CN103674057A - Standard ball bar with reflective ball and calibration method for external parameters of camera - Google Patents
Standard ball bar with reflective ball and calibration method for external parameters of camera Download PDFInfo
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- CN103674057A CN103674057A CN201210334726.XA CN201210334726A CN103674057A CN 103674057 A CN103674057 A CN 103674057A CN 201210334726 A CN201210334726 A CN 201210334726A CN 103674057 A CN103674057 A CN 103674057A
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- camera
- ball
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- carbon fiber
- retroreflecting
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B5/00—Optical elements other than lenses
- G02B5/12—Reflex reflectors
- G02B5/126—Reflex reflectors including curved refracting surface
- G02B5/128—Reflex reflectors including curved refracting surface transparent spheres being embedded in matrix
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
- G06T7/85—Stereo camera calibration
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- General Physics & Mathematics (AREA)
- Manufacturing & Machinery (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optics & Photonics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Theoretical Computer Science (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to the technical field of calibrating the external parameters of a camera, and particularly discloses a standard ball bar with reflective balls and a calibration method for external parameters of the camera. The standard ball bar comprises a carbon fiber tube with a slender cylindrical structure, and a handle, wherein the handle is arranged in the middle of the carbon fiber tube, two retro-reflective balls which are made from high-efficiency reflective materials are fixedly arranged on two ends of the carbon fiber tube through two ball seats. According to the standard ball bar, a simple and convenient one-dimensional ball bar structure is adopted, the retro-reflective balls are made from the high-efficiency reflective materials, the passive light radiating effect can be generated by matching a coaxial light source, the standard ball bar can realize the separate calibration on the external parameters of a camera, the calibration flow is simplified, the background of a calibrated picture is single by using the retro-reflective balls, the interference of the background on the feature extraction and matching process can be avoided, and the calibration measurement efficiency and precision can be enhanced.
Description
Technical field
The invention belongs to camera calibrating external parameters technical field, be specifically related to a kind of standard club with reflection sphere and the scaling method to camera external parameter thereof.
Background technology
In recent years, vision measurement technology is untouchable with it, high precision, automaticity is high, dynamic range the is large advantage such as cheap relative to cost, in modern advanced manufacturing industry and detection field, brought into play more and more important effect, camera calibration technology also becomes the emphasis of research as the basis of vision measurement.And existing scaling method is mostly emphasized camera calibration completely, i.e. the inside and outside parameter of calibration for cameras simultaneously.Yet in many application, as robot vision, automobile navigation and vision security system etc., camera inner parameter only need be demarcated once but camera external parameter has to demarcate continually.To these application, can suppose that camera inner parameter is demarcated well, how effectively remaining task is calibration for cameras external parameter, adopts a kind of method for calibrating external parameters of camera to be fast and effectively very important.
The calibration tool matching with this scaling method also just becomes a core technology, and the version of calibration tool, the manufacture craft of unique point all require further improvement, and to improve, demarcates efficiency and precision.The single-point type calibration tool of flat or known three-dimensional coordinate in the past all needs expensive calibrating instrument and meticulous test design could realize demarcation.The round dot that is easy to extract is feature mark poiX conventional in camera calibration, but monumented point often adopts the mode of plane target drone at present, and this target produces distortion of projection, the positional precision of effect characteristics extraction when camera optical axis and target planar process are excessive to angle.It is necessary that these contradictions all make a kind of structural design of new calibration tool become.
Summary of the invention
The object of the present invention is to provide a kind of standard club with reflection sphere and the scaling method to camera external parameter thereof, can realize the demarcation to camera external parameter, improve efficiency and the precision of camera calibrating external parameters.
Technical scheme of the present invention is as follows: a kind of standard club with reflection sphere, this standard club comprises carbon fiber pipe and the middle handle of installing of carbon fiber pipe of elongate cylinder body structure, and two retroreflecting balls of being made by efficient reflectorized material are fixed on the two ends of carbon fiber pipe by two ball seats.
Described handle is the indium steel handle of hexahedron structure.
Described retroreflecting ball consists of glass microballoon, forms corner cube, can directly reflect incident light.
Described ball seat is made by indium Steel material.
Utilize the scaling method with the standard ball pole pair camera external parameter of reflection sphere, the method specifically comprises the steps:
Step 1, set up the internal reference model of two cameras, realize the correction of camera lens distortion, pixel center, picture dot size;
Step 2, ring-type coaxial light source is installed to camera lens front end, with the light shaft coaxle of camera lens, makes the light of retroreflecting ball reflection directly enter camera;
Step 3, two cameras are taken standard club in more than two different orientation, and the relative position between two cameras is constant, and standard club can move freely, and does not need to know kinematic parameter;
Step 4, the time shutter of camera is foreshortened to below 5ms, making whole shooting background is black, only has retroreflecting ball to become the picture of brilliant white, to simplify demarcation picture, improves the precision that image extracts.
Remarkable result of the present invention is: a kind of standard club with reflection sphere of the present invention, adopt one dimension club structure simply and easily, retroreflecting ball is used efficient reflectorized material, coordinate coaxial light source to produce the passive effect of giving out light, this standard club can be realized the independent demarcation of camera external parameter, simplify to demarcate flow process, and the use of retroreflecting ball to make to demarcate picture background single, avoid the interference of background to feature extraction and matching process, improved calibration measurements efficiency and precision.
Accompanying drawing explanation
Fig. 1 is a kind of standard club structural representation with reflection sphere shown in the present;
In figure: 1, ball seat; 2, carbon fiber pipe; 3, handle; 4, retroreflecting ball.
Embodiment
Below in conjunction with drawings and the specific embodiments, the present invention is described in further detail.
As shown in Figure 1, a kind of standard club with reflection sphere, comprise the carbon fiber pipe 2 of elongate cylinder body structure and the indium steel handle 3 of the carbon fiber pipe 2 middle hexahedron structures of installing, two retroreflecting balls 4 of being made by efficient reflectorized material are fixed on the two ends of carbon fiber pipe 2 by the ball seat 1 of indium steel matter, wherein, retroreflecting ball 4 can consist of glass microballoon, form corner cube, can directly reflect incident light, the linear expansion coefficient of carbon fiber pipe 2 is minimum, and rigidity is high, can guarantee the stability of standard club, simultaneously, its density is little, make standard club quality light, facilitate the conversion of club pose in calibration process.
Utilize the scaling method with the standard ball pole pair camera external parameter of reflection sphere, specifically comprise the steps:
Step 1, set up the internal reference model of two cameras, realize the correction of camera lens distortion, pixel center, picture dot size;
Step 2, ring-type coaxial light source is installed to camera lens front end, with the light shaft coaxle of camera lens, makes the light of retroreflecting ball reflection directly enter camera;
Step 3, two cameras are taken standard club in more than two different orientation, and the relative position between two cameras is constant, and standard club can move freely, and does not need to know kinematic parameter;
Step 4, the time shutter of camera is foreshortened to below 5ms, making whole shooting background is black, only has retroreflecting ball to become the picture of brilliant white, to simplify demarcation picture, improves the precision that image extracts.
In calibration process, camera inner parameter is constant all the time, no matter camera is from any angle shot standard club, camera inner parameter is all constant, only has external parameter to change; In whole calibration process, any absolute information of characteristics of needs point not, and to the position of unique point without any restriction, the simplification of flow process and the simplification of demarcating picture, make finally can obtain the solution of degree of precision.
Claims (5)
1. the standard club with reflection sphere, it is characterized in that: this standard club comprises carbon fiber pipe (2) and the middle handle (3) of installing of carbon fiber pipe (2) of elongate cylinder body structure, and two retroreflecting balls (4) of being made by efficient reflectorized material are fixed on the two ends of carbon fiber pipe (2) by two ball seats (1).
2. a kind of standard club with reflection sphere according to claim 1, is characterized in that: described handle (3) is the indium steel handle (3) of hexahedron structure.
3. a kind of standard club with reflection sphere according to claim 1, is characterized in that: described retroreflecting ball (4), by consisting of glass microballoon, forms corner cube, can directly reflect incident light.
4. a kind of standard club with reflection sphere according to claim 1, is characterized in that: described ball seat (1) is made by indium Steel material.
5. utilize described in claim 1 scaling method with the standard ball pole pair camera external parameter of reflection sphere, it is characterized in that: the method specifically comprises the steps:
Step 1, set up the internal reference model of two cameras, realize the correction of camera lens distortion, pixel center, picture dot size;
Step 2, ring-type coaxial light source is installed to camera lens front end, with the light shaft coaxle of camera lens, makes the light of retroreflecting ball reflection directly enter camera;
Step 3, two cameras are taken standard club in more than two different orientation, and the relative position between two cameras is constant, and standard club can move freely, and does not need to know kinematic parameter;
Step 4, the time shutter of camera is foreshortened to below 5ms, making whole shooting background is black, only has retroreflecting ball to become the picture of brilliant white, to simplify demarcation picture, improves the precision that image extracts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210334726.XA CN103674057B (en) | 2012-09-11 | 2012-09-11 | With the standard ball bar of reflection sphere and the scaling method to camera external parameter thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210334726.XA CN103674057B (en) | 2012-09-11 | 2012-09-11 | With the standard ball bar of reflection sphere and the scaling method to camera external parameter thereof |
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| CN103674057A true CN103674057A (en) | 2014-03-26 |
| CN103674057B CN103674057B (en) | 2016-08-03 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107297741A (en) * | 2017-08-09 | 2017-10-27 | 广州乾鼎电力科技发展有限公司 | Motion trail planning method and device based on machine vision |
| CN110243285A (en) * | 2019-06-26 | 2019-09-17 | 华中科技大学 | A kind of caliberating device for vision measurement system |
| JP2023114587A (en) * | 2022-02-07 | 2023-08-18 | 三菱電機Ｉｔソリューションズ株式会社 | Process execution device, process execution method and process execution program |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107297741A (en) * | 2017-08-09 | 2017-10-27 | 广州乾鼎电力科技发展有限公司 | Motion trail planning method and device based on machine vision |
| CN110243285A (en) * | 2019-06-26 | 2019-09-17 | 华中科技大学 | A kind of caliberating device for vision measurement system |
| JP2023114587A (en) * | 2022-02-07 | 2023-08-18 | 三菱電機Ｉｔソリューションズ株式会社 | Process execution device, process execution method and process execution program |
| JP7336553B2 (en) | 2022-02-07 | 2023-08-31 | 三菱電機Ｉｔソリューションズ株式会社 | Process execution device, process execution method and process execution program |
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| CN103674057B (en) | 2016-08-03 |
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