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Camera internal parameter solving method and system based on absolute quadric surface

A quadratic surface and camera technology, applied in image data processing, complex mathematical operations, instruments, etc., can solve problems such as unstable equations, few constraints, and incorrect selection of optimization schemes, so as to reduce the preparation time in the early stage, Requires flexibility and convenience, and the effect of improving work efficiency

Active Publication Date: 2019-11-15
CHENGDU SOBEY DIGITAL TECH CO LTD
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Problems solved by technology

[0006] The purpose of the present invention is: in order to solve the problem that the existing camera self-calibration method has few constraints available, the solution of the equation is unstable, and the selection of the optimization scheme is incorrect, resulting in inaccurate self-calibration results. The present invention provides a method based on absolute binary Method and system for solving camera internal parameters of subsurface, based on absolute quadratic surface A linear self-calibration method for solving, by limiting the scope of the feasible region, for absolute quadratic surfaces Perform inequality constraints, so that the absolute quadratic surface matrix is ​​semi-positive definite, and finally decompose the internal parameter matrix with non-negative focal length values ​​to obtain accurate internal parameter values

Method used

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  • Camera internal parameter solving method and system based on absolute quadric surface
  • Camera internal parameter solving method and system based on absolute quadric surface
  • Camera internal parameter solving method and system based on absolute quadric surface

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Embodiment 1

[0076] Such as figure 1 As shown, this embodiment provides a method for solving camera internal parameters based on an absolute quadric surface, including the following steps:

[0077] S1: Since the feature points have good scale, rotation and illumination invariance, etc., the SIFT descriptor extraction is used to extract such as figure 2 The feature pixels of the two-dimensional image of the video sequence shown, the feature pixels are converted into corresponding feature vectors and feature index values;

[0078] S2: if image 3 As shown, based on the feature index value, the brute force matching algorithm is used to match the corresponding frame of the feature vector to obtain an initial matching data, and then the Ransac algorithm is used to eliminate the wrongly matched data, and several matching frames that are correctly matched are obtained. The feature index value here is used as Computational data input for matching distances;

[0079] S3: After the matching rela...

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Abstract

The invention discloses a camera internal parameter solving method and system based on an absolute quadric surface, and relates to the technical field of camera calibration, and the method comprises the steps: extracting a feature pixel point through employing an SIFT descriptor, and converting the feature pixel point into a corresponding feature vector; matching corresponding frames of the feature vectors by adopting a violence matching algorithm; calculating a basic matrix and poles between the matched frames through an eight-point algorithm to obtain a projection matrix P; on the basis of the projection matrix P and the constrained internal reference matrix K, solving an absolute quadric surface to apply a mandatory constraint to the absolute quadric surface, the absolute quadric surface being positive semi-definite, and solving an absolute quadric surface matrix parameter value; and performing optimization constraint on the absolute quadric surface matrix parameter value by utilizing the energy function E, and when the energy function E is minimum, obtaining an optimal solution of the internal reference of the camera. By adding reliable constraint, the solving difficulty is reduced, and the accuracy of a self-calibration result is improved.

Description

technical field [0001] The present invention relates to the technical field of camera calibration, and more specifically relates to a method and system for solving internal parameters of a camera based on an absolute quadric surface. Background technique [0002] In recent years, with the development of artificial intelligence research, computer vision (such as visual navigation SLAM, 3D reconstruction, augmented reality, etc.), as one of the key technologies of artificial intelligence, has also received more and more attention. Before computer image processing, the most important work is to determine the parameters of the camera, whether the calibration of camera parameters is accurate will directly affect the accuracy and precision of image processing. [0003] Camera calibration plays an important role in computer vision. It is the key technology for linking two-dimensional digital images and reconstructing three-dimensional space. The accuracy of camera calibration resul...

Claims

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Application Information

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IPC IPC(8): G06T7/80G06F17/16
CPCG06F17/16G06T7/80
Inventor 倪宇吴春中罗天何金龙袁霞
Owner CHENGDU SOBEY DIGITAL TECH CO LTD
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