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Large-view-field stereoscopic vision calibration method

A technology of stereo vision and calibration method, applied in the field of three-dimensional measurement, can solve the problems of heavy weight, cumbersome operation, large temperature space gradient, etc., and achieve the effect of high-efficiency calibration and optimization of external parameters

Active Publication Date: 2022-07-05
CHENGDU AIRCRAFT INDUSTRY GROUP +1
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Problems solved by technology

However, the on-site environment of the workshop is complex (large temperature time gradient, large temperature space gradient, and large influence of temperature and humidity), and the above method has the following problems
[0003] (1) Calibration methods using laser trackers and laser interferometers are cumbersome, time-consuming, and there is a risk that optical path blocking cannot be realized;
[0004] (2) The combination of small targets has a large overall volume and weight, which causes complex operations and is easily affected by spatial accessibility.

Method used

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Embodiment 1

[0055] A large field of view stereo vision calibration method, comprising the following steps:

[0056]S1. Establish the relationship between the camera model coordinate system and the pixel coordinate system;

[0057] S2. Perform image distortion correction;

[0058] S3. Paste the coding point and the marking point evenly in the field of view to be measured, to ensure that the coding point and the marking point cover the range to be measured as much as possible, and then use the monocular photogrammetry system to measure to obtain the three-dimensional space coordinates of the coding point and the marking point;

[0059] S4. Use the stereo vision measurement system to measure, and establish the corresponding relationship between the marker points in different camera images after completing the decoding of the encoded marker points, and calculate the rough pose relationship of the image detection;

[0060] S5. Solve the matrix of the pose relationship;

[0061] S6. Use the 8...

Embodiment 2

[0069] S1 as figure 1 As shown, in the stereo vision measurement system, the camera imaging process is generally represented by a pinhole imaging model. 3D point M=[x,y,z] T and its pixel coordinates m=[u,v] T The relationship between can be expressed as

[0070]

[0071] Among them, s is the scale factor, m is the measured pixel coordinate value, and m' is the theoretical pixel coordinate value. In the actual measurement process, m can be corrected to the theoretical value m' by nonlinear lens distortion. The k vector is the lens distortion parameter, [R|t] is the camera extrinsic parameter matrix, and A is the camera intrinsic parameter matrix.

[0072]

[0073] Among them, (u 0 ,v 0 ) the pixel coordinates of the main point, α x with alpha y are the normalized focal lengths in the horizontal and vertical directions of the camera, respectively, and γ represents the angle between the two axes of the camera image.

[0074] S2 uses the following formula for image...

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Abstract

The invention relates to the field of three-dimensional measurement, in particular to a large-view-field stereoscopic vision calibration method for high-precision calibration of a stereoscopic vision system during large-size measurement, which comprises the following steps of: establishing a relationship between a camera model coordinate system and a pixel coordinate system; image distortion correction is carried out; measuring to obtain three-dimensional space coordinates; calculating a rough pose relation of the image detection; solving a matrix of a pose relation; calculating an essential matrix, and establishing a multi-camera calibration model; calibration of parameters in the camera is realized; calculating theoretical coordinate values and measurement coordinate values of three points which are not on the same straight line; and obtaining an optimal solution of the rotation matrix and the translation vector. Finishing the correction of the scale factor; and an optimal scale factor is obtained. According to the invention, the monocular camera is creatively utilized to calibrate the coding points and the mark points in the field of view to be measured, and on the basis of the obtained three-dimensional coordinate values, the attitude relationship among different images is estimated by utilizing an eight-point algorithm, so that high-precision and high-efficiency calibration of the stereoscopic vision measurement system is realized.

Description

technical field [0001] The invention relates to the field of three-dimensional measurement, in particular to a large-field stereo vision calibration method for high-precision calibration of a stereo vision system during large-scale measurement. Background technique [0002] In the process of stereo vision measurement, the calibration accuracy of the system directly determines the measurement accuracy. At present, Tsai's two-step method and Zhang Zhengyou's plane calibration method are commonly used in stereo vision calibration. When the measurement field of view is large, if the calibration accuracy is to be guaranteed, the traditional small target will cause a large calibration error. Therefore, It is necessary to configure a large-scale high-precision target that matches the measurement space size to ensure the calibration accuracy. However, large-scale high-precision targets are difficult to manufacture, difficult to operate, expensive, and difficult to maintain, so they...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B11/00G06T5/00G06T7/80
CPCG01B11/00G06T7/80G06T2207/10004G06T2207/30244G06T5/80Y02T10/40
Inventor 刘大炜申皓陈洪宇杨林志赵慧洁李旭东姜宏志
Owner CHENGDU AIRCRAFT INDUSTRY GROUP
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