CN103994779A - Panorama camera calibrating method based on three-dimensional laser-point cloud - Google Patents
Panorama camera calibrating method based on three-dimensional laser-point cloud Download PDFInfo
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- CN103994779A CN103994779A CN201410228805.1A CN201410228805A CN103994779A CN 103994779 A CN103994779 A CN 103994779A CN 201410228805 A CN201410228805 A CN 201410228805A CN 103994779 A CN103994779 A CN 103994779A
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- 238000013507 mapping Methods 0.000 claims abstract description 11
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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
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Abstract
The invention provides a panorama camera calibrating method based on a three-dimensional laser-point cloud. The panorama camera calibrating method comprises the following steps: obtaining a three-dimensional laser-point cloud of surface features of a scene with stable surface features; obtaining single calibrating images of all sub-cameras for forming a panorama camera in the scene through the panorama camera; obtaining a coordinate of a needed control point according to the three-dimensional laser-point cloud; obtaining an image point coordinate corresponding to the control point from each single calibrating image; resolving inner and outer parameters of all the sub-cameras in the panorama camera through a Zhang Zhengyou calibration method. With the adoption of the scheme, a calibration field does not need to be established; the coordinate of the needed control point is determined according to the three-dimensional laser-point cloud of the scene and the image point coordinate corresponding to the control point is obtained from each single calibrating image according to the mapping relation of the control point and the single calibrating image; the coordinate of the control point and the image point coordinate are resolved to obtain the inner and outer parameters of all the sub-cameras in the panorama camera. The panorama camera calibrating method is convenient and rapid to operate and high in precision.
Description
Technical field
The present invention relates to technical field of mapping, relate in particular to a kind of panorama camera scaling method based on three-dimensional laser point cloud.
Background technology
Photogrammetric during camera calibration, vision-based detection, computer vision are determined one of the emphasis research topic in field, in fields such as mapping, Industry Control, navigation, military affairs, have obtained great application.The two dimensions of information that camera calibration is visual pattern provides quantitative relationship corresponding, conversion with the actual three-dimensional body world.
Develop rapidly along with Information technology, full-view image is as a kind of emerging technology, be widely applied in the last few years, the catenet maps such as Google, Soso, Here, BaiDu have been released streetscape map successively, for people's trip and the application of relevant industries provide a great convenience.Current most popular panorama joining method is to use panorama camera to take the space image of 360 °, then project on panorama model, generate full-view image, wherein most critical be exactly in panorama camera each sub-camera intrinsic parameter and outer parameter accurately whether, be directly connected to the height of full-view image quality.
Traditional camera joining method, need to set up Calibration Field, measures reference mark coordinate, and method is more loaded down with trivial details, and once can only demarcate a camera, cannot meet the disposable a plurality of sub-camera to composition panorama camera and demarcate.
Summary of the invention
Provide hereinafter about brief overview of the present invention, to the basic comprehension about some aspect of the present invention is provided.Should be appreciated that this general introduction is not about exhaustive general introduction of the present invention.It is not that intention is determined key of the present invention or pith, and nor is it intended to limit the scope of the present invention.Its object is only that the form of simplifying provides some concept, usings this as the preorder in greater detail of discussing after a while.
The invention provides a kind of panorama camera scaling method based on three-dimensional laser point cloud, comprising:
Obtain the three-dimensional laser point cloud of atural object described in the stable scene of atural object;
In described scene, by panorama camera, obtain individual demarcation image of each the sub-camera that forms described panorama camera;
According to described three-dimensional laser point cloud, obtain the coordinate at required reference mark;
According to described reference mark and described individual, demarcate the mapping relations of image, in described each individual demarcation image, obtain the picpointed coordinate corresponding with described reference mark;
According to the coordinate at described reference mark and described picpointed coordinate, by Zhang Zhengyou standardization, resolve intrinsic parameter and the outer parameter of each sub-camera in described panorama camera.
Such scheme provided by the invention, do not need to set up Calibration Field, by three-dimensional laser scanner, obtain three-dimensional laser point cloud, and according to the three-dimensional laser point cloud of scene, determine required reference mark coordinate, and according to reference mark and individual, demarcate the mapping relations of image, obtain the picpointed coordinate corresponding with reference mark in demarcating image each individual, by to the solving of the coordinate at reference mark and picpointed coordinate, can draw intrinsic parameter and the outer parameter of each sub-camera in panorama camera.Simple operation, fast, precision is high.
Embodiment
The invention provides a kind of panorama camera scaling method based on three-dimensional laser point cloud, comprising:
Obtain the three-dimensional laser point cloud of atural object described in the stable scene of atural object;
Select the stable scene of place's atural object, generally can select entirely to have the scene of high building around, in this scene, set up three-dimensional laser scanner, scene is scanned, to obtain the three-dimensional laser point cloud of atural object in scene.The object that the stable scene of atural object as referred to herein can be understood as in scene all remains static.
In described scene, by panorama camera, obtain individual demarcation image of each the sub-camera that forms described panorama camera;
In setting up the Same Scene of three-dimensional laser scanner, by panorama camera, obtain individual demarcation image of each the sub-camera that forms described panorama camera.The setting position of panorama camera can be identical with three-dimensional laser scanner, also can be different.As a kind of optimal way, the center of the close scene that the setting position of panorama camera is tried one's best.Can guarantee like this precision of demarcating.In scene, the decorating position of three-dimensional laser scanner is not limit, but leaves nothing to be desired in the side near in scene.
According to described three-dimensional laser point cloud, obtain the coordinate at required reference mark;
When three-dimensional laser point cloud is Ear Mucosa Treated by He Ne Laser Irradiation body surface, the laser reflecting can carry the information such as orientation, distance, three-dimensional coordinate.All there are mapping relations one to one with body surface in the each point in three-dimensional laser point cloud.In scene, choose a plurality of reference mark, reference mark can be the point of body surface.Coordinate that just can controlled point according to the mapping relations of three-dimensional laser point cloud and scene.Can reach ± 1mm of the scanning accuracy of three-dimensional laser scanner, this precision, higher than the precision of total powerstation, is finally obtained reference mark coordinate by three-dimensional laser scanner, avoided the troublesome operation that adopts total powerstation to get ready, and precision is high.
According to described reference mark and described individual, demarcate the mapping relations of image, in described each individual demarcation image, obtain the picpointed coordinate corresponding with described reference mark;
Each selected reference mark all has corresponding picture point corresponding one by one with it in individual demarcation image of correspondence.By this relation one to one, determine that mapping of control points arrives corresponding individual and demarcates the picpointed coordinate of the picture point in image.
According to described reference mark coordinate and described picpointed coordinate, by Zhang Zhengyou standardization, resolve intrinsic parameter and the outer parameter of each sub-camera in described panorama camera.Wherein, Zhang Zhengyou standardization is the known technology of this area, its specific algorithm is not repeated here.
Such scheme provided by the invention, do not need to set up Calibration Field, by three-dimensional laser scanner, obtain three-dimensional laser point cloud, and according to the three-dimensional laser point cloud of scene, determine required reference mark coordinate, and demarcate the mapping relations of image according to reference mark and individual, in demarcating image each individual, obtain the picpointed coordinate corresponding with reference mark, by solving the coordinate at reference mark and picpointed coordinate, can draw intrinsic parameter and the outer parameter of each sub-camera in panorama camera, also adopt this scheme can complete the demarcation to each sub-camera of panorama camera simultaneously.Simple operation, fast, precision is high.
Further, for precision and the accuracy that guarantees to demarcate, same position in scene, by panorama camera, obtain many groups of sub-camera photos of scene, from many groups of sub-camera photos, choose photographic quality and as individual, demarcate image higher than a group of predetermined threshold value, this individual demarcation image is required demarcation image, and predetermined threshold value is for characterizing the minimum standard of required photographic quality.Also, by panorama camera, at same position place, take the photo of many groups, individual demarcation image that the photo of one group of optimum of selection is used as timing signal is for demarcating.Select the standard of photo to can be, but not limited to that sharpness into photograph is higher, exposure is suitable etc.
Further, selecting scene to be, the surrounding of desired scene will spread all over unique point, unique point for characterize angle point and point of crossing at least any.
Finally it should be noted that: above embodiment only, in order to technical scheme of the present invention to be described, is not intended to limit; Although the present invention is had been described in detail with reference to previous embodiment, those of ordinary skill in the art is to be understood that: its technical scheme that still can record aforementioned each embodiment is modified, or part technical characterictic is wherein equal to replacement; And these modifications or replacement do not make the essence of appropriate technical solution depart from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (5)
1. the panorama camera scaling method based on three-dimensional laser point cloud, is characterized in that, obtains the three-dimensional laser point cloud of atural object described in the stable scene of atural object;
In described scene, by panorama camera, obtain individual demarcation image of each the sub-camera that forms described panorama camera;
According to described three-dimensional laser point cloud, obtain the coordinate at required reference mark;
According to described reference mark and described individual, demarcate the mapping relations of image, in described each individual demarcation image, obtain the picpointed coordinate corresponding with described reference mark;
According to the coordinate at described reference mark and described picpointed coordinate, by Zhang Zhengyou standardization, resolve intrinsic parameter and the outer parameter of each sub-camera in described panorama camera.
2. the panorama camera scaling method based on three-dimensional laser point cloud according to claim 1, it is characterized in that, same position in described scene, by described panorama camera, obtain many groups of sub-camera photos of described scene, from many groups of described sub-camera photos, choose photographic quality and as described individual, demarcate image higher than one group of predetermined threshold value, described predetermined threshold value is for characterizing the minimum standard of required photographic quality.
3. the panorama camera scaling method based on three-dimensional laser point cloud according to claim 1 and 2, is characterized in that, the surrounding of described scene spreads all over unique point, described unique point for characterize angle point and point of crossing at least any.
4. the panorama camera scaling method based on three-dimensional laser point cloud according to claim 1 and 2, is characterized in that, by three-dimensional laser scanner, obtains described three-dimensional laser point cloud.
5. the panorama camera scaling method based on three-dimensional laser point cloud according to claim 4, is characterized in that, described panorama camera is arranged at the center position of described scene.
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Cited By (6)
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| CN106546262A (en) * | 2016-10-11 | 2017-03-29 | 山东科技大学 | Based on plane control and about binding close traverse measurement system external parameters calibration method |
| CN108038885A (en) * | 2017-11-29 | 2018-05-15 | 深圳奥比中光科技有限公司 | More depth camera scaling methods |
| CN108470370A (en) * | 2018-03-27 | 2018-08-31 | 北京建筑大学 | The method that three-dimensional laser scanner external camera joint obtains three-dimensional colour point clouds |
| CN109029284A (en) * | 2018-06-14 | 2018-12-18 | 大连理工大学 | A kind of three-dimensional laser scanner based on geometrical constraint and camera calibration method |
| CN109741450A (en) * | 2018-12-29 | 2019-05-10 | 征图三维（北京）激光技术有限公司 | A kind of road surface point cloud extraction method and device based on scan line |
| US11474193B2 (en) | 2020-12-09 | 2022-10-18 | Here Global B.V. | Camera calibration for localization |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106546262A (en) * | 2016-10-11 | 2017-03-29 | 山东科技大学 | Based on plane control and about binding close traverse measurement system external parameters calibration method |
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| CN108038885A (en) * | 2017-11-29 | 2018-05-15 | 深圳奥比中光科技有限公司 | More depth camera scaling methods |
| CN108470370A (en) * | 2018-03-27 | 2018-08-31 | 北京建筑大学 | The method that three-dimensional laser scanner external camera joint obtains three-dimensional colour point clouds |
| CN108470370B (en) * | 2018-03-27 | 2021-10-15 | 北京建筑大学 | Method for jointly acquiring three-dimensional color point cloud by external camera of three-dimensional laser scanner |
| CN109029284A (en) * | 2018-06-14 | 2018-12-18 | 大连理工大学 | A kind of three-dimensional laser scanner based on geometrical constraint and camera calibration method |
| CN109741450A (en) * | 2018-12-29 | 2019-05-10 | 征图三维（北京）激光技术有限公司 | A kind of road surface point cloud extraction method and device based on scan line |
| CN109741450B (en) * | 2018-12-29 | 2023-09-19 | 征图三维（北京）激光技术有限公司 | Automatic road surface point cloud extraction method and device based on scanning lines |
| US11474193B2 (en) | 2020-12-09 | 2022-10-18 | Here Global B.V. | Camera calibration for localization |
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Effective date of registration: 20240401 Address after: Room A2103, Wantong Financial Center, Xicheng District, Beijing, 100037 Patentee after: BEIJING JINCHENG QIANFANG TECHNOLOGY CO.,LTD. Country or region after: China Address before: 100048 No. 105 West Third Ring Road North, Beijing, Haidian District Patentee before: Capital Normal University Country or region before: China |
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