Camera horizontal plane inclination angle measuring method and device

Abstract

The invention discloses a camera horizontal plane inclination angle measuring method and device, and belongs to the field of precision measurement and image processing. According to the invention, a motor controls a working platform to move so that a calibration plate graph enters the visual field of the camera, the proper position of the calibration plate graph in the visual field of the camera is adjusted, the image of one calibration plate graph is shot, and then the Y-axis of the motor is kept still and moves along the X-axis of the motor for a certain step length to shoot the image of the other calibration plate graph; because the camera has an inclination angle when being installed on the horizontal plane, the coordinate values of the common area points in the two calibration plate graphic images are different, and the inclination angle of the camera on the horizontal plane can be obtained by processing the two shot images. According to the method, the calibration plate pattern manufacturing precision is high, and the working platform movement control precision is high, so that the calibration precision of the camera horizontal plane inclination angle is high, the step size can be changed for calibration of different camera views and different movement ranges, and the method is high in adaptability.

Description

technical field [0001] The invention belongs to the field of precision measurement and image processing, and relates to a method and a device for measuring the inclination angle of the horizontal plane of a camera. Background technique [0002] In industrial production applications, assembly accuracy is an important indicator of automatic assembly technology, and the calibration of vision units in automatic assembly systems is of great significance to assembly accuracy, and is crucial to the precise positioning of products and the reduction of assembly errors. [0003] At present, the calibration of the vision unit in the automatic assembly system mainly includes the camera's monocular and multi-target calibration, and the camera and manipulator's pose calibration. The monocular and multi-target calibration of the camera is mainly to obtain the internal and external parameters of the camera for the size measurement and three-dimensional reconstruction of the object, etc. The...

AI Technical Summary

Problems solved by technology

[0005] When the camera has an inclination angle on the horizontal plane, especially for the positioning and measurement of large-scale objects, image stitching or coordinate transformation is generally required, and the inclination angle of the camera horizontal plane will cause stitching or transformation errors, and accurate results cannot be obtained

At present, there is no effective method for measuring and calibrating the tilt angle of the horizontal plane of the camera

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