CN105354854A - Camera parameter dynamic united calibration method and system based on three-dimensional digital model - Google Patents
Camera parameter dynamic united calibration method and system based on three-dimensional digital model Download PDFInfo
- Publication number
- CN105354854A CN105354854A CN201510858813.9A CN201510858813A CN105354854A CN 105354854 A CN105354854 A CN 105354854A CN 201510858813 A CN201510858813 A CN 201510858813A CN 105354854 A CN105354854 A CN 105354854A
- Authority
- CN
- China
- Prior art keywords
- camera
- digital model
- dimensional digital
- thermal infrared
- infrared imager
- 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
- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000004891 communication Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000005259 measurement Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 2
- 230000005520 electrodynamics Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000003595 spectral effect Effects 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
- G06T2207/10012—Stereo images
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
- G06T2207/10021—Stereoscopic video; Stereoscopic image sequence
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Studio Devices (AREA)
- Closed-Circuit Television Systems (AREA)
- Radiation Pyrometers (AREA)
- Image Processing (AREA)
Abstract
The invention discloses a camera parameter dynamic united calibration method and system based on a three-dimensional digital model. The method comprises the following steps: firstly establishing a high-precision three-dimensional digital model of a transformer substation, and respectively mounting a visible light binocular camera and a thermal infrared imager camera on positions required to monitor of the transformer substation through a mounting frame; secondly, respectively shooting video pictures of the transformer substation field through two cameras, transmitting all pictures to an image processor GPU through the Ethernet; and finally comparing a key point on the picture with the corresponding key point on the three-dimensional digital model, and then performing the parameter calibration on the visible light binocular camera and the thermal infrared imager camera according to a comparison result. The three-dimensionally model and the image shot in real time are used for realizing the dynamic calibration of the internal and external parameters of the camera, the influence of the change of the internal and external parameters of the camera to the device is solved, the parameter change is caused by temperature, environment and the like; a feature pint on the three-dimensionally model is used as a mark point, the operation is fully simple and efficient.
Description
technical field:
The present invention relates to a kind of camera calibration method, particularly relate to the dynamic syndicated scaling method of a kind of camera parameter based on three-dimensional digital model and system.
background technology:
In the application such as multispectral photography measurement, remote sensing and targeted surveillance, for comprehensively obtaining the Spectral Radiation Information of object, often take the method for multispectral combined measurement.Wherein, Visible Light Camera can obtain abundant texture information, and thermal infrared imager can obtain temperature information.Therefore, the combined measurement of current Visible Light Camera and infrared camera is applied widely.And when infrared camera and Visible Light Camera do not share same camera lens or same optical path, just strictly their camera intrinsic parameter and the relative position and attitude between them must be demarcated.Determine that three-dimensional geometry position of certain point of space object surface and the geometric model parameter of its mutual relationship in the picture between corresponding point are exactly camera parameter.Utilize caliberating device and scaling method to determine that the process of these parameters is just called camera calibration.And utilize same set of caliberating device and scaling method to determine parameter that is infrared and Visible Light Camera, then be simultaneously referred to as combined calibrating.Utilize the camera parameter that combined calibrating obtains, the space reference of thermal infrared imager and camera can be unified, for multispectral fusion and combined measurement set up basis.
Traditional camera calibration all carries out in laboratory, and in fact, after at the scene camera being installed, camera inside and outside parameter because the impact such as environment, temperature, can cause the change of inside and outside parameter, affects videogrammetry system, therefore, need a kind of method of dynamic calibration at the scene, regularly camera is carried out to the demarcation of inside and outside parameter, guarantee camera measuring accuracy.
summary of the invention:
Technical matters to be solved by this invention is: overcome the deficiencies in the prior art, provides a kind of enforcement reasonable in design, easy, can demarcate the dynamic syndicated scaling method of the camera parameter based on three-dimensional digital model of two kinds of cameras and system simultaneously.
Technical scheme of the present invention is:
The dynamic syndicated scaling method of camera parameter based on three-dimensional digital model, comprises the following steps:
A, set up transformer station's high-precision three-dimensional digital model, and visible ray binocular camera and thermal infrared imager camera are separately positioned on the position that transformer station needs to monitor by erecting frame;
B, utilize visible ray binocular camera and thermal infrared imager camera to take the video photography of substation field respectively, by Ethernet by all picture transmission to image processor GPU, image processor GPU and central processor CPU are interconnected;
C, contrasted by the three-dimensional coordinate of the key point on photo with the corresponding key point on three-dimensional digital model, the result according to contrast carries out parameter calibration to visible ray binocular camera and thermal infrared imager camera, realizes the on-the-spot dynamic parameter combined calibratings of two kinds of cameras.
Described key point is the point of crossing of equipment, equipment label, device clamp, cannula tip, mark post or shaft tower; The result of the result of contrast and camera parameter adjustment is transferred on host computer and personal information terminal respectively by radio communication network.
Described visible ray binocular camera and thermal infrared imager camera are separately positioned on erecting frame, or are jointly arranged on same erecting frame; Described transformer station high-precision three-dimensional digital model forms standard gallery, and this standard gallery is connected with described central processor CPU.
Described erecting frame is stationary structure, or is the rotational structure that can rotate in perpendicular, or for can to rotate in perpendicular and can at the rotational structure of horizontal rotation in surface.
Described rotational structure comprises arc or arc-shaped rack, and described arc or arc-shaped rack are connected with the gear of fastening bolt or drive motor respectively.
The dynamic syndicated calibration system of a kind of camera parameter based on three-dimensional digital model, comprise visible ray binocular camera, thermal infrared imager camera, image processor GPU and central processor CPU, described visible ray binocular camera and thermal infrared imager camera are separately positioned on the field position that transformer station needs to monitor by erecting frame, the image that described visible ray binocular camera and thermal infrared imager camera are taken is transferred on described image processor GPU by Ethernet, described image processor GPU is connected with described central processor CPU, the three-dimensional coordinate of key point on photo with the corresponding key point on transformer station high-precision three-dimensional digital model contrasts by described central processor CPU, result according to contrast carries out parameter calibration to visible ray binocular camera and thermal infrared imager camera, realize the on-the-spot dynamic parameter combined calibrating of two kinds of cameras.
Described key point is the point of crossing of equipment, equipment label, device clamp, cannula tip, mark post or shaft tower; The result of the result of contrast and camera parameter adjustment is transferred on host computer and personal information terminal respectively by radio communication network.
Described visible ray binocular camera and thermal infrared imager camera are separately positioned on described erecting frame, or are jointly arranged on same described erecting frame; Described transformer station high-precision three-dimensional digital model forms standard gallery, and this standard gallery is connected with described central processor CPU.
Described erecting frame is stationary structure, or is the rotational structure that can rotate in perpendicular, or for can to rotate in perpendicular and can at the rotational structure of horizontal rotation in surface.
Described rotational structure comprises arc or arc-shaped rack, and described arc or arc-shaped rack are connected with the gear of fastening bolt or drive motor respectively.
The invention has the beneficial effects as follows:
1, the present invention utilizes the image of three-dimensional model and captured in real-time, realize the dynamic calibration of the inside and outside parameter of camera, solve due to temperature, environment etc. cause camera inside and outside parameter to change on the impact of equipment, utilize unique point on three-dimensional model as monumented point, operation is very succinct, efficient.
2, the present invention dynamically demarcates camera in actual motion, also can carry out the correction of camera pose simultaneously, after taking abundant photo, using the center of key point as the anchor point of picture point and object point, because actual object point coordinate corresponding on three-dimensional model is also known, therefore current camera calibration method can be utilized to obtain the camera parameter of Visible Light Camera and thermal infrared imager, improve measuring accuracy.
3, the present invention can either real time execution, also can run by some cycles frequency, as one week runs a dynamic calibration, determines the inside and outside parameter of visible ray and infrared camera, easy to use.
4, the fixed form of the present invention's two kinds of cameras both can adopt fixed installation, and rotary type in perpendicular also can be adopted to install, and perpendicular and the equal rotary type of horizontal plane can also be adopted to install, reach conduct monitoring at all levels shooting, improve monitoring precision.
5, the rotation of the erecting frame of the present invention's two kinds of cameras both can adopt hand to operate, and electrodynamic type also can be adopted to operate, and adopted electrodynamic type operation can also remote control, convenient and swift.
6, the present invention's enforcement reasonable in design, easy, can demarcate two kinds of cameras, reduce because camera inside and outside parameter changes the measuring accuracy error caused after laying camera at the scene, its applied range, is easy to promotion and implementation, has good economic benefit simultaneously.
accompanying drawing illustrates:
Fig. 1 is the structural representation of the dynamic syndicated calibration system of camera parameter based on three-dimensional digital model;
Fig. 2 is one of structure of the erecting frame of visible ray binocular camera or thermal infrared imager camera in Fig. 1;
Fig. 3 is the structure two of the erecting frame of visible ray binocular camera or thermal infrared imager camera in Fig. 1.
embodiment:
Embodiment: see Fig. 1-Fig. 3, in figure, 1-visible ray binocular camera, 2-Ethernet, 3-image processor GPU, 4-standard gallery, 5-central processor CPU, 6-display, 7-keyboard, 8-radio communication network, 9-personal information terminal, 10-host computer, 11-thermal infrared imager camera, 12-vertical frame, 13-jointed shaft, 14-clip, 15-clamping screw, 16-arc, 17-crossbearer, 18-rolling disc, 19-base, 20-drive motor, 21-arc-shaped rack.
The dynamic syndicated calibration system of camera parameter based on three-dimensional digital model comprises visible ray binocular camera 1, thermal infrared imager camera 11, image processor GPU and central processor CPU, wherein: visible ray binocular camera 1 and thermal infrared imager camera 11 are separately positioned on the field position that transformer station needs to monitor by erecting frame, the image that visible ray binocular camera 1 and thermal infrared imager camera 11 are taken is transferred on image processor GPU by Ethernet 2, image processor GPU is connected with central processor CPU, the three-dimensional coordinate of key point on photo with the corresponding key point on transformer station high-precision three-dimensional digital model contrasts by central processor CPU, result according to contrast carries out parameter calibration to visible ray binocular camera 1 and thermal infrared imager camera 11, realize the on-the-spot dynamic parameter combined calibrating of two kinds of cameras.
Key point is the point of crossing of equipment, equipment label, device clamp, cannula tip, mark post or shaft tower; The result of the result of contrast and camera parameter adjustment is transferred on host computer 10 and personal information terminal 9 respectively by radio communication network 8.
Visible ray binocular camera 1 and thermal infrared imager camera 11 are separately positioned on erecting frame, or are jointly arranged on same erecting frame; Transformer station's high-precision three-dimensional digital model forms standard gallery 4, and this standard gallery 4 is connected with central processor CPU.
Erecting frame is stationary structure, or the rotational structure (Fig. 2 shown in) for rotating in perpendicular, or for can to rotate in perpendicular and can at the rotational structure of horizontal rotation in surface (shown in Fig. 3).
Rotational structure comprises arc 16 or arc-shaped rack 21, and arc 16 or arc-shaped rack 21 are connected with the gear of fastening bolt 15 or drive motor 20 respectively.
During work, first set up transformer station's high-precision three-dimensional digital model, form standard gallery 4, then visible ray binocular camera 1 and thermal infrared imager camera 11 are separately positioned on the position that transformer station needs to monitor by erecting frame; Then utilize visible ray binocular camera 1 and thermal infrared imager camera 11 to take the video photography of substation field respectively, by Ethernet 2 by all picture transmission to image processor GPU, image processor GPU and central processor CPU are interconnected; Finally the three-dimensional coordinate of the key point on photo with the corresponding key point on three-dimensional digital model is contrasted, result according to contrast carries out parameter calibration to visible ray binocular camera and thermal infrared imager camera, realizes the on-the-spot dynamic parameter combined calibrating of two kinds of cameras.
The above, it is only preferred embodiment of the present invention, not any pro forma restriction is done to the present invention, every above embodiment is done according to technical spirit of the present invention any simple modification, equivalent variations and modification, all still belong in the scope of technical solution of the present invention.
Claims (10)
1., based on the dynamic syndicated scaling method of camera parameter of three-dimensional digital model, comprise the following steps:
A, set up transformer station's high-precision three-dimensional digital model, and visible ray binocular camera and thermal infrared imager camera are separately positioned on the position that transformer station needs to monitor by erecting frame;
B, utilize visible ray binocular camera and thermal infrared imager camera to take the video photography of substation field respectively, by Ethernet by all picture transmission to image processor GPU, image processor GPU and central processor CPU are interconnected;
C, contrasted by the three-dimensional coordinate of the key point on photo with the corresponding key point on three-dimensional digital model, the result according to contrast carries out parameter calibration to visible ray binocular camera and thermal infrared imager camera, realizes the on-the-spot dynamic parameter combined calibratings of two kinds of cameras.
2. the dynamic syndicated scaling method of the camera parameter based on three-dimensional digital model according to claim 1, is characterized in that: described key point is the point of crossing of equipment, equipment label, device clamp, cannula tip, mark post or shaft tower; The result of the result of contrast and camera parameter adjustment is transferred on host computer and personal information terminal respectively by radio communication network.
3. the dynamic syndicated scaling method of the camera parameter based on three-dimensional digital model according to claim 1, is characterized in that: described visible ray binocular camera and thermal infrared imager camera are separately positioned on erecting frame, or is jointly arranged on same erecting frame; Described transformer station high-precision three-dimensional digital model forms standard gallery, and this standard gallery is connected with described central processor CPU.
4. the dynamic syndicated scaling method of the camera parameter based on three-dimensional digital model according to claim 3, it is characterized in that: described erecting frame is stationary structure, or be the rotational structure that can rotate in perpendicular, or for can to rotate in perpendicular and can at the rotational structure of horizontal rotation in surface.
5. the dynamic syndicated scaling method of the camera parameter based on three-dimensional digital model according to claim 4, it is characterized in that: described rotational structure comprises arc or arc-shaped rack, described arc or arc-shaped rack are connected with the gear of fastening bolt or drive motor respectively.
6. the dynamic syndicated calibration system of the camera parameter based on three-dimensional digital model, comprise visible ray binocular camera, thermal infrared imager camera, image processor GPU and central processor CPU, it is characterized in that: described visible ray binocular camera and thermal infrared imager camera are separately positioned on the field position that transformer station's needs monitor by erecting frame, the image that described visible ray binocular camera and thermal infrared imager camera are taken is transferred on described image processor GPU by Ethernet, described image processor GPU is connected with described central processor CPU, the three-dimensional coordinate of key point on photo with the corresponding key point on transformer station high-precision three-dimensional digital model contrasts by described central processor CPU, result according to contrast carries out parameter calibration to visible ray binocular camera and thermal infrared imager camera, realize the on-the-spot dynamic parameter combined calibrating of two kinds of cameras.
7. the dynamic syndicated calibration system of the camera parameter based on three-dimensional digital model according to claim 6, is characterized in that: described key point is the point of crossing of equipment, equipment label, device clamp, cannula tip, mark post or shaft tower; The result of the result of contrast and camera parameter adjustment is transferred on host computer and personal information terminal respectively by radio communication network.
8. the dynamic syndicated calibration system of the camera parameter based on three-dimensional digital model according to claim 6, it is characterized in that: described visible ray binocular camera and thermal infrared imager camera are separately positioned on described erecting frame, or be jointly arranged on same described erecting frame; Described transformer station high-precision three-dimensional digital model forms standard gallery, and this standard gallery is connected with described central processor CPU.
9. the dynamic syndicated calibration system of the camera parameter based on three-dimensional digital model according to claim 6, it is characterized in that: described erecting frame is stationary structure, or be the rotational structure that can rotate in perpendicular, or for can to rotate in perpendicular and can at the rotational structure of horizontal rotation in surface.
10. the dynamic syndicated calibration system of the camera parameter based on three-dimensional digital model according to claim 9, it is characterized in that: described rotational structure comprises arc or arc-shaped rack, described arc or arc-shaped rack are connected with the gear of fastening bolt or drive motor respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510858813.9A CN105354854B (en) | 2015-12-01 | 2015-12-01 | The dynamic syndicated scaling method of camera parameter and system based on three-dimensional digital model |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510858813.9A CN105354854B (en) | 2015-12-01 | 2015-12-01 | The dynamic syndicated scaling method of camera parameter and system based on three-dimensional digital model |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105354854A true CN105354854A (en) | 2016-02-24 |
| CN105354854B CN105354854B (en) | 2018-12-07 |
Family
ID=55330821
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510858813.9A Active CN105354854B (en) | 2015-12-01 | 2015-12-01 | The dynamic syndicated scaling method of camera parameter and system based on three-dimensional digital model |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105354854B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106228564A (en) * | 2016-07-29 | 2016-12-14 | 国网河南省电力公司郑州供电公司 | The outer parameter two step associating online calibration method of many mesh camera and system |
| CN107564066A (en) * | 2017-07-20 | 2018-01-09 | 长春理工大学 | A kind of combined calibrating method of virtual reality glasses and depth camera |
| CN109003294A (en) * | 2018-06-21 | 2018-12-14 | 航天科工仿真技术有限责任公司 | A kind of unreal & real space location registration and accurate matching process |
| CN109141506A (en) * | 2018-06-28 | 2019-01-04 | 深圳奥比中光科技有限公司 | Multi-functional calibration system |
| WO2021212278A1 (en) * | 2020-04-20 | 2021-10-28 | 深圳市大疆创新科技有限公司 | Data processing method and apparatus, and mobile platform and wearable device |
| CN113763485A (en) * | 2021-09-28 | 2021-12-07 | 北京的卢深视科技有限公司 | Temperature drift coefficient acquisition method, electronic device, storage medium, and image correction method |
| CN114708335A (en) * | 2022-03-20 | 2022-07-05 | 元橡科技(苏州)有限公司 | External parameter calibration system, calibration method, application and storage medium of binocular stereo camera |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7235785B2 (en) * | 2001-05-11 | 2007-06-26 | Irvine Sensors Corp. | Imaging device with multiple fields of view incorporating memory-based temperature compensation of an uncooled focal plane array |
| CN102176243A (en) * | 2010-12-30 | 2011-09-07 | 浙江理工大学 | Target ranging method based on visible light and infrared camera |
| CN103400392A (en) * | 2013-08-19 | 2013-11-20 | 山东鲁能智能技术有限公司 | Binocular vision navigation system and method based on inspection robot in transformer substation |
| CN103824277A (en) * | 2013-11-29 | 2014-05-28 | 广东电网公司电力科学研究院 | Substation three-dimensional live-action monitoring stationing method based on nonlinear parameter optimization calibration |
| CN205230138U (en) * | 2015-12-01 | 2016-05-11 | 国家电网公司 | Camera parameter dynamic state unites calibration system based on three -dimensional digital model |
-
2015
- 2015-12-01 CN CN201510858813.9A patent/CN105354854B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7235785B2 (en) * | 2001-05-11 | 2007-06-26 | Irvine Sensors Corp. | Imaging device with multiple fields of view incorporating memory-based temperature compensation of an uncooled focal plane array |
| CN102176243A (en) * | 2010-12-30 | 2011-09-07 | 浙江理工大学 | Target ranging method based on visible light and infrared camera |
| CN103400392A (en) * | 2013-08-19 | 2013-11-20 | 山东鲁能智能技术有限公司 | Binocular vision navigation system and method based on inspection robot in transformer substation |
| CN103824277A (en) * | 2013-11-29 | 2014-05-28 | 广东电网公司电力科学研究院 | Substation three-dimensional live-action monitoring stationing method based on nonlinear parameter optimization calibration |
| CN205230138U (en) * | 2015-12-01 | 2016-05-11 | 国家电网公司 | Camera parameter dynamic state unites calibration system based on three -dimensional digital model |
Non-Patent Citations (1)
| Title |
|---|
| 江国威: "基于红外与可见光图像配准的电力设备检测系统研究与应用", 《中国优秀硕士学位论文全文数据库 工程科技II辑》 * |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106228564A (en) * | 2016-07-29 | 2016-12-14 | 国网河南省电力公司郑州供电公司 | The outer parameter two step associating online calibration method of many mesh camera and system |
| CN106228564B (en) * | 2016-07-29 | 2023-04-07 | 国网河南省电力公司郑州供电公司 | External parameter two-step combined online calibration method and system of multi-view camera |
| CN107564066A (en) * | 2017-07-20 | 2018-01-09 | 长春理工大学 | A kind of combined calibrating method of virtual reality glasses and depth camera |
| CN107564066B (en) * | 2017-07-20 | 2020-10-23 | 长春理工大学 | Combined calibration method for virtual reality glasses and depth camera |
| CN109003294A (en) * | 2018-06-21 | 2018-12-14 | 航天科工仿真技术有限责任公司 | A kind of unreal & real space location registration and accurate matching process |
| CN109141506A (en) * | 2018-06-28 | 2019-01-04 | 深圳奥比中光科技有限公司 | Multi-functional calibration system |
| WO2021212278A1 (en) * | 2020-04-20 | 2021-10-28 | 深圳市大疆创新科技有限公司 | Data processing method and apparatus, and mobile platform and wearable device |
| CN113763485A (en) * | 2021-09-28 | 2021-12-07 | 北京的卢深视科技有限公司 | Temperature drift coefficient acquisition method, electronic device, storage medium, and image correction method |
| CN114708335A (en) * | 2022-03-20 | 2022-07-05 | 元橡科技(苏州)有限公司 | External parameter calibration system, calibration method, application and storage medium of binocular stereo camera |
| CN114708335B (en) * | 2022-03-20 | 2023-03-14 | 元橡科技(苏州)有限公司 | External parameter calibration system, calibration method, application and storage medium of binocular stereo camera |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105354854B (en) | 2018-12-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105354854A (en) | Camera parameter dynamic united calibration method and system based on three-dimensional digital model | |
| Zhu et al. | The multivehicle stereo event camera dataset: An event camera dataset for 3D perception | |
| CN109632103B (en) | High-altitude building temperature distribution and surface crack remote monitoring system and monitoring method | |
| CN111435162B (en) | Laser radar and camera synchronization method, device, equipment and storage medium | |
| CN108828554B (en) | Coordinate transformation-based measuring method, system and device without laser drop point | |
| CN103090845B (en) | Remote distance measurement method based on plurality of images | |
| CN106403900B (en) | Flying object tracking location system and method | |
| CN102890401B (en) | Camera shutter time delay measuring system | |
| CN109120883B (en) | Far and near scene-based video monitoring method and device and computer-readable storage medium | |
| CN105357433B (en) | A kind of adaptive method for panoramic imaging of high speed rotation focal length | |
| CN105357490A (en) | Visual monitoring and target tracking method and system based on real-time three-dimensional model of transformer substation | |
| CN206193235U (en) | Electric power inspection is two -dimensional laser radar calibration device for robot | |
| CN102338617A (en) | Three-dimensional measuring system and three-dimensional scanning device thereof | |
| CN204883389U (en) | Trail cloud platform | |
| CN201858962U (en) | Three-dimensional measuring system and three-dimensional scanning device thereof | |
| CN104215217B (en) | A kind of pseudo- image distance monocular distance-finding method applied to power-line patrolling unmanned plane | |
| CN109900204A (en) | Large forgings size vision measurement device and method based on line-structured light scanning | |
| CN103557821A (en) | Method for achieving three-dimensional space measuring under non-leveling, non-centering and height-measuring states | |
| CN205230138U (en) | Camera parameter dynamic state unites calibration system based on three -dimensional digital model | |
| WO2020103054A1 (en) | Time synchronisation method, apparatus, and system, and storage medium | |
| CN103777649B (en) | What the sensing of monopod video camera camera lens was remotely located realizes method | |
| CN104580909A (en) | Image acquisition method and device | |
| CN104155675A (en) | Radiation source positioning and imaging device | |
| CN102930554B (en) | Method and system for accurately capturing target in monitored scene | |
| CN106370305A (en) | Transformer station panoramic temperature measurement point presetting method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |