Calibration device and method and depth camera

Abstract

The invention is suitable for the field of machine vision, and provides a calibration device and method and a depth camera, the device comprises a calibration plate, a moving part, a fixed support, a projection part, a camera and a processor; the calibration plate is provided with feature points and positioning information; the projection part is used for projecting the patterned light beam onto the calibration plate; the moving part is used for changing the position of the calibration plate; the camera and the projection component are fixed on the fixed bracket, and the camera is used for collecting the patterned light beam reflected by the calibration plate and generating a calibration image; and the processor is electrically connected with the moving part and the camera, and is used for receiving the calibration image acquired by the camera, controlling the moving part to move, and determining the internal parameters of the camera and the external parameters of the camera and the projection part based on the calibration image. The calibration images of the calibration plate at different positions are obtained by controlling the moving part, acquisition of the calibration material is simplified, and therefore the calibration process of relevant parameters of the camera is simplified.

Description

technical field [0001] The present application belongs to the field of computer vision, and in particular relates to a calibration device, method and depth camera. Background technique [0002] A series of depth cameras such as monocular structured light cameras and TOF cameras are composed of a projection part and a camera. In order to achieve accurate depth measurement, it is usually necessary to strictly restrict the relative posture of the projection part and the camera so that the optical axis of the camera and the two constitute baselines are perpendicular to each other. However, errors are inevitable in the actual assembly process. If the depth is calculated directly according to the depth calculation method under the ideal attitude, the measurement accuracy of the depth camera will be reduced. Therefore, it is necessary to calibrate the depth camera to obtain the accurate attitude between the projection part and the camera, that is, the external parameters of the ca...

AI Technical Summary

Problems solved by technology

[0004] The embodiment of the present application provides a calibration device, method, and depth camera. The method can determine the internal parameters of the camera through the first calibration image captured by the camera on the calibration plate; control the projection component to pattern the calibration plate The projection of the light beam, and then the second calibration image taken by the camera to the calibration plate, to determine the external parameters of the camera and the projection component. Compared with the calibration process of the relevant parameters of the camera in the prior art, this method controls the moving components. Obtaining the first calibration image and the second calibration image including the patterned light beam projected by the projection part on the calibration plate on the calibration plate at different positions simplifies the acquisition of calibration materials, and because the first calibration image and the second calibration image The images are obtained by shooting the calibration plate at the fixed position of the target by the camera. When calculating the internal parameters and external parameters of the camera, the calculation process of the internal parameters and external parameters shares the same pose parameter, which is the calibration The pose parameters between the board and the camera when the board is at the fixed position of the target, so that the influence of the calibration board can be ignored in the calculation process of the external parameters, resulting in an increase in calculation efficiency, thereby simplifying the calibration process of the camera-related parameters and solving the current problem. In the existing technology, the calibration process is complicated when calibrating the relevant parameters of the monocular structured light camera and the projection component

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