CN104240262B - Calibration device and calibration method for outer parameters of camera for photogrammetry - Google Patents
Calibration device and calibration method for outer parameters of camera for photogrammetry Download PDFInfo
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Abstract
The invention discloses an outer parameter calibration device and a calibration methodof a camera for photogrammetry. The calibration device is composed of target mark post, a centering rod, a leveling mechanism and a datum mark. The calibration method comprises the following steps: firstly, adjusting a camera to point a target to be measured, embedding four datum points in a camera pointing direction; measuring a coordinate with high precision in a reference coordinate system; adjusting the centering rod of the calibration device to be vertical in accordance with the designed size of the calibration device; when the leveling mechanism is horizontally placed, and deriving the coordinate of a mark point in the reference coordinate system; secondly, shooting a landmark image on a calibration device through a camera, extracting a mark point coordinate by adopting an elliptic fitting algorithm, and resolving the outer parameters of the camera and the reference coordinate system to complete calibration by combining the parameter calibration results of the coordinate and the camera in the reference coordinate system. Compared with the prior art, the scheme is applicable to a three-dimensional calibration occasion of a plurality of cameras in a wide measurement scope, and has the characteristics of being convenient to operate and high in calibration precision.
Description
Technical field
The present invention relates to the technical field for the demarcation of photogrammetric camera is and in particular to one kind is for photogrammetric
Camera extrinsic number caliberating device and scaling method.
Background technology
Photogrammetric be widely used in reconstructing three-dimensional model, body surface dimensional measurement, target location and attitude measurement,
The fields such as space articulation, medical diagnosis and exercise recovery.In order to obtain target three-dimensional information, photogrammetric generally require two
Or more camera carry out intersection measurement thus forming Stereo Vision Measurement System, therefore, demarcate multiple cameras in unified benchmark
The position of coordinate system and attitude just become a key influence factor of measuring system certainty of measurement.The outer ginseng of camera in the present invention
Number is camera with respect to the spin matrix of the frame of reference and translation vector.Traditional camera parameter marked ratio is more typical to be had
Zhang proposes based on coplanar calibrated reference method, and the method allows coplanar reference object to move freely in visual field, by obtaining
Take several high-quality uncalibrated images, carry out camera intrinsic parameter demarcate, a certain width of establishing shot, can with calibration for cameras with respect to
The outer parameter of the calibrated reference coordinate system now fixed, the method calibration process is simple, and the requirement to target is low, but the method
Do not enable the unification of multiple plane coordinate systems and the frame of reference, be only applicable to measurement range less camera calibration occasion；
Additionally, also having a kind of use to assist camera to carry out full filed method demarcation it is desirable to auxiliary camera collects demarcation referential control simultaneously
System point and the image at benchmark system control point, this needs to assist camera to have larger field range, thus its imaging resolution can compare
Relatively low, the precision that impact is demarcated；Auxiliary camera in above-mentioned scaling method can use laser tracker (Laser Tracker) generation
Replace, laser tracker can high-acruracy survey spatial point, for " full filed " scope very big in the case of, with laser tracker generation
Carry out the demarcation of full filed method for auxiliary camera to be conducive to improving stated accuracy, but laser tracker is relatively costly, and demarcate flow process
Relatively complicated.
Knowable to above-mentioned analysis, the Camera extrinsic number in Stereo Vision Measurement System is demarcated and should be met required precision,
Make demarcation target easy to use as far as possible, with low cost, applied widely, can be repeated several times use.From this angle, such as
What by above two typical scenario, abandon its dross of selecting the essence, design the external parameters calibration side in a set of stereo visual system
Method and device, becoming one has key issue to be solved.
Content of the invention
Present invention is primarily targeted at overcoming the deficiencies in the prior art, provide a set of external parameters calibration apparatus and method,
This measurement device scope is wide, is easy to process and uses, certainty of measurement is high, provides for polyphaser stereo calibration in full filed on a large scale
Good solution.
The technical solution used in the present invention is：One kind is used for photogrammetric Camera extrinsic number caliberating device, whole camera
External parameters calibration device is made up of target bar, centering rod, levelling gear and four parts of datum mark.Target bar is in demarcate bar
Above mechanism, the target bar circular index point having 10 one row installed above, the index point center of circle is aligned in target plane.
The lower section of mechanism is centering rod, for be directed at datum mark it is ensured that demarcate set up positional precision, and index point line with right
Middle bar axis on the same line, and each index point center of circle to centering rod bottom distance it is known that i.e. under relative Calibration bar
The position of square datum mark accurately obtains, if making centering rod perpendicular to horizontal plane, by the benchmark point coordinates demarcated in advance
(Y-axis of the frame of reference is perpendicular to horizontal plane), you can to obtain the center of each circular index point under the frame of reference
Coordinate.So that centering rod is perpendicular to horizontal plane, then require the levelling gear place plane vertical with centering rod to ensure water
Flat, therefore, this device has two support bars after centering rod, and there is levelling bolt support bar bottom near ground location, is used for
Regulation makes target bar perpendicular to horizontal plane；During leveling, first slant angle sensor is fixed on objective table, then passes through rotation
Levelling bolt, makes sensor reading reach and is worth closest to 0.Additionally, after centering rod lower end is connected with datum mark position, and adjust
Flattening mechanism adjusts level, and whole caliberating device can carry out 360 ° of rotations so that target bar can be by around datum mark vertical direction
Multiple camera observations, demarcate such that it is able to realize multiple stage camera simultaneously.
Based on said apparatus, the present invention provides a kind of Camera extrinsic number scaling method, the method stream that Camera extrinsic number is demarcated
Journey is as follows：
Step 1), intrinsic parameter demarcation is now carried out to the camera of external parameters calibration, intrinsic parameter includes：The photocentre coordinate of camera,
Equivalent focal length and distortion factor；
Step 2), be embedded with four datum marks in demarcate bar riding position, the sitting in benchmark of each datum mark
Coordinate under mark system measures in advance and obtains；
Step 3), first the centering rod below target is placed on a position 1, then adjust demarcate bar frame bottom two
Individual levelling gear makes whole target bar perpendicular to horizontal plane, as shown in Figure 5.The installation flat board of target bar bottom there is tilt quantity
Whether sensor, can judge current location leveling according to its reading；
Step 4) and then shoot current target post image using camera and record.Then target bar is moved to a position
2, repeat the process of above-mentioned be aligned and leveling, then shoot the target post image at a position 2.Until the image of four point positions is clapped
Take the photograph and finish；
Step 5), according to demarcating four datum marks coordinate under the frame of reference in advance, water can be adjusted with caliberating device
After flat, ten index points on its surface plate coordinate under the frame of reference；
Step 6), four width circle marker dot image are gathered by external parameters calibration device, as shown in fig. 6, intending using oval
The method closed extracts index point centre coordinate, by splicing, is combined into 40 index point imaging datas；
Step 7), the pixel coordinate that extracts of input coordinate under the frame of reference for the index point and imaging, and in camera
Parameter, calculates Camera extrinsic number, and that is, camera is tied to respect to the translation vector (photocentre position) of the frame of reference and camera coordinates
The spin matrix of the frame of reference.
Further, for multiple cameras, caliberating device can be pivoted about with datum mark, makes index point plane pair
The camera needing to demarcate, repeat step 5) to step 7), the demarcation of all cameras can be completed.
Compared with prior art, the present invention has the beneficial effect that：
1), this invention passes through the benchmark point coordinates of all calibration for cameras under measuring basis coordinate system so that it may realize multiple stage phase
Machine stereo calibration, and measurement range is wide；
2), the three-dimensional coordinate known point of calibrated reference and the corresponding relation of picture point are set up by 40 index points,
Camera extrinsic number is calculated using nonlinear method, higher certainty of measurement can be obtained；
3), this caliberating device processing cost is low, simple and easy to use, can be repeated several times use.
Brief description
Fig. 1 is the composition structure chart of Camera extrinsic number caliberating device；
Fig. 2 is Camera extrinsic number scaling method flow process；
Fig. 3 is calibration of camera internal parameters image；
Fig. 4 is that calibration of camera internal parameters logos point extracts schematic diagram；
Fig. 5 is the image of Camera extrinsic number mark timing acquiring, and (a) is placed in for caliberating device and to gather during datum mark position 1
Uncalibrated image, (b) is placed in, for caliberating device, the uncalibrated image gathering during datum mark position 2, and (c) is placed in benchmark for caliberating device
The uncalibrated image gathering during point position 3, (d) is placed in, for caliberating device, the uncalibrated image gathering during datum mark position 4；
Fig. 6 is that Camera extrinsic number uncalibrated image index point extracts schematic diagram.
Specific embodiment
Below in conjunction with the accompanying drawings and specific embodiment further illustrates the present invention.
Step 1), intrinsic parameter demarcation is carried out to every camera, 2 meters of positions in front of camera will be placed on by intrinsic parameter scaling board
Put, as shown in figure 3, the orientation of change scaling board and attitude, gather 20 width scaling board images, the index point extracting each image is sat
Mark, as shown in figure 4, carrying out intrinsic parameter demarcation, and preserves calibration result；
Step 2), according to the field range of camera, be embedded with four datum marks in demarcate bar riding position, each survey
The coordinate under the frame of reference of amount datum mark measures in advance and obtains, and i-th benchmark point coordinates is designated as：
Wherein, put sequence number on the basis of i,For i-th datum mark three-dimensional coordinate under the frame of reference,For i-th
Three-dimensional coordinate X-component under the frame of reference for the datum mark,For i-th datum mark three-dimensional coordinate Y under the frame of reference
Component,For i-th datum mark three-dimensional coordinate Z component under the frame of reference.
Step 3), first the centering rod below target is placed on a position 1, as shown in Fig. 5 image (a), then adjust
Two levelling gears of whole demarcate bar frame bottom make gusseted planar horizontal, whole target bar perpendicular to horizontal plane, in target
There is inclination quantity sensor on the installation flat board of mark post bottom, whether current location leveling can be judged according to its reading；
Step 4) and then shoot current target post image using camera and record.Then target bar is moved to a position
2, repeat the process of above-mentioned be aligned and leveling, then shoot the target post image at a position 2, until the image of four point positions is clapped
Take the photograph and finish；
Step 5), adjust level when caliberating device levelling gear, after centering rod Uprightness adjusting, according to demarcating four benchmark in advance
Put reference mark point design attitude and size on coordinate and the caliberating device under the frame of reference, can calculate on target bar
Ten index points coordinate under the frame of reference, from top to bottom, on i-th datum mark position, j-th index point is three-dimensional for index point
Coordinate is designated as：
Wherein, put sequence number on the basis of i, j is index point sequence number,For j-th index point on i-th datum mark position in base
Three-dimensional coordinate under conventional coordinates,For this three-dimensional coordinate X-component,For this three-dimensional coordinate Y-component,For this three-dimensional coordinate Z
Component.Each index point known, to the vertical range of datum mark position fixing end, is designated as Lj, then：
Wherein, put sequence number on the basis of i, j is index point sequence number,For j-th index point on i datum mark position in benchmark
Three-dimensional coordinate under coordinate system,For i datum mark under the frame of reference three-dimensional coordinate, LjFor j-th index point to datum mark
The vertical range of position fixing end.
Step 6), four width circle marker dot image are gathered by external parameters calibration device, as shown in fig. 6, intending using oval
The method closed extracts index point centre coordinate, by four width image zooming-out point coordinates, is combined into 40 index point imaging datas；
Step 7), according to perspective projection imaging photogrammetry principles, input seat under the frame of reference for the index point
Mark and the pixel coordinate of imaging extraction, have following relation：
Wherein, (Xij,Yij), { i=1,2,3,4；J=0,1 ..., 9 } indicate for corresponding j-th for i-th datum mark position
The pixel coordinate that point extracts, k is the Z component of index point three-dimensional coordinate under camera coordinates system, (Cx,Cy) it is image principal point, it is light
Axle and the image coordinate of image planes intersection point, (Fx,Fy) it is transverse and longitudinal equivalent focal length, it is actual optical focal length and the horizontal stroke of pixel, longitudinal ruler
Very little ratio, Rg2xOn the basis of coordinate be tied to the spin matrix of camera coordinates system, Tg2xOn the basis of coordinate be tied to the flat of camera coordinates system
The amount of shifting to.Principal point and equivalent focal length are the intrinsic parameters of camera, the characteristic of description camera itself；And spin matrix and translation vector are retouched
State is relative position relation and the attitude relation between the frame of reference and camera coordinates system, by this spin matrix and being translated towards
Amount, can go out, with reverse, spin matrix and the translation vector that camera coordinates are tied to the frame of reference, i.e. the outer parameter of camera.Rg2xWith
Tg2xIt is defined as follows：
Tg2x=(Tx,Ty,Tz)T
Step 8), define a projection matrix M：
The expansion of M：
Then perspective projection imaging relation can be described as with projection matrix：
Above formula is launched into scale form and eliminates k, just obtain describe perspective projection imaging in object point, picture point,
The collinearity equation of photocentre three point on a straight line relation：
When intrinsic parameter it is known that then above formula is converted into regard to T by transpositionx、Ty、TzAnd r0～r9Homogeneous linear equations
Group：
Due to Tz＞ 0, can make ti=ri/Tz, i=0,1 ..., 8, t9=Tx/Tz, t10=Ty/Tz, above formula can be converted into pass
In t0～t10System of linear equations：
Wherein unknown number 11, and two equations can be listed from each index point, when index point is under the frame of reference
Three-dimensional coordinate{ i=1,2,3,4；J=0,1 ..., 9 } and index point extraction coordinate (Xij,Yij),{i
=1,2,3,4；J=0,1 ..., 9 } it is known that by the corresponding equation group of 40 index points, being calculated t0～t10.Further according to r6 2
+r7 2+r8 2=1, haveThen：
And then obtain two other component r of spin matrix and translation vectori=tiTz, (i=0,1 ..., 8) and Tx=
t9Tz,Ty=t10Tz, thus calculating the spin matrix R that reference coordinate is tied to camera coordinates systemg2xWith translation vector Tg2x, and then
Release camera coordinates and be tied to the spin matrix of the frame of reference and beAnd translation vectorComplete the outer parameter of this camera
Demarcate.
Further, if demarcate multiple stage camera, when target bar is in a certain datum mark position, centering rod lower end and benchmark simultaneously
After point position connects, and during levelling gear adjustment level, caliberating device can be made so that target mark around the rotation of datum mark vertical direction
Will point can be observed by next camera, and shoots target image, thus completing multiple stage camera calibration.
Claims (3)
1. a kind of for photogrammetric Camera extrinsic number caliberating device it is characterised in that by target bar, centering rod, levelling gear
Form with four parts of datum mark；Target bar is being demarcated above linkage, and target bar is cuboid, and target is installed above to be had
The circular index point of 10 one row, the index point center of circle is aligned in target plane；It is centering rod below target bar, for right
Locating tab assembly datum mark is it is ensured that demarcate the positional precision setting up, and index point line is with centering rod axis on the same line, and
Each index point center of circle is to known to the distance of centering rod bottom；If the position coordinates of datum mark is it is known that work as centering below demarcate bar
Bar perpendicular to horizontal plane, then passes through the benchmark point coordinates demarcated in advance, you can to obtain the center of each circular index point in base
, perpendicular to horizontal plane, levelling gear is specific as follows for the Y-axis of the coordinate under conventional coordinates, the wherein frame of reference：After centering rod
There are two support bars in face, and the plane that centering rod is formed with two support bars is vertical, and there is tune support bar bottom near ground location
Plain screw, for adjusting level, is fixed on objective table using slant angle sensor, then passes through to rotate levelling bolt, makes biography
Sensor reading reaches and is worth closest to 0；Additionally, after centering rod lower end is connected with datum mark position, and levelling gear adjustment water
Flat, whole caliberating device can carry out 360 ° of rotations so that target bar can be observed by multiple cameras around datum mark vertical direction,
Demarcate such that it is able to realize multiple stage camera simultaneously.
2. one kind is used for photogrammetric Camera extrinsic number scaling method, and using caliberating device described in claim 1, its feature exists
In external parameters calibration method flow is as follows：
Step 1), be embedded with 4 datum marks in demarcate bar riding position, its three-dimensional coordinate under the frame of reference is in advance
Survey；
Step 2), first the centering rod below target is placed on a position 1, then adjust demarcate bar frame bottom leveling machine
Structure makes whole target bar perpendicular to horizontal plane；The installation flat board of target bar bottom there is inclination quantity sensor, can be according to its reading
Whether number judges current location leveling；
Step 3) and then shoot current target post image using camera and record；Then target bar is moved to a position 2, weight
Multiple above-mentioned be aligned and the process of leveling, then shoot the target post image at a position 2；Until the image taking of 4 point positions is complete
Finish, then the external parameters calibration work to this camera completes；
Step 4) if demarcate multiple stage camera simultaneously, when target bar is in a certain datum mark position, caliberating device can be made around benchmark
Point vertical direction rotates so that target index point can be observed by next camera, and shoots target image, thus simplifying many
Platform camera calibration flow process, completes multiple stage camera calibration；
Step 5), according to demarcating four datum marks coordinate under the frame of reference in advance, can be with caliberating device regulation level after,
Coordinate under the frame of reference for ten index points on its surface plate；
Step 6), by external parameters calibration device gather four width circle marker dot image, using ellipse fitting method extract mark
Will dot center coordinate, by splicing, is combined into 40 index point imaging datas；
Step 7), the pixel coordinate that extracts of input index point coordinate and imaging under the frame of reference, and camera intrinsic parameter, meter
Calculate Camera extrinsic number, that is, camera is tied to the spin matrix of the frame of reference in the photocentre position of the frame of reference and camera coordinates.
3. according to claim 2 Camera extrinsic number scaling method it is characterised in that for multiple cameras, caliberating device can
Pivoted about with datum mark, make index point plane against the camera needing demarcation, repeat step 5)-step 7), permissible
Complete the demarcation of all cameras.
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| CN106153004A (en) * | 2015-04-08 | 2016-11-23 | 广东中星电子有限公司 | A kind of building inclination detection method and device |
| CN105513068A (en) * | 2015-12-04 | 2016-04-20 | 湖北工业大学 | Calibration system and method based on multi-camera array large scale vision measurement system |
| CN106097300B (en) * | 2016-05-27 | 2017-10-20 | 西安交通大学 | A kind of polyphaser scaling method based on high-precision motion platform |
| CN105919669B (en) * | 2016-07-01 | 2018-07-20 | 华南理工大学 | A method of realizing that optical operation navigation surgical instrument is demarcated using caliberating device |
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| CN107481288A (en) * | 2017-03-31 | 2017-12-15 | 触景无限科技（北京）有限公司 | The inside and outside ginseng of binocular camera determines method and apparatus |
| CN107401976B (en) * | 2017-06-14 | 2019-07-16 | 昆明理工大学 | A kind of large scale vision measurement system and its scaling method based on monocular camera |
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| CN107633533B (en) * | 2017-09-25 | 2020-08-18 | 深圳大学 | High-precision circular mark point center positioning method and device under large-distortion lens |
| CN111121743B (en) * | 2018-10-30 | 2023-11-24 | 阿里巴巴集团控股有限公司 | Position calibration method and device and electronic equipment |
| CN109712191B (en) * | 2018-11-29 | 2020-12-18 | 中国船舶工业系统工程研究院 | Global external parameter calibration device and method for large-scene camera |
| CN110084861B (en) * | 2019-06-03 | 2023-09-15 | 易思维（杭州）科技有限公司 | Calibration method of multi-camera visual inspection equipment |
| CN112284295B (en) * | 2020-10-28 | 2022-05-10 | 东南大学 | Camera and projector adjusting method for contour measurement |
| CN114549660B (en) * | 2022-02-23 | 2022-10-21 | 北京大学 | Multi-camera calibration method, device and equipment based on cylindrical self-identification marker |
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