CN102096918A - Calibration method of parameters of camera for rendezvous and docking - Google Patents
Calibration method of parameters of camera for rendezvous and docking Download PDFInfo
- Publication number
- CN102096918A CN102096918A CN 201010623833 CN201010623833A CN102096918A CN 102096918 A CN102096918 A CN 102096918A CN 201010623833 CN201010623833 CN 201010623833 CN 201010623833 A CN201010623833 A CN 201010623833A CN 102096918 A CN102096918 A CN 102096918A
- Authority
- CN
- China
- Prior art keywords
- camera
- known measuring
- measuring point
- coordinate
- point
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a calibration method of parameters of camera for rendezvous and docking, which is a method for calibrating and accurately establishing a camera coordinate system of an effective focus of a camera and an image center by adopting an optical external standard method. The invention solves the technical problems that position measurement accuracy and posture measurement accuracy are difficult to simultaneously realize and the position measurement accuracy along a viewing direction is low through establishing a coordinate axis in a camera viewing direction by utilizing an optical lens optical axis direction reference, adopting the thought that the focus in a camera measurement mathematic model changes along with the change of distance to establish an effective focus curve.
Description
Technical field
The present invention relates to a kind of scaling method of camera intrinsic parameter.
Background technology
CCD optical imagery sensor is the crucial measurement component of intersection docking mission, is made up of CCD camera and blip device.The CCD camera is installed on the tracker, and the blip device is by being installed on the target aircraft.Its function be when tracker docks with the target aircraft intersection in the certain distance scope, to imaging of blip device and measurement, obtain relative position and the relative attitude angle of optical sensor coordinate system by the CCD camera with respect to blip device coordinate system.
One of CCD optical imagery sensor development difficult point is to require to have in the certain distance scope higher position and attitude measurement accuracy.Existing method is mainly used the information of having utilized fixed form information and imaging point, can calculate the inner parameter of camera.In the monocular vision real-time measurement system, need correct the Real-Time Distortion of imaging point, obtain the coordinate of ideal image point, and calculate the pose parameter between target and camera thus.Zhang Zheng-you for example, A flexible new technique for camera calibration, Technical Report MSR-TR-98-71,1998 disclosed scaling methods, masterplate can not guarantee along the high-precision realization of direction of visual lines position measurement owing to adopt fixedly in the calibration process, and the fixing measurement meeting of masterplate produced a very large impact calibration result, thereby influence the normal measurement of CCD optical imagery sensor.
Summary of the invention
Technology of the present invention is dealt with problems and is: overcome prior art and be difficult to realize simultaneously position and attitude measurement accuracy, and along the lower technical barrier of direction of visual lines positional accuracy measurement, proposed the scaling method of a kind of intersection butt joint with the camera intrinsic parameter.
Technical solution of the present invention is: a kind of intersection butt joint scaling method of camera intrinsic parameter, and step is as follows:
(1) sets up CCD camera coordinates system, initial point is the normal intersection point spatially of crossing cross groove center of orthogonal three faces of reference mirror placed on the CCD camera, the normal direction of the minute surface of normal and reference mirror front end face normal parallel is the Z axle in described three faces, the normal direction of pointing to the benchmark minute surface of the earth direction is a Y-axis, and X-axis and Y-axis and Z axle meet the right-hand rule;
(2) point of choosing even covering camera measuring distance and viewing field of camera utilizes the CCD camera that known measuring point is measured as known measuring point, to the centre coordinate x that practises physiognomy of camera
p, y
pAnd focal distance f
pDemarcate, step is:
(21) choose the initial value of camera centre coordinate and focal length
(22) calculate F
k=(f
1, f
2..., f
n) (f
1, f
2..., f
n)
T, wherein
I=1,2....., n, n are known measuring point number,<the expression inner product operation,
Be i the coordinate of known measuring point under earth coordinates, χ
jThe coordinate that the individual known measuring point of measuring under diverse location for camera of i in the CCD camera coordinates is,
With
For with χ
jThe i that corresponding position is measured a down known measuring point at camera as the coordinate on the plane,
With
Be respectively first row, second row and the third line of matrix R, R is the transition matrix between earth coordinates and the CCD camera coordinates system;
(23) if the F that tries to achieve
kSatisfy accuracy requirement, then try to achieve
Respectively as the practise physiognomy centre coordinate and the focal length of camera under i the known measuring point, otherwise adjust
Until F
kSatisfy accuracy requirement;
(24) geometric mean is carried out with the centre coordinate of practising physiognomy of camera under each the known measuring point that obtains in continuous repeating step (21)~(23), obtains the centre coordinate x that practises physiognomy of camera
p, y
p, the focal length of camera couples together the focal length curve that forms camera under the known measuring point of each that will obtain simultaneously;
(3) the camera focus curve that step (2) is determined and the centre coordinate of practising physiognomy carry the initial value that posture position is found the solution software as camera, all known measuring points are calculated posture positions and compare with the measurement result of step (2), obtain the measuring error of CCD camera thus.
The present invention's advantage compared with prior art is: scaling method of the present invention utilizes the higher optics external standard measurement result of measuring accuracy, the camera inner parameter is demarcated, calibrating parameters is a transition matrix between effective focal length, picture centre and camera coordinates system and reference mirror coordinate system, these calibrating parameters write CCD optical imagery sensor software, promptly can guarantee position and attitude measurement accuracy in the full measurement range.This method mentality of designing novelty, the calibrating parameters process is simple, operand is little, it is little to take hardware resource, and greatly improved positional accuracy measurement along direction of visual lines, overcome scaling method design complexity commonly used, operand is big, the committed memory resource is big and, has adapted to very much the space camera use of working environment complexity along the low deficiency of the positional accuracy measurement of direction of visual lines.
Description of drawings
Fig. 1 is the FB(flow block) of the inventive method.
Embodiment
As shown in Figure 1, be the theory diagram of the inventive method, key step is as follows:
(1) the CCD camera coordinates is that initial point is set up;
Utilize cross groove on the prism square face vertical that the position measurement benchmark of CCD camera is provided with the camera optical axis, can accurately locate the initial point of CCD camera measurement coordinate system according to this benchmark, vertical mutually three the normal intersection points spatially of crossing cross groove center of reference mirror are the initial point that camera coordinates is.
(2) the CCD camera coordinates means to foundation
Utilize the cross groove on the prism square face vertical to provide three of the CCD camera to point to measuring basis with the camera optical axis, prism square is installed on the camera body, it is the directional reference of camera, be called reference mirror, first minute surface normal of camera lens and reference mirror front end face normal parallel are the Z axles of camera coordinates system, the benchmark minute surface normal that points to the earth direction is a Y-axis, and three meet right-handed coordinate system.
(3) CCD camera image center and effective focal length scaling method;
After aforementioned two steps are finished, carrying out picture centre and effective focal length again demarcates, utilize CCD camera coordinates system, measure the result of routine position under CCD camera coordinates system and survey outer measured value under the routine position as camera demarcating regulation, surveying the rule that example chooses is evenly to cover camera measuring distance and viewing field of camera.
Demarcate the outer measured value of surveying under the example for camera at i, the parameter that camera need be demarcated (CCD image planes centre coordinate and focal length) is made as
Exist as can be known according to the camera imaging formula
I=1 wherein, 2....., n, n are known measuring point number,<the expression inner product operation,
Be i the coordinate of known measuring point under earth coordinates, χ
jThe coordinate that the individual known measuring point of measuring under diverse location for camera of i in the CCD camera coordinates is,
With
For with χ
jThe i that corresponding position is measured a down known measuring point at camera as the coordinate on the plane,
With
Be respectively first row, second row and the third line of matrix R, R is the transition matrix between earth coordinates and the CCD camera coordinates system;
For real coefficient transcendental equation group:
α in the formula
i(i=1,2,3) represent ccd image centre coordinate and focal length respectively.
The objective definition function:
F(α
1,α
2,α
3)=(f
1,f
2,...,f
n)(f
1,f
2,...,f
n)
T=0
Obviously satisfy the α of minimal value condition this moment
1, α
2, α
3Also be separating of equation.
(31) measured value is measured confidential reference items numerical value (focal length and image planes center) for the camera of expectation measurement result Select Error minimum in addition
As initial value;
(34) to finding the solution parameter
Iterative computation, substitution again (2).
L=1,2,3,
Finish above-mentioned steps and can obtain i the intrinsic parameter of demarcating under the survey example
Survey example according to the rules can be set up focal distance f
pBe the focal length curve of final camera with the curve of variable in distance, difference is surveyed the picture centre (x that example is found the solution
p, y
p) carry out the result that geometric mean can obtain final camera image center.
(4) CCD camera coordinates system and reference mirror coordinate system relation are determined
The camera focus curve determined and picture centre are reentered into the camera posture position find the solution software, calculate all regulations survey example down camera result of calculation and externally measured result relatively, calculating [θ
i, φ
i, Ψ
i] the three-axis attitude measuring error, from i=1,2 ..., n carries out geometric mean, with final statistical error system's constant error the most, is used for the final measurement correction, i.e. CCD camera final measurement=camera posture position result of calculation+system's constant error.
The content that is not described in detail in the instructions of the present invention belongs to those skilled in the art's known technology.
Claims (1)
1. the scaling method of using the camera intrinsic parameter is docked in an intersection, it is characterized in that step is as follows:
(1) sets up CCD camera coordinates system, initial point is the normal intersection point spatially of crossing cross groove center of orthogonal three faces of reference mirror placed on the CCD camera, the normal direction of the minute surface of normal and reference mirror front end face normal parallel is the Z axle in described three faces, the normal direction of pointing to the benchmark minute surface of the earth direction is a Y-axis, and X-axis and Y-axis and Z axle meet the right-hand rule;
(2) point of choosing even covering camera measuring distance and viewing field of camera utilizes the CCD camera that known measuring point is measured as known measuring point, to the centre coordinate x that practises physiognomy of camera
p, y
pAnd focal distance f
pDemarcate, step is:
(22) calculate F
k=(f
1, f
2..., f
n) (f
1, f
2..., f
n)
T, wherein
I=1,2....., n, n are known measuring point number,<the expression inner product operation,
Be i the coordinate of known measuring point under earth coordinates, χ
jThe coordinate that the individual known measuring point of measuring under diverse location for camera of i in the CCD camera coordinates is,
With
For with χ
jThe i that corresponding position is measured a down known measuring point at camera as the coordinate on the plane,
With
Be respectively first row, second row and the third line of matrix R, R is the transition matrix between earth coordinates and the CCD camera coordinates system;
(23) if the F that tries to achieve
kSatisfy accuracy requirement, then try to achieve
Respectively as the practise physiognomy centre coordinate and the focal length of camera under i the known measuring point, otherwise adjust
Until F
kSatisfy accuracy requirement;
(24) geometric mean is carried out with the centre coordinate of practising physiognomy of camera under each the known measuring point that obtains in continuous repeating step (21)~(23), obtains the centre coordinate x that practises physiognomy of camera
p, y
p, the focal length of camera couples together the focal length curve that forms camera under the known measuring point of each that will obtain simultaneously;
(3) the camera focus curve that step (2) is determined and the centre coordinate of practising physiognomy carry the initial value that posture position is found the solution software as camera, all known measuring points are calculated posture positions and compare with the measurement result of step (2), obtain the measuring error of CCD camera thus.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN 201010623833 CN102096918B (en) | 2010-12-31 | 2010-12-31 | Calibration method of parameters of camera for rendezvous and docking |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN 201010623833 CN102096918B (en) | 2010-12-31 | 2010-12-31 | Calibration method of parameters of camera for rendezvous and docking |
Publications (2)
Publication Number | Publication Date |
---|---|
CN102096918A true CN102096918A (en) | 2011-06-15 |
CN102096918B CN102096918B (en) | 2013-01-23 |
Family
ID=44129995
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN 201010623833 Active CN102096918B (en) | 2010-12-31 | 2010-12-31 | Calibration method of parameters of camera for rendezvous and docking |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN102096918B (en) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104655153A (en) * | 2015-02-11 | 2015-05-27 | 中国科学院长春光学精密机械与物理研究所 | Method for calibrating elements of interior orientation of mapping camera based on matrix orthogonality |
CN104154931B (en) * | 2014-07-23 | 2017-01-25 | 北京控制工程研究所 | Optical machine positioning survey method of intersection survey system |
CN107976146A (en) * | 2017-11-01 | 2018-05-01 | 中国船舶重工集团公司第七〇九研究所 | The self-calibrating method and measuring method of a kind of linear array CCD camera |
CN109520525A (en) * | 2018-11-29 | 2019-03-26 | 中国科学院长春光学精密机械与物理研究所 | The theodolite light axis consistency method of inspection, device, equipment and readable storage medium storing program for executing |
CN109685800A (en) * | 2018-12-28 | 2019-04-26 | 豪威科技(上海)有限公司 | A kind of method of regulation mould plate and Fast Calibration camera external parameter |
CN109827607A (en) * | 2017-11-23 | 2019-05-31 | 清华大学 | The scaling method and device of line-structured light weld seam tracking sensor |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101021947A (en) * | 2006-09-22 | 2007-08-22 | 东南大学 | Double-camera calibrating method in three-dimensional scanning system |
CN101839721A (en) * | 2010-03-12 | 2010-09-22 | 西安电子科技大学 | Visual navigation method in autonomous rendezvous and docking |
CN101876532A (en) * | 2010-05-25 | 2010-11-03 | 大连理工大学 | Camera on-field calibration method in measuring system |
CN101887585A (en) * | 2010-07-15 | 2010-11-17 | 东南大学 | Method for calibrating camera based on non-coplanar characteristic point |
-
2010
- 2010-12-31 CN CN 201010623833 patent/CN102096918B/en active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101021947A (en) * | 2006-09-22 | 2007-08-22 | 东南大学 | Double-camera calibrating method in three-dimensional scanning system |
CN101839721A (en) * | 2010-03-12 | 2010-09-22 | 西安电子科技大学 | Visual navigation method in autonomous rendezvous and docking |
CN101876532A (en) * | 2010-05-25 | 2010-11-03 | 大连理工大学 | Camera on-field calibration method in measuring system |
CN101887585A (en) * | 2010-07-15 | 2010-11-17 | 东南大学 | Method for calibrating camera based on non-coplanar characteristic point |
Non-Patent Citations (1)
Title |
---|
《宇航学报》 20070131 江刚武等 空间飞行器交会对接相对位置和姿态的在轨自检校光学成像测量算法 15-21页 1 第28卷, 第01期 * |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104154931B (en) * | 2014-07-23 | 2017-01-25 | 北京控制工程研究所 | Optical machine positioning survey method of intersection survey system |
CN104655153A (en) * | 2015-02-11 | 2015-05-27 | 中国科学院长春光学精密机械与物理研究所 | Method for calibrating elements of interior orientation of mapping camera based on matrix orthogonality |
CN107976146A (en) * | 2017-11-01 | 2018-05-01 | 中国船舶重工集团公司第七〇九研究所 | The self-calibrating method and measuring method of a kind of linear array CCD camera |
CN107976146B (en) * | 2017-11-01 | 2019-12-10 | 中国船舶重工集团公司第七一九研究所 | Self-calibration method and measurement method of linear array CCD camera |
CN109827607A (en) * | 2017-11-23 | 2019-05-31 | 清华大学 | The scaling method and device of line-structured light weld seam tracking sensor |
CN109827607B (en) * | 2017-11-23 | 2021-01-26 | 清华大学 | Calibration method and device for line structured light welding seam tracking sensor |
CN109520525A (en) * | 2018-11-29 | 2019-03-26 | 中国科学院长春光学精密机械与物理研究所 | The theodolite light axis consistency method of inspection, device, equipment and readable storage medium storing program for executing |
CN109685800A (en) * | 2018-12-28 | 2019-04-26 | 豪威科技(上海)有限公司 | A kind of method of regulation mould plate and Fast Calibration camera external parameter |
CN109685800B (en) * | 2018-12-28 | 2020-11-13 | 豪威科技(上海)有限公司 | Calibration template and method for quickly calibrating external parameters of camera |
Also Published As
Publication number | Publication date |
---|---|
CN102096918B (en) | 2013-01-23 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN111156998B (en) | Mobile robot positioning method based on RGB-D camera and IMU information fusion | |
CN105091744B (en) | The apparatus for detecting position and posture and method of a kind of view-based access control model sensor and laser range finder | |
CN102096918B (en) | Calibration method of parameters of camera for rendezvous and docking | |
CN102650886B (en) | Vision system based on active panoramic vision sensor for robot | |
CN106056664A (en) | Real-time three-dimensional scene reconstruction system and method based on inertia and depth vision | |
CN103245335B (en) | A kind of autonomous Servicing spacecraft super close distance vision pose measuring method in-orbit | |
CN108198219B (en) | Error compensation method for camera calibration parameters for photogrammetry | |
CN110146093A (en) | Binary asteroid detection independently cooperates with optical navigation method | |
Mashita et al. | Calibration method for misaligned catadioptric camera | |
CN103929635B (en) | Binocular vision image compensation method when a kind of UUV shakes in length and breadth | |
CN113074725A (en) | Small underwater multi-robot cooperative positioning method and system based on multi-source information fusion | |
CN108594255A (en) | A kind of laser ranging auxiliary optical image association error compensation method and system | |
Yoon et al. | A distortion model of laser sheet for a laser line scanner with large fan angle | |
CN102620745A (en) | Airborne inertial measurement unite (IMU) collimation axis error calibration method | |
Wang et al. | Micro aerial vehicle navigation with visual-inertial integration aided by structured light | |
US10943369B2 (en) | Method for calibrating an optical measurement set-up | |
CN113324538B (en) | Cooperative target remote high-precision six-degree-of-freedom pose measurement method | |
Nel | Post-processing of UAV-captured images for enhanced mapping by image stitching | |
Soccol et al. | A vision system for optic-flow-based guidance of UAVs | |
Hong et al. | Three-dimensional visual mapping of underwater ship hull surface using view-based piecewise-planar measurements | |
US11573630B2 (en) | Systems and methods for calibrating an eye tracking system | |
US11170531B2 (en) | Systems and methods for calibrating imaging and spatial orientation sensors | |
Li et al. | Geodetic coordinate calculation based on monocular vision on UAV platform | |
Liu et al. | Error modelling and optimal estimation of laser scanning aided inertial navigation system in GNSS-denied environments | |
Duda et al. | Refractive forward projection for underwater flat port cameras |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
C14 | Grant of patent or utility model | ||
GR01 | Patent grant |