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3D structured light module calibration method, storage medium and electronic device

A calibration method and structured light technology, applied in the field of computer vision, can solve the problems of difficulty in accurately obtaining the corresponding relationship between three-dimensional space points and three-dimensional space points, and difficulty in calibrating projection equipment, and achieve the effect of improving calibration accuracy and efficiency.

Inactive Publication Date: 2019-11-12
广州图语信息科技有限公司
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Problems solved by technology

At present, the camera calibration technology is mature, and it can be calibrated by using a checkerboard calibration board. However, the projection device is a non-imaging device, and it is difficult to accurately obtain the corresponding relationship between the three-dimensional space point and the corresponding position of the three-dimensional space point on the projection image, resulting in Calibration of projection equipment is relatively difficult

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  • 3D structured light module calibration method, storage medium and electronic device
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  • 3D structured light module calibration method, storage medium and electronic device

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Embodiment Construction

[0055] Below, the present invention will be further described in conjunction with the accompanying drawings and specific implementation methods. It should be noted that, under the premise of not conflicting, the various embodiments described below or the technical features can be combined arbitrarily to form new embodiments. .

[0056] A method for calibrating a 3D structured light module, such as figure 1 shown, including the following steps:

[0057] S0. Make a calibration board, print a checkerboard on a flat and hard white background calibration board, and the checkerboard covers the entire calibration board; figure 2 As shown, the shape of the checkerboard is square, the gray scale of the black grid in the checkerboard is adjustable, the size of the checkerboard is 12.5mm*12.5mm, and the size of the calibration plate is 1.2m*1.0m.

[0058] Such as image 3 As shown, the 3D structured light module hardware consists of a dot matrix projector, an RGB camera and an infrar...

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Abstract

The invention provides a 3D structured light module calibration method. The 3D structured light module calibration method comprises the steps of manufacturing a calibration plate, shooting a calibration photo, shooting a calibration photo group and calibrating a 3D structured light module. The invention further relates to a storage medium and an electronic device. According to the invention, the calibration plate plane is paved with checkerboards. By adopting the calibration plate for calibration, the distortion error of the camera can be greatly reduced. Since the calibration photo can well fill the checkerboard points to the edges and corners of the visual field of the camera, the re-projection errors of the edge and corner positions of the camera lens can be repaired. Referring to a Zhang Zhengyou plane calibration method, distortion of the lens is mainly reflected in the positions of edges and corners. According to the method, errors of the edges and corners of the lens are emphatically repaired, so that the calibration plate with checkerboard points paved is used for calibration, lens distortion can be effectively reduced, the calibration process is simple and efficient, the calibration device is easy to manufacture, and the 3D structured light module can be efficiently and accurately calibrated.

Description

technical field [0001] The invention belongs to the technical field of computer vision and relates to a method for calibrating a 3D structured light module. Background technique [0002] 3D structured light technology has been widely used in product design and manufacturing, industrial measurement, quality inspection, medicine, film and television entertainment and other industries due to its advantages of low cost, non-contact, high precision, and high efficiency. 3D structured light technology realizes three-dimensional scanning by actively emitting lattice light spots, which has higher reliability than other three-dimensional scanning technologies. Before carrying out 3D reconstruction with structured light, the structured light system must be calibrated first, that is, the internal parameters of the camera and projection equipment in the structured light system, as well as the conversion relationship between the two, are also known as external parameters. The level of c...

Claims

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Application Information

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IPC IPC(8): G06T7/80
CPCG06T7/80
Inventor 黄晋陈学言
Owner 广州图语信息科技有限公司
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