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Multi-camera calibration method and device

A calibration method and multi-camera technology, applied in image data processing, instrumentation, computing and other directions, can solve the problem of difficult calibration of multi-camera systems

Active Publication Date: 2020-01-14
HANGZHOU HIKROBOT TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The embodiment of the present application provides a multi-camera calibration method and device, which can be used to solve the difficult problem of multi-camera system calibration in the related art

Method used

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Embodiment Construction

[0085] In order to make the purpose, technical solution and advantages of the present application clearer, the implementation manners of the present application will be further described in detail below in conjunction with the accompanying drawings.

[0086] Before explaining the embodiment of the present application in detail, the system architecture involved in the embodiment of the present application is firstly introduced.

[0087] figure 1 It is a system architecture diagram illustrating a multi-camera calibration method according to an embodiment of the present application. Such as figure 1 As shown, the system may include a plurality of cameras 101-104 and a terminal 105, wherein the working area among the cameras 101, 102, 103 and 104 is as follows figure 1 Shown in the shaded part. A communication connection is established between the terminal and each camera.

[0088] In the embodiment of the present application, when performing camera calibration, the staff can ...

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Abstract

The invention discloses a multi-camera calibration method and device, and belongs to the technical field of machine vision. The method comprises the following steps: selecting any two cameras from a plurality of cameras as an initial camera group, and calibrating the two cameras included in the initial camera group by using images acquired by the initial camera group to obtain calibration parameters; taking the to-be-calibrated camera and the first calibration camera as a first camera group; and taking the to-be-calibrated camera and the second calibration camera as a second camera group, andcalibrating the to-be-calibrated camera based on the image acquired by the first camera group and the image acquired by the second camera group to obtain calibration parameters, the first calibrationcamera and the second calibration camera being any two cameras in the calibrated cameras. That is to say, the method does not need all cameras to collect the images containing all the mark points at the same time, and can achieve the calibration of the cameras as long as two cameras can collect the images containing all the mark points at the same time, thereby reducing the calibration difficultyof the cameras.

Description

technical field [0001] The present application relates to the technical field of machine vision, in particular to a multi-camera calibration method and device. Background technique [0002] Currently, multi-camera systems can be widely used in fields such as 3D reconstruction, motion capture, or multi-viewpoint video. Before using a multi-camera system, it is first necessary to calibrate multiple cameras in the multi-camera system. Among them, calibrating multiple cameras is actually to determine the internal parameters and external parameters of each camera in the multiple cameras. [0003] In the related art, when calibrating multiple cameras, a calibration board is needed, and the calibration board includes at least three marking points, and at least three marking points are collinear. During calibration, the calibration board is controlled to perform rigid body motion in the working area of ​​the multi-camera system. During the movement of the calibration board, multi...

Claims

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Application Information

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IPC IPC(8): G06T7/80
CPCG06T7/80G06T2207/30244
Inventor 孙元栋张小峰
Owner HANGZHOU HIKROBOT TECH CO LTD
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