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Triangular primitive three-dimensional ball target and industrial camera calibration method

A triangular and three-dimensional technology, applied in image data processing, complex mathematical operations, instruments, etc., can solve problems such as low calibration accuracy of three-dimensional balls and inability to synchronize cameras.

Active Publication Date: 2019-11-08
ZHONGBEI UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Using this calibration object to calibrate industrial cameras can not only solve the problem that the two-dimensional plane calibration object cannot simultaneously calibrate cameras at different positions, but also solve the problem of low calibration accuracy of the three-dimensional ball

Method used

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  • Triangular primitive three-dimensional ball target and industrial camera calibration method
  • Triangular primitive three-dimensional ball target and industrial camera calibration method
  • Triangular primitive three-dimensional ball target and industrial camera calibration method

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Embodiment Construction

[0048] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present invention and implement it, but the examples given are not intended to limit the present invention.

[0049] Triangle is one of the only three common inclined planes in the Euclidean plane. Except for checkerboard, the only shape that can be alternately colored can provide more constraint relationships than checkerboard.

[0050] The invention combines the advantages of spheres and triangles to design a three-dimensional triangular mesh ball target for camera calibration, which can be applied to robot calibration, machine vision, measurement systems and other occasions, so it has broad application prospects.

[0051] As shown in Fig. 1, it is the schematic diagram of the model under the front view and top view of the new target in the present invention, and Fig. 2 shows the schemat...

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Abstract

The invention discloses a triangular primitive three-dimensional ball target and an industrial camera calibration method. According to the triangular primitive three-dimensional sphere target, high-precision triangular grid lines are engraved on the three-dimensional sphere target, and each grid line comprises a plurality of horizontal transverse circles with known distances, a circle deviating leftwards by 45 degrees and a circle deviating rightwards by 45 degrees. The triangular primitive three-dimensional sphere target has the advantages that the triangular primitive three-dimensional sphere target is a three-dimensional sphere target with high-precision triangular grid lines, curve intersection points on the surface form triangular primitives, the curve intersection points can be solved, and the precision is high. According to camera calibration knowledge, cameras at different positions and different angles can shoot clear triangular elements and intersection points of the triangular elements.

Description

technical field [0001] The invention relates to the field of industrial camera calibration, in particular to a triangular primitive three-dimensional ball target and an industrial camera calibration method. Background technique [0002] Camera calibration is a key step in obtaining 3D information from a 2D planar image of an object, and industrial camera calibration is a classic problem in projective measurement and machine vision. According to different calibration methods, camera calibration methods can be divided into traditional camera calibration methods, active vision-based calibration methods and self-calibration methods. Traditional camera calibration methods can be divided into calibration based on 0D targets, 1D targets, 2D targets, and 3D targets according to different calibration objects. Camera calibration based on 0D targets belongs to the category of camera self-calibration and does not require any calibration objects. The camera calibration method based on ...

Claims

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Application Information

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IPC IPC(8): G06T7/80G06F17/12G06F17/16
CPCG06F17/12G06F17/16G06T2207/10012G06T2207/30208G06T2207/30244G06T7/85
Inventor 储成群单彦虎张晓闻焦新泉陈建军李圣昆赵冬青甄国涌任勇峰文丰
Owner ZHONGBEI UNIV
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