
Inventor 段桂芳刘夏刘振宇谭建荣
Owner ZHEJIANG UNIV
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