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Pinhole camera model-based camera posture correcting method

A pinhole camera and correction method technology, applied in the field of camera attitude correction based on the pinhole camera model, can solve problems such as high hardware requirements, slow calculation speed, unsuitable application, etc., to save system cost and reduce processing Process, the effect of improving software performance

Active Publication Date: 2018-06-01
TIANJIN UNIV OF SCI & TECH
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Problems solved by technology

If the image distortion is corrected in real time by calculation, not only the amount of calculation will increase, but also the calculation speed will slow down, which is not conducive to the real-time performance index of the system, and has higher requirements for computer hardware.
However, if you rely on various complex measurement tools to assist installation, you need to invest a lot of money to purchase professional tools, wasting money and manpower, and it is not suitable for simple scenarios.

Method used

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  • Pinhole camera model-based camera posture correcting method

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Embodiment Construction

[0023] Embodiments of the present invention will be described in further detail below in conjunction with the accompanying drawings.

[0024] A camera attitude correction method based on the pinhole camera model, such as figure 1 and figure 2 shown, including the following steps:

[0025] Step 1: Use the same camera to shoot 3 to 5 calibration images (black and white checkerboard) from multiple angles and positions.

[0026] Step 2: Use Zhang Zhengyou calibration method Establish camera intrinsic parameter A.

[0027] In the above formula, s is a scalar, representing the scaling factor; It is the pixel coordinate value (homogeneous coordinate) of 3*1; A is the inner parameter matrix of 3*3; R=[r1 r2] is the matrix of 3*2, is the part of rotation transformation matrix [r1 r2 r3]; t is a translation vector of 3*1, It is a 3*1 world coordinate value (homogeneous coordinates, located on the shooting plane).

[0028] The above steps 1 and 2 use the ready-made method of Z...

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Abstract

The invention relates to a pinhole camera model-based camera posture correcting method. The method is mainly and technically characterized in that the same camera is adopted for shooting calibration images at a plurality of angles and positions, and calibrating the internal parameters of the camera; placing the camera in the initial state; shooting images and calculating to obtain the external parameters of the camera; calculating to obtain the position and the posture information of the camera; if the error is large, controlling and adjusting the position and the posture of the camera. According to the invention, the method is reasonable in design. During the correcting process of the camera, the relation between a camera coordinate system and a world coordinate system is calculated through a simple and easy method. In this way, the position and the posture of the camera are quickly adjusted and specific application requirements are met. The real-time calculation amount does not needto be additionally increased, and the software performance of the system is greatly improved. Moreover, no extra hardware equipment is additionally arranged, so that the system cost is greatly saved.

Description

technical field [0001] The invention belongs to the technical field of video image processing, in particular to a camera attitude correction method based on a pinhole camera model. Background technique [0002] In the field of video images, cameras are indispensable equipment, through which various required image and video information can be recorded. In general applications, there are no special requirements for the position and attitude between the camera and the object to be photographed, as long as the photograph is clear. However, in some applications, the camera must face the object to be photographed, and it should be located in the center as much as possible. For example, when taking electronic photos of books, paper documents, and museum artworks, it is hoped that the camera will face the object directly to reduce the risk of perspective projection. Image distortion caused by pose. If the image distortion is corrected in real time by calculation, it will not only ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80
CPCG06T7/80
Inventor 柳映辉
Owner TIANJIN UNIV OF SCI & TECH
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