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High-precision camera calibration and target attitude estimation method

A technology for camera calibration and target attitude, which is applied in computing, image data processing, instruments, etc., can solve the problems that corners are easily disturbed by noise and light conditions, estimation errors, etc., and achieve the effect of fast calculation speed and high target accuracy

Active Publication Date: 2018-12-14
珠海华星智造科技有限公司
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Problems solved by technology

The checkerboard target uses the corners as feature points, but the corners on the projected image are easily disturbed by noise and lighting conditions, resulting in estimation errors

Method used

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  • High-precision camera calibration and target attitude estimation method

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Embodiment Construction

[0040] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the principle on which the present invention is based and the accompanying drawings.

[0041] First introduce the camera model example, given the feature point set of the plane target: (X i ,Y i ,0), i=1,2,...,N, its pixel coordinates in the camera projection space are: (u i ,v i ), i=1,2,...,N. According to the camera model, the two have the following relationship:

[0042]

[0043] Among them: A is the internal reference matrix of the camera, R and t are the projection attitude parameters of the target, that is, rotation and translation.

[0044] Due to the distortion of the camera lens, the actual imaging point is: its sum (u i ,v i ), i=1,2,...,N relation is:

[0045]

[0046] Among them: (k 1 ,k 2 ,k 3 ),(p 1 ,p 2 ) are the camera radial and tangential distortion coefficients, respectively.

[0047]The calibration process is as long as the ac...

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Abstract

A high-precision camera calibration and target attitude estimation method based on circular array plane target includes: (1) extracting the center coordinates of projection ellipse from multiple target images to obtain the initial camera parameters; 2) fixing the camera internal reference, sampling the reference target, project the newly estimated camera parameters into the image space, fitting the ellipse to obtain the projection ellipse center, re-estimating the reference target circular cent projection by using the ellipse center displacement and the real target image ellipse center displacement, and combining the rules to enter the step 5); (3) fixing the camera internal parameters and recalculating the target posture parameters by using the latest estimation of the target center projected on each shot target image; 4) fixing the internal reference of the camera, and continuing iteration accord to the step 2); (5) using the latest projection estimation of the coordinate of the center of the reference target to obtain the attitude parameters of the new internal parameters and the target, according to the method of the step (2), projecting the sampling circle again and calculating the displacement amount, and otherwise returning to the step (2) after the regular algorithm is finished.

Description

technical field [0001] The invention relates to the field of computer vision applications, in particular to 3D measurement and accurate attitude estimation technology of targets, in particular to a high-precision camera calibration and target attitude estimation method based on circular array planar targets. Background technique [0002] Camera calibration technology can be widely used in computer vision fields such as 3D modeling. Accurate camera calibration is very important in the application process. At present, the calibration methods mentioned in the literature include direct linear calibration method (DLT), radial consistent constraint method (RAC), planar target calibration method, etc., among which the most commonly used It is Zhang Zhengyou's planar target calibration method. Its principle is to use the feature points on the planar target to correspond to the feature points of multiple different projection images to calculate the camera internal parameters and the ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80
CPCG06T7/80
Inventor 武栓虎辛睿李爱娟郑强姜殿臣黎应奋
Owner 珠海华星智造科技有限公司
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