CN102162970A - Calibration and operation method for camera and camera - Google Patents
Calibration and operation method for camera and camera Download PDFInfo
- Publication number
- CN102162970A CN102162970A CN2011100263431A CN201110026343A CN102162970A CN 102162970 A CN102162970 A CN 102162970A CN 2011100263431 A CN2011100263431 A CN 2011100263431A CN 201110026343 A CN201110026343 A CN 201110026343A CN 102162970 A CN102162970 A CN 102162970A
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- motion
- video camera
- image sensing
- motion sensor
- sensing module
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B5/00—Adjustment of optical system relative to image or object surface other than for focusing
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N17/00—Diagnosis, testing or measuring for television systems or their details
- H04N17/002—Diagnosis, testing or measuring for television systems or their details for television cameras
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B2217/00—Details of cameras or camera bodies; Accessories therefor
- G03B2217/005—Blur detection
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- General Health & Medical Sciences (AREA)
- Studio Devices (AREA)
Abstract
The invention provides a camera calibration method, the camera is provided with an image sensing module and a motion sensor, wherein, in a first method and step, the image sensing module determines image signals, in a second method and step, the motion sensor determines motion signals, furthermore, in a third method and step, calibration of the motion sensor is performed according to the image signals and the motion signals.
Description
Technical field
The present invention relates to a kind of video camera and a kind of calibration and operation method that is used for video camera.
Background technology
Such video camera is common general knowledge.Known a kind of video camera from document DE 102005016562A1 for example with image stabilization system, wherein, this image stabilization system comprises a motion sensor, this motion sensor is configured to the motion of sensing video camera, this image stabilization sensor also comprises an optical filter, this filtrator has adjustable orientation, this image stabilization sensor also comprises a logical circuit, and this logical circuit is configured to receive the variation that motor message and motor message that response received cause the directed aspect of optical filter from transmission sensors.The calibration steps that is used to calibrate motion sensor is not disclosed.
Summary of the invention
According to of the present inventionly be used for the calibration steps of video camera, operation method and the video camera according to the present invention that is used for video camera according to the present invention with respect to the advantage that prior art has is, can be relatively simple and cost advantageously calibrate motion sensor, make overall manufacturing and the assembly cost that reduces video camera.Also allow after motion sensor is encased in the video camera, to calibrate motion sensor by calibration steps according to the present invention in addition, eliminate the danger that causes the calibration accuracy infringement by assembling thus.This causes improving significantly the sensing accuracy of motion sensor, thereby improves the quality of image stabilization system and therefore improve the camera review quality that will reach.Also allow particularly to be undertaken by the user of video camera the calibration of motion sensor according to calibration steps of the present invention afterwards, make the user for example can recalibrate video camera in (after external disturbance or strong temperature fluctuation for example occurring) under the situation that picture quality degenerates suddenly.Described advantage obtains thus: for the calibration motion sensor uses the picture signal that is received by image sensing module.Advantageously make full use of at this, the swing of camera motion or video camera is not measured by motion sensor only, and can be surveyed by image sensing module, if especially take the subject matter (for example test pattern) that does not move.The calibration of motion sensor is advantageously not only carried out according to the motor message of being surveyed by motion sensor but also according to the picture signal of being surveyed by image sensing module, wherein, determines motor message and picture signal during the same movement of video camera.Be preferably used as reference value in this picture signal.Image sensing module especially comprises the semiconductor element sensor, for example CCD (charge-coupled image sensor) or cmos sensor.First and second method steps preferably carry out at least in part simultaneously.
Favourable structure of the present invention and extended architecture can be learnt from improve technical scheme and instructions with reference to the accompanying drawings.
According to a preferred development structural specifications, in second method step, excite camera motion, the particularly swing of video camera makes not only by motion sensor but also by image sensing module detectable one essentially identical reference motion.This oscillating motion comprises a uniform rotational motion and/or a rotation acceleration.
According to another preferred development structural specifications, the visual field motion that makes video camera in second method step wherein, utilizes image sensing module by test pattern camera motion to be measured in order to determine picture signal through test pattern.Precision in this picture signal improves in an advantageous manner significantly, because can be surveyed the motion of video camera by image sensing module by the reference point on the test pattern of especially not settling with high accuracy with moving.This test pattern preferably includes regular pattern, for example by line that intersects or the screen of being made up of a plurality of little lattice.
According to another preferred development structural specifications, in second method step, in order to determine that motor message carries out the measurement of camera motion by motion sensor.By being compared with the picture signal that is used as reference value, motor message tries to achieve the instantaneous orientation of motion sensor in an advantageous manner with respect to the image sensing module visual field, the feasible necessity of calibration value can determine to(for) motion sensor, this calibration value is used for compensating motion signal and picture signal.
According to another preferred development structural specifications, in second method step, make the video camera swing, wherein, motion sensor comprises a speed probe, and, in order to determine motor message, carry out the measurement of video camera oscillating motion by this speed probe.Preferably make video camera one after the other around two or three different axis of oscillation swings at this, make and to determine the relative orientation of speed probe about all three direction in spaces with respect to image sensing module.Preferably under the situation of having determined the spacing between video camera and the test pattern, calibrate.
According to another preferred development structural specifications, first motion value determines according to motor message and second motion value is determined according to picture signal, wherein, first and second motion value relatively and according to this is relatively carried out the calibration of motion sensor mutually.Advantageously particularly make motor message and picture signal normalization at this, make first and second motion value directly to compare mutually.
Another theme of the present invention is the operation method that is used for video camera, this operation method comprises according to calibration steps of the present invention, wherein, video camera has actuator, in cubic method step, the lens of image sensing module and particularly image sensing module are actuated device and so drive according to the external disturbance motion of being surveyed by motion sensor, make that the disturbed motion that is detected is compensated at least in part in the position of image sensing module.Disturbed motion especially comprises disturbing acceleration or disturbs rotating speed.Calibration by motion sensor comes the orientation of correction motion sensor with respect to image sensing module, make and surveying by motion sensor when in screening-mode, for example causing image distortion or fuzzy camera motion and/or acceleration, can accurately control actuator, so that can compensate this motion and/or acceleration at least in part, make and to avoid or reduce image fog at least.So control image sensing module at least in part at this actuator, make the lens light tool of for example semiconductor sensor chip motion and/or image sensing module correspondingly change.
Another theme of the present invention is the video camera with an image sensing module and a motion sensor, wherein, this image sensing module and the coupling of this motion sensor, and this video camera is configured to such an extent that be used for calibrating motion sensor according to the picture signal of image sensing module and according to the motor message of motion sensor.Advantageously, allow to calibrate under the state of motion sensor in being encased in video camera, make and to implement obviously more accurate and more simply as top calibration steps having explained according to video camera of the present invention.Therefore this video camera is compared with the state of the art and can more advantageously be made by cost, improves the quality that is integrated in the image stabilization system in the video camera simultaneously.This motion sensor preferably includes speed probe and/or acceleration transducer.
According to another preferred development structural specifications, this video camera has a control module, this control module is used for determining first motion value and determining second motion value according to motor message according to first picture signal, wherein, this video camera preferably has a comparer, and this comparer is configured to first motion value and second motion value are compared.Therefore can make it possible to accurately calibrate motion sensor in the relative orientation of determining on all three direction in spaces between motion sensor and the image sensing module in an advantageous manner.
According to another preferred development structural specifications, this motion sensor comprises a speed probe and/or an acceleration transducer.This motion sensor is advantageously surveyed the uniform motion and/or the acceleration of video camera thus.This motion sensor preferably includes the acceleration transducer of micromechanics and/or the speed probe of micromechanics.Motor message preferably includes tach signal.
According to another preferred development structural specifications, this video camera has the actuator with the motion sensor coupling, this actuator is used for moving according to the external disturbance of being surveyed by motion sensor and changes image sensing module, the especially lens of image sensing sensor, makes to avoid in an advantageous manner or reduce the fuzzy of image at least.This disturbed motion especially comprises disturbing acceleration or disturbs rotating speed.
Shown in the drawings and the explanation in detail in the following description of embodiments of the invention.
Description of drawings
Fig. 1 is according to the schematic isometric of the video camera of example embodiment of the present invention, and
Fig. 2 is according to the synoptic diagram of the calibration steps of example embodiment of the present invention.
Embodiment
Therefore identical parts always are provided with identical Reference numeral in different figure, also only name respectively usually or mention once.
Fig. 1 illustrates the schematic isometric of video camera 1 according to an illustrative embodiment of the invention, and this video camera 1 comprises an image sensing module 2.This image sensing module 2 have the optical lens unit 2 that a semiconductor element sensor and that is the cmos sensor form settles above cmos sensor '.This optical lens unit 2 ' be connected with actuator 5 mechanical type effects, this actuator are set for and impel lens unit 2 ' move with respect to cmos sensor.This video camera 1 also have a plurality of be configured to speed probe 3 ' motion sensor 3, these motion sensors are surveyed the motion of video cameras 1.In operational mode in other words in the screening-mode, the external disturbance motion (for example upset of video camera accident or the shake that is caused by the user) that this actuator 5 is used to lens combination 5 ' basis is surveyed by at least one motion sensor 3 is moved, and the external disturbance that makes compensation at least in part detect is moved.This video camera 1 also is configured to carry out the calibration of motion sensor 3 according to the picture signal of image sensing module 2 and according to the motor message of motion sensor 3.Alternatively can consider, these motion sensors 3 except that comprise speed probe 3 ' also additionally comprise that acceleration transducer and/or these motion sensors 3 include only acceleration transducer.These motion sensors 3 can optionally be placed in the inside or the outside of video camera 1 or camara module.For example can consider that these motion sensors are placed on the external print circuit board.This video camera 1 preferably is integrated in the mobile phone.Explain in detail according to Fig. 2 below this calibration steps.
The synoptic diagram of calibration steps according to an illustrative embodiment of the invention shown in Figure 2, wherein, video camera 1 shown in Figure 2, this video camera 1 is corresponding to the video camera of describing in Fig. 11 and be configured to carry out comparison between first motion value and second motion value, so that the speed probe 3 of calibration motion sensor 3 '.At this, during the oscillating motion 6 of video camera 1, obtain this first and second motion value, wherein, second motion value according to speed probe 3 ' motor message determine and first motion value is determined according to the picture signal of image sensing module 2, the visual field of image sensing module 2 is directed during oscillating motion 6 through test pattern 4, makes by amount on the test pattern 4, can be determined the oscillating motion 6 of video cameras 1 by image sensing module 2 in the reference point that moves during the oscillating motion 6 in the visual field of video camera 1.Then, so first motion value of determining is as the reference value of second motion value, make by between first and second motion value relatively try to achieve speed probe 3 ' and image sensing sensor 2 between relative orientation, be used for calibration speed sensor 3 '.For speed probe 3 ' significant compensation, for example need the measuring accuracy of reference signal, this measuring accuracy is less than 0.1 degree per second.This cmos sensor for example has the resolution of 5 mega pixels (2600 * 1900 pixel).When cmos sensor is accurate to 3 pixels, if the spacing between video camera 1 and the test pattern 4 be about 1 meter and video camera 1 in 1 second with respect to test pattern 4 upsets 30 degree, then the precision of reference signal is about 0.1 degree per second.Guarantee enough precision thus.For calibration speed sensor 3 ', the upset of video camera 1 during camera motion 6 preferably carried out around two different upset axis, these two trip shaft line parallels extend in the main extension plane of test pattern 4.
Claims (10)
1. the calibration steps of video camera (1), this video camera (1) has an image sensing module (2) and a motion sensor (3), wherein, in first method step, determine a picture signal by image sensing module (2), in second method step, determine a motor message by motion sensor (3), it is characterized in that, in third party's method step, according to described picture signal and carry out the calibration of motion sensor (3) according to described motor message.
2. according to the calibration steps of claim 1, it is characterized in that, in second method step, excite a camera motion (6), the swing of particularly described video camera (1).
3. according to the calibration steps of one of aforementioned claim, it is characterized in that, the visual field motion that makes described video camera (1) in first method step is through a test pattern (4), wherein, in order to determine described picture signal, try to achieve the motion of test pattern (4) in the visual field of described video camera (1) by described image sensing module (2).
4. according to the calibration steps of one of aforementioned claim, it is characterized in that, in second method step, in order to determine described motor message, carry out the measurement of camera motion (6) by a motion sensor (3) that is configured to speed probe (3 ') and/or is configured to acceleration transducer.
5. according to the calibration steps of one of aforementioned claim, it is characterized in that, in third party's method step, determine first motion value and determine second motion value according to motor message according to picture signal, wherein, first and second motion value relatively and according to this are relatively carried out the calibration of described motion sensor (3) mutually.
6. the operation method of video camera (1), this operation method comprises the calibration steps according to one of aforementioned claim, it is characterized in that, this video camera (1) has actuator (5), wherein, this actuator (5) changes the lens (2 ') of image sensing module (2), especially image sensing module (2) according to the external disturbance motion of being surveyed by described motion sensor (3) like this in cubic method step, so that the disturbed motion of the position of image sensing module (2) is compensated at least in part, wherein, this disturbed motion especially comprises disturbing acceleration.
7. video camera (1), have an image sensing module (2) and a motion sensor (3), wherein, this image sensing module (2) and this motion sensor (3) coupling, it is characterized in that this video camera (1) disposes to such an extent that be used for calibrating motion sensor (3) according to the picture signal of image sensing module (2) and according to the motor message of motion sensor (3).
8. according to the video camera (1) of claim 7, it is characterized in that, described video camera (1) has a control module, this control module disposes to such an extent that be used for determining first motion value and being used for determining second motion value according to motor message according to first picture signal, wherein, described video camera (1) preferably has a comparer, and this comparator arrangement must be used for first motion value and second motion value are compared.
9. according to the video camera (1) of claim 7 or 8, it is characterized in that described motion sensor (3) comprises a speed probe (3 ') and/or an acceleration transducer.
10. according to the video camera (1) of one of claim 7 to 9, it is characterized in that, described video camera (1) has the actuator (5) with motion sensor (3) coupling, this actuator is constructed to such an extent that be used for changing image sensing module (2) according to being moved by the external disturbance of motion sensor (3) detection, the lens (5 ') of image sensing sensor (2) particularly, wherein, this disturbed motion especially comprises disturbing acceleration.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102010000792 | 2010-01-12 | ||
| DE102010000792.7 | 2010-01-12 | ||
| DE102010001409.5 | 2010-02-01 | ||
| DE102010001409A DE102010001409A1 (en) | 2010-01-12 | 2010-02-01 | Calibration method of motion sensor in camera, involves determining motion signal of motion sensor, after determining picture signal of image socket module to calibrate motion sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102162970A true CN102162970A (en) | 2011-08-24 |
Family
ID=44312990
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011100263431A Pending CN102162970A (en) | 2010-01-12 | 2011-01-12 | Calibration and operation method for camera and camera |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN102162970A (en) |
| DE (1) | DE102010001409A1 (en) |
| TW (1) | TW201143393A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1470879A (en) * | 2002-07-10 | 2004-01-28 | ������������ʽ���� | Acceleration measuring apparatus with calibration function |
| JP2004241961A (en) * | 2003-02-05 | 2004-08-26 | Mitsubishi Electric Corp | Image pickup and compensating apparatus, and image pickup apparatus |
| CN1806202A (en) * | 2003-06-09 | 2006-07-19 | 奥林巴斯株式会社 | Image capture device |
| US20060169021A1 (en) * | 2005-01-28 | 2006-08-03 | Silverstein D A | Method and apparatus for calibration of a motion sensing device in a portable apparatus |
| US20080120056A1 (en) * | 2006-11-16 | 2008-05-22 | Masami Haino | Angular velocity calibration method |
| JP2008160277A (en) * | 2006-12-21 | 2008-07-10 | Fujifilm Corp | Vibration correction device, imaging apparatus using it, inspection method of vibration correction device and inspection system of vibration correction device |
| US20090103910A1 (en) * | 2007-10-19 | 2009-04-23 | Yun-Chin Li | System for compensating camera movement and a calibration method thereof |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8063940B2 (en) | 2004-05-10 | 2011-11-22 | Hewlett-Packard Development Company, L.P. | Image-stabilization systems and methods |
-
2010
- 2010-02-01 DE DE102010001409A patent/DE102010001409A1/en not_active Withdrawn
-
2011
- 2011-01-10 TW TW100100789A patent/TW201143393A/en unknown
- 2011-01-12 CN CN2011100263431A patent/CN102162970A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1470879A (en) * | 2002-07-10 | 2004-01-28 | ������������ʽ���� | Acceleration measuring apparatus with calibration function |
| JP2004241961A (en) * | 2003-02-05 | 2004-08-26 | Mitsubishi Electric Corp | Image pickup and compensating apparatus, and image pickup apparatus |
| CN1806202A (en) * | 2003-06-09 | 2006-07-19 | 奥林巴斯株式会社 | Image capture device |
| US20060169021A1 (en) * | 2005-01-28 | 2006-08-03 | Silverstein D A | Method and apparatus for calibration of a motion sensing device in a portable apparatus |
| US20080120056A1 (en) * | 2006-11-16 | 2008-05-22 | Masami Haino | Angular velocity calibration method |
| JP2008160277A (en) * | 2006-12-21 | 2008-07-10 | Fujifilm Corp | Vibration correction device, imaging apparatus using it, inspection method of vibration correction device and inspection system of vibration correction device |
| US20090103910A1 (en) * | 2007-10-19 | 2009-04-23 | Yun-Chin Li | System for compensating camera movement and a calibration method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| DE102010001409A1 (en) | 2011-07-14 |
| TW201143393A (en) | 2011-12-01 |
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Application publication date: 20110824 |