Single-point calibration object-based multi-camera calibration

Abstract

The invention relates to a single-point calibration object-based multi-camera internal and external parameter calibration method and a calibration component. The calibration method comprises the following steps of: acquiring a single calibration point which moves freely and an image point of an L-shaped rigid body which is used for indicating a world coordinate system by using a plurality of infrared cameras which are fixed at different positions in a scene; and uploading the single calibration point and the image point into an upper computer so as to calibrate internal and external parametersof the plurality of cameras by utilizing image point data. According to the method, cameras with common viewpoints can be calibrated in pairs according to a pinhole and distortion camera model and anepipolar geometric constraint relationship between image point pairs. According to the method, a utilized calibration tool is simple to manufacture, and calibration objects do not need to be limitedto move in a common view field of all the cameras, so that the operability is strong; through a multi-camera cascade path determined by utilizing a common view field relationship, more image points can participate in operation, so that the algorithm robustness is better; and through multi-step optimization, calibration parameters can achieve sub pixel-level re-projection errors, so that high-precision demands can be completely satisfied.

Description

technical field [0001] The invention relates to the field of computer vision, in particular to a multi-camera internal and external parameter calibration method and a calibration component based on a single-point calibration object. Background technique [0002] Camera calibration technology uses the 2D image of the calibrated object to recover the internal and external parameters of the camera, and then reconstructs the 3D information of the scene. It is a key step in the field of computer vision and has wide applications in industry, aerospace, cultural creativity and other fields. [0003] In the process of image measurement and machine vision applications, in order to determine the relationship between the three-dimensional geometric position of a point on the surface of a space object and its corresponding point in the image, it is necessary to establish a geometric model of camera imaging, and these geometric model parameters are camera parameters. Under most condition...

AI Technical Summary

Problems solved by technology

[0005] In recent years, with the vigorous development of virtual reality technology and industry, the perspective of a single camera cannot meet people's expectations for a large-scale three-dimensional space, and multi-camera combination and calibration have gradually become a new research hotspot.

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