Calibration method and device of structured light system, calibration tool diagram, equipment and medium

Abstract

The embodiment of the invention provides a calibration method and device of a structured light system, a calibration tool, equipment and a medium. The method comprises the following steps: acquiring Nframes of speckle patterns and corresponding N frames of infrared patterns of a calibration tool pattern under different distances, wherein the calibration tool graph has a depth identifier and a posture identifier, and N is greater than 1; determining the current position of the projector based on the attitude identifiers and the depth identifiers in the N frames of speckle images and the N frames of infrared images; determining a spatial rotation matrix of the projector based on the current position of the projector and an original reference image; obtaining a current reference image basedon the original reference image, the current position of the projector and the spatial rotation matrix, and replacing the original reference image with the current reference image to realize calibration, thereby realizing a calibration function, being convenient and fast, and avoiding returning to a factory.

Description

technical field [0001] The present invention relates to the field of computer technology, in particular to a calibration method and device for a structured light system, calibration tools, equipment and media. Background technique [0002] At present, the most active technology in the field of computer vision is 3D sensing and measurement technology. 3D sensing technologies mainly include structured light, binocular stereo vision, and time-of-flight method. Monocular spatial coding structured light technology is the most commonly used structured light technology. It is widely used in industrial production, medical treatment, electronic consumption and other fields. The monocular spatial structured light system is mainly composed of a projector and an optical sensor. The working principle of this technology is that the pre-modulated pseudo-random pattern is projected to the scene through the projector, the scene map is collected by the optical sensor, the scene map is matche...

AI Technical Summary

Problems solved by technology

Depth restoration has high requirements on the structure of the camera. Once the camera structure is deformed by external forces, the relative spatial position between the projector and the optical sensor changes, and the optical axis changes, making it difficult to calculate the depth.

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