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Camera Attitude Correction Method Based on Pinhole Camera Model

A pinhole camera and correction method technology, which is applied in the field of camera attitude correction based on the pinhole camera model, can solve problems such as high hardware requirements, large costs, and slow calculation speed, so as to improve software performance and save system costs , reducing the effect of the processing

Active Publication Date: 2021-05-18
TIANJIN UNIV OF SCI & TECH
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  • Application Information

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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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  • Camera Attitude Correction Method Based on Pinhole Camera Model
  • Camera Attitude Correction Method Based on Pinhole Camera Model

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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 camera attitude correction method based on a pinhole camera model. Its main technical features are: using the same camera to shoot calibration images at multiple angles and positions, and to calibrate internal parameters of the camera; placing the camera in an initial state; Take images and calculate the external parameters of the camera; calculate and obtain the camera position and attitude information; if the error is large, control and adjust the camera position and attitude. The invention has a reasonable design, and uses a simple and easy method to calculate the relationship between the camera coordinate system and the world coordinate system when performing camera calibration, and quickly adjusts the camera position and attitude to meet specific application requirements without additional real-time calculations, greatly improving The software performance of the system is improved, and there is no need to add additional hardware devices, which greatly saves the system cost.

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