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Joint calibration system for internal and external parameters of camera

A technology of joint calibration, internal and external parameters, applied in image data processing, instruments, calculations, etc., can solve problems such as troublesome and inconvenient operation, and achieve the effect of accurate pose measurement results

Pending Publication Date: 2021-05-25
上海力信测量系统有限公司 +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For the field of tunnel construction, it is inconvenient and cumbersome to use the calibration plate

Method used

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  • Joint calibration system for internal and external parameters of camera
  • Joint calibration system for internal and external parameters of camera
  • Joint calibration system for internal and external parameters of camera

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0041] Such as Figure 1-6 As shown, this embodiment provides a joint calibration system for camera internal and external parameters, including: a calibration device (2), the calibration device (2) includes a light-emitting point (16), and the calibration device (2) is installed on the shield machine (4) Internal space;

[0042] A total station (5), the total station (5) is installed on the side wall of the tunnel where the external shield machine (4) is located; the total station (5) is located between the calibration device (2) and the Between the above-mentioned rearview prisms, it is used to obtain the total station (5) coordinates of the luminous point (16) under the total station (5) coordinate system;

[0043] A camera (3), the camera (3) is installed on the support shield of the shield machine (4), for obtaining the camera (3) pixel coordinates of the light source in the camera (3) pixel coordinate system, and The parameters of the camera (3) are calibrated according...

Embodiment 2

[0091] Such as Figure 1-6 As shown, this embodiment is based on Embodiment 1, and provides a camera internal and external parameter joint calibration system, including: the calibration device (2) specifically also includes: a small prism (14), used to assist the total station (5) to perform alignment.

[0092] Described calibration device (2) specifically also comprises: mounting bracket (13), and described mounting bracket (13) is U-shaped bracket; The quantity of described small prism (14) is two, is respectively installed on described mounting bracket ( 13) on the outside of the opening end of the U-shaped opening.

[0093] The small prism (14) and the light emitting point (16) are on the same axis. The luminous point (16) is arranged on the U-shaped bottom of the U-shaped bracket.

[0094] The calibration device (2) also includes a base (11), a connecting rod (12), and a three-dimensional lift (16); the mounting bracket (13) is fixed on the three-dimensional lift (16);...

Embodiment 3

[0100] Such as Figure 1-6 As shown, this embodiment is based on Embodiment 2, and provides a camera internal and external parameter joint calibration system, the luminous point includes a first luminous point fixing plate, a second luminous point fixing plate and a luminous point mounting seat; the first luminous point The point fixing plate is fixed to the second light-emitting point mounting plate by bolts; the gap between the first light-emitting point fixing plate and the second light-emitting point mounting plate is sealed; the first light-emitting point mounting plate is connected to the light-emitting point mounting seat gap seal. In this way, foreign dust and other sundries are prevented from entering the accommodation space through the gap between the light-emitting point mounting plate and the light-emitting point mounting seat.

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Abstract

The invention discloses a joint calibration system for internal and external parameters of a camera comprising a calibration device which comprises a luminous point and is installed in the internal space of a shield tunneling machine; a total station mounted on the side wall of the tunnel where the external shield tunneling machine is located; wherein the total station is positioned between the calibration device and the rearview prism and is used for acquiring a total station coordinate of the luminous point under a total station coordinate system; and the camera installed on a supporting shield of the shield tunneling machine and used for obtaining camera pixel coordinates of a light-emitting source under a camera pixel coordinate system and calibrating parameters of the camera according to the total station coordinates and the camera pixel coordinates. The invention has the technical effects that the relations between the camera and the total station in the field shield tunneling machine space can be conveniently, quickly and accurately calibrated, so that the pose measurement result of the shield tunneling machine is more accurate.

Description

technical field [0001] The invention relates to the field of camera monocular vision, in particular to a joint calibration system for internal and external parameters of a camera Background technique [0002] In the image measurement process and machine vision applications, in order to determine the relationship between the three-dimensional geometric position of a point on the surface of a space object and its corresponding point in the image, it is necessary to establish a geometric model of camera imaging, and these geometric model parameters are camera parameters. The purpose of camera calibration is to obtain the internal and external parameters of the camera, as well as the distortion parameters. After calibrating the camera, I usually want to do two things: one is that the degree of distortion of each lens is different, and the lens distortion can be corrected through camera calibration to generate a corrected image; the other is based on the obtained image weight. C...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80
CPCG06T7/80G06T2207/10004
Inventor 张晓日杜文阳黄喆
Owner 上海力信测量系统有限公司
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