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A linear calibration system and method based on camera coordinate system

A camera coordinate system and calibration system technology, applied in the field of camera calibration system and its linear calibration algorithm, can solve the problems of increasing difficulty in iterative solution, dependence on calibration accuracy, and unstable calibration results.

Active Publication Date: 2020-11-27
HEFEI UNIV OF TECH
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Problems solved by technology

Camera calibration needs to solve many unknown parameters, which makes it difficult to iteratively solve the optimal value of the objective function
There is a coupling phenomenon between the parameters to solve the problem, and the calibration accuracy greatly depends on the selection of the initial value, resulting in unstable calibration results

Method used

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  • A linear calibration system and method based on camera coordinate system
  • A linear calibration system and method based on camera coordinate system
  • A linear calibration system and method based on camera coordinate system

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Embodiment Construction

[0056] In this embodiment, a linear calibration system based on a camera coordinate system includes: a coordinate system construction module, an image point position offset estimation module, a focal length calculation module, a camera parameter calculation module, and a target point position calculation module;

[0057] The coordinate system building block is used to set the optical axis center of the camera and the target circle center C on the same horizontal axis, and make the target surface parallel to the camera image plane;

[0058] Take the optical center as the coordinate origin O c , X c Axis and Y c The axes are parallel to the two sides of the camera image, and the optical axis of the camera is Z c Axis, according to the right-hand rule, establish the camera coordinate system O c -X c Y c Z c ;

[0059] Taking the center C of the target circle as the coordinate origin O, the X-axis and Y-axis of the target circle are respectively aligned with the camera coor...

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Abstract

The invention discloses a linear calibration system based on a camera coordinate system and a method thereof. The system comprises a coordinate system construction module, an image point position offset estimation module, a focal length calculation module, a camera parameter calculation module and a target point position calculation module. And the coordinate system construction module and the image point position offset estimation module are used for obtaining a theoretical estimation of an imaging point position offset volume. An objective function is established based on an coordinate errorbetween imaging point actual coordinates and imaging point theoretical estimation coordinates. Partial derivatives of the objective function are solved about intrinsic parameters of the camera, and acamera intrinsic parameter linear algorithm is given out. According to the method, the problem of coupling between camera intrinsic parameter and external parameter calculation is solved, a camera calibration parameter calculation model is simplified, and the precision of a camera calibration result is improved.

Description

technical field [0001] The invention relates to the fields of visual measurement, artificial intelligence algorithm and camera calibration, in particular to a camera calibration system and a linear calibration algorithm with a camera coordinate system as a reference system. Background technique [0002] Camera calibration is an important research topic in the field of computer vision, and it is the basis for 3D reconstruction and visual measurement. The camera calibration technology based on planar template proposed by Zhang Zhengyou has been widely concerned and applied (document: ZhangZ. A flexible new technique for camera calibration [J]. IEEE Trans Pattern AnalMach Intell2000; 22(11): 1330-1334). The calibration template of this method is easy to make, and the camera internal and external parameters can be obtained by using nonlinear iterative algorithm. However, this method needs to collect at least three calibration template images in different directions. The object...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/80
Inventor 丁尚文王纯贤
Owner HEFEI UNIV OF TECH
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