Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

A Calibration Method Based on Internal and External Parameters of Known Camera Position

A camera position and calibration method technology, applied in image data processing, image analysis, instruments, etc., can solve the problems of too many marker points, expensive acquisition of accurate marker points, multiple solutions, etc., and achieve the effect of fewer marker points

Active Publication Date: 2022-06-17
中国人民解放军63660部队
View PDF13 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The present invention proposes a method for calibrating internal and external parameters based on the position of the camera. The purpose is to solve the problem that in the prior art, there are many mark points required for the calibration of internal and external parameters of the camera, and the acquisition of accurate mark points is expensive. Technical problems that can only solve external parameters and have multiple solutions

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A Calibration Method Based on Internal and External Parameters of Known Camera Position
  • A Calibration Method Based on Internal and External Parameters of Known Camera Position
  • A Calibration Method Based on Internal and External Parameters of Known Camera Position

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0100] The present invention is illustrated by a case using the simulation method. Suppose the world coordinate system S w with the camera coordinate system S c Parallel, that is, the theoretical value of the rotation matrix in the external parameters is

[0101]

[0102] During simulation, set the three flag points as

[0103] X 1 =(-20 -10 200)

[0104] X 2 =(20 -10 200)

[0105] X 3 =(20 -5 200)

[0106] The camera position coordinates are

[0107] O c =(0 0 0)

[0108] The focal length of the lens is 50mm, the resolution is 1280×800, and the pixel size is 14μm. According to the pinhole imaging model, the pixel coordinates after imaging are obtained as

[0109] x 1 =(282.8571 221.4286)

[0110] x 2 =(997.1429 221.4286)

[0111] x 3 =(997.1429 310.7143)

[0112] According to the calibration method of internal and external parameters proposed by the present invention, we obtain

[0113]

[0114]

[0115]

[0116] After the focal length is normal...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention belongs to the technical fields of machine vision, photogrammetry, SLAM, etc., and proposes a calibration method based on the internal and external parameters of the camera position. The method only needs to arrange 3 marker points, measure the position of the camera and the marker points, and take images of the marker points to obtain the marker The imaging position of the point in the image. When the principal point and focal length of the camera are unknown, a new camera system is established, the solution problem is transformed into a traditional P3P problem, and the intermediate variable and the relationship between the intermediate coordinate system and the original coordinate system are solved by the P3P algorithm. Finally, according to the intermediate variable The relationship between the camera and the coordinate system is used to solve the internal and external parameters of the camera. The method for calibrating the internal and external parameters of the camera in the present invention does not need to know the internal parameters of the camera, and does not increase the number of external marker points, and is suitable for calibration and visual measurement of the internal and external parameters of the camera when the internal parameters of the camera are unknown and the camera position is fixed.

Description

Technical field: [0001] The invention belongs to the technical fields of machine vision, photogrammetry, SLAM and the like, and particularly relates to a method for calibrating internal and external parameters of a camera. Background technique [0002] In the fields of machine vision, photogrammetry, SLAM, etc., in order to realize the functions of camera positioning and intersection measurement, it is necessary to calibrate the internal and external parameters of the camera. There are many methods for calibrating the internal and external parameters of the camera. At present, there are many calibration methods based on multiple marker points, also called PnP (perspective-n-point) calibration method (n is the number of marker points). The internal and external parameters include the rotation and translation matrix of the camera coordinate system relative to the world coordinate system, as well as the camera principal point, focal length, etc. When the number of marker point...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/80
CPCG06T7/80
Inventor 郭凯叶虎谷俊豪陈洪林赵梓年田野燕道华
Owner 中国人民解放军63660部队
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com