CN105354854B - The dynamic syndicated scaling method of camera parameter and system based on three-dimensional digital model - Google Patents
The dynamic syndicated scaling method of camera parameter and system based on three-dimensional digital model Download PDFInfo
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- CN105354854B CN105354854B CN201510858813.9A CN201510858813A CN105354854B CN 105354854 B CN105354854 B CN 105354854B CN 201510858813 A CN201510858813 A CN 201510858813A CN 105354854 B CN105354854 B CN 105354854B
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000013178 mathematical model Methods 0.000 claims abstract description 11
- 238000004891 communication Methods 0.000 claims description 6
- 238000001931 thermography Methods 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 2
- RTZKZFJDLAIYFH-UHFFFAOYSA-N Diethyl ether Chemical compound CCOCC RTZKZFJDLAIYFH-UHFFFAOYSA-N 0.000 claims 2
- 238000005259 measurement Methods 0.000 description 7
- 238000009434 installation Methods 0.000 description 3
- 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
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- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
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Classifications
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- 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
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- 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
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- 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
Abstract
The invention discloses a kind of dynamic syndicated scaling method of camera parameter based on three-dimensional digital model and systems, substation's high-precision three-dimensional mathematical model is initially set up, and will be seen that light binocular camera and thermal infrared imager camera are separately positioned on the position that substation needs to monitor by mounting rack；Secondly the video photography of substation field is shot respectively using two kinds of cameras, all photos are transferred to image processor GPU by Ethernet, the key point on photo is compared with the three-dimensional coordinate of the corresponding key point on three-dimensional digital model finally, parameter calibration is carried out to visible light binocular camera and thermal infrared imager camera according to the result of comparison.The present invention utilizes the image of threedimensional model and captured in real-time, come realize camera inside and outside parameter dynamic calibration, solve due to temperature, environment etc. causes camera inside and outside parameter to change the influence to equipment, using the characteristic point on threedimensional model as index point, operation is very succinct, efficient.
Description
Technical field:
The present invention relates to a kind of camera calibration methods, dynamic more particularly to a kind of camera parameter based on three-dimensional digital model
State combined calibrating method and system.
Background technique:
In the application such as multispectral photography measurement, remote sensing and targeted surveillance, for the comprehensive spectral radiance letter for obtaining object
Breath, often takes the method for multispectral combined measurement.Wherein, it is seen that light camera can obtain texture information abundant, and infrared
Thermal imaging system can obtain temperature information.Therefore, the combined measurement of Visible Light Camera and infrared camera is applied widely at present.
And when infrared camera and Visible Light Camera do not share the same camera lens or same optical path, it just must strictly demarcate their camera
Intrinsic parameter and the relative position and attitude between them.Determine space object surface point three-dimensional geometry position and its in image
The geometrical model parameter of correlation between middle corresponding points is exactly camera parameter.It is determined using caliberating device and scaling method
The process of these parameters is known as camera calibration.And using same set of caliberating device and scaling method come and meanwhile determine it is infrared with can
The parameter of light-exposed camera, then referred to as combined calibrating.The camera parameter obtained using combined calibrating can unify thermal infrared imager
With the space reference of camera, basis is established for multispectral fusion and combined measurement.
Traditional camera calibration is carried out in laboratory, and in fact, after installing camera at the scene, inside and outside camera
Parameter can cause the variation of inside and outside parameter, influence videogrammetry system, therefore, it is necessary to one kind to exist because environment, temperature etc. influence
The method of live dynamic calibration carries out the calibration of inside and outside parameter, to camera periodically to ensure camera measurement precision.
Summary of the invention:
The technical problems to be solved by the present invention are: overcoming the deficiencies of the prior art and provide, a kind of design is reasonable, it is real to be easy
It applies, the dynamic syndicated scaling method of the camera parameter based on three-dimensional digital model and system of two kinds of cameras can be demarcated simultaneously.
The technical scheme is that
A kind of dynamic syndicated scaling method of camera parameter based on three-dimensional digital model, comprising the following steps:
A, substation's high-precision three-dimensional mathematical model is established, and will be seen that light binocular camera and thermal infrared imager camera are logical
Mounting rack is crossed to be separately positioned on the position that substation needs to monitor；
B, the video photography for being shot substation field respectively using visible light binocular camera and thermal infrared imager camera, is passed through
All photos are transferred to image processor GPU by Ethernet, and image processor GPU and central processor CPU are connected with each other；
C, the key point on photo is compared with the three-dimensional coordinate of the corresponding key point on three-dimensional digital model, according to
The result of comparison carries out parameter calibration to visible light binocular camera and thermal infrared imager camera, realizes that two kinds of camera scene dynamics are joined
Number combined calibrating.
The key point is crosspoint, equipment label, device clamp, cannula tip, mark post or the shaft tower of equipment；Comparison
As a result and the result of camera parameter adjustment is respectively transmitted on host computer and personal information terminal by radio communication network.
The visible light binocular camera and thermal infrared imager camera are separately positioned on mounting rack, or are commonly mounted on same
On one mounting rack；Substation's high-precision three-dimensional mathematical model constitutes standard gallery, the standard gallery and the central processing
Device CPU connection.
The mounting rack is stationary structure, or the rotational structure for that can rotate in perpendicular, or for both
The rotational structure that can be rotated in perpendicular and can rotate in the horizontal plane.
The rotational structure includes arc panel or arc-shaped rack, the arc panel or arc-shaped rack respectively with fastening bolt
Or the gear connection of driving motor.
A kind of dynamic syndicated calibration system of camera parameter based on three-dimensional digital model, including it is visible light binocular camera, red
Outer thermal imaging system camera, image processor GPU and central processor CPU, the visible light binocular camera and thermal infrared imager camera
It is separately positioned on by mounting rack on the field position that substation needs to monitor, the visible light binocular camera and thermal infrared imager
The image of camera shooting is transferred on described image processor GPU by Ethernet, described image processor GPU and the center
Processor CPU connection, the central processor CPU will be in the key points and substation's high-precision three-dimensional mathematical model on photo
The three-dimensional coordinate of corresponding key point compares, according to the result of comparison to visible light binocular camera and thermal infrared imager camera into
Row parameter calibration realizes two kinds of camera scene dynamic parameter combined calibratings.
The key point is crosspoint, equipment label, device clamp, cannula tip, mark post or the shaft tower of equipment；Comparison
As a result and the result of camera parameter adjustment is respectively transmitted on host computer and personal information terminal by radio communication network.
The visible light binocular camera and thermal infrared imager camera are separately positioned on the mounting rack, or common installation
On the same mounting rack；Substation's high-precision three-dimensional mathematical model constitutes standard gallery, the standard gallery with it is described
Central processor CPU connection.
The mounting rack is stationary structure, or the rotational structure for that can rotate in perpendicular, or for both
The rotational structure that can be rotated in perpendicular and can rotate in the horizontal plane.
The rotational structure includes arc panel or arc-shaped rack, the arc panel or arc-shaped rack respectively with fastening bolt
Or the gear connection of driving motor.
The beneficial effects of the present invention are:
1, the present invention utilize threedimensional model and captured in real-time image, come realize camera inside and outside parameter dynamic calibration,
It solves due to temperature, environment etc. causes camera inside and outside parameter to change the influence to equipment, utilizes the feature on threedimensional model
Point is used as index point, and operation is very succinct, efficient.
2, dynamic demarcates camera to the present invention in actual operation, while can also carry out camera pose correction, claps
After taking the photograph enough photos, using the center of key point as the anchor point of picture point and object point, due to reality corresponding on threedimensional model
Border object point coordinate is also known, therefore be can use current camera calibration method and obtained Visible Light Camera and thermal infrared imager
Camera parameter, improve measurement accuracy.
3, the present invention can either real time execution, can also be run by some cycles frequency, the primary dynamic mark of such as operation in one week
It is fixed, it is easy to use to determine the inside and outside parameter of visible light and infrared camera.
4, the fixed form of two kinds of cameras of the invention can both use fixedly mounted, can also turn using in perpendicular
Dynamic formula installation can also be reached conduct monitoring at all levels shooting, be improved monitoring using perpendicular and the equal rotary type installation of horizontal plane
Precision.
5, the rotation of the mounting rack of two kinds of cameras of the invention can both be operated using hand, can also be grasped using electrodynamic type
Make, can also be remotely controlled using electrodynamic type operation, it is convenient and efficient.
6, the present invention has rational design, is easy to implement, can demarcate two kinds of cameras simultaneously, reduce after laying camera at the scene because
Measurement accuracy error, has a wide range of application caused by changing for camera inside and outside parameter, implementation easy to spread, has good economy
Benefit.
Detailed description of the invention:
Fig. 1 is the structural schematic diagram of the dynamic syndicated calibration system of camera parameter based on three-dimensional digital model；
Fig. 2 is one of visible light binocular camera or the structure of mounting rack of thermal infrared imager camera in Fig. 1；
Fig. 3 is two of the structure of the mounting rack of visible light binocular camera or thermal infrared imager camera in Fig. 1.
Specific embodiment:
Embodiment: referring to figures 1-3, in figure, 1- visible light binocular camera, 2- Ethernet, 3- image processor GPU, 4-
Standard gallery, 5- central processor CPU, 6- display, 7- keyboard, 8- radio communication network, the personal information terminal 9-, 10- are upper
Machine, 11- thermal infrared imager camera, 12- vertical frame, 13- articulated shaft, 14- clip, 15- clamping screw, 16- arc panel, 17- crossbearer,
18- rotating disc, 19- pedestal, 20- driving motor, 21- arc-shaped rack.
The dynamic syndicated calibration system of camera parameter based on three-dimensional digital model includes visible light binocular camera 1, infrared heat
As instrument camera 11, image processor GPU and central processor CPU, in which: visible light binocular camera 1 and thermal infrared imager camera
11 are separately positioned on the field position that substation needs to monitor by mounting rack, it is seen that light binocular camera 1 and thermal infrared imager
The image that camera 11 is shot is transferred on image processor GPU by Ethernet 2, image processor GPU and central processor CPU
Connection, central processor CPU is by key point and the corresponding key point on substation's high-precision three-dimensional mathematical model on photo
Three-dimensional coordinate compares, and carries out parameter mark to visible light binocular camera 1 and thermal infrared imager camera 11 according to the result of comparison
It is fixed, realize two kinds of camera scene dynamic parameter combined calibratings.
Key point is crosspoint, equipment label, device clamp, cannula tip, mark post or the shaft tower of equipment；The result of comparison
And the result of camera parameter adjustment is respectively transmitted on host computer 10 and personal information terminal 9 by radio communication network 8.
Visible light binocular camera 1 and thermal infrared imager camera 11 are separately positioned on mounting rack, or are commonly mounted on same
On one mounting rack；Substation's high-precision three-dimensional mathematical model constitutes standard gallery 4, and the standard gallery 4 and central processor CPU connect
It connects.
Mounting rack is stationary structure, or the rotational structure (shown in Fig. 2) for that can rotate in perpendicular, or
For the rotational structure that can be rotated but also rotate in the horizontal plane in perpendicular (shown in Fig. 3).
Rotational structure includes arc panel 16 or arc-shaped rack 21, arc panel 16 or arc-shaped rack 21 respectively with fastening bolt
15 or driving motor 20 gear connection.
When work, substation's high-precision three-dimensional mathematical model is initially set up, constitutes standard gallery 4, then it will be seen that light is double
Mesh camera 1 and thermal infrared imager camera 11 are separately positioned on the position that substation needs to monitor by mounting rack；Then it utilizes
Visible light binocular camera 1 and thermal infrared imager camera 11 shoot the video photography of substation field respectively, by Ethernet 2 by institute
There is photo to be transferred to image processor GPU, image processor GPU and central processor CPU are connected with each other；It finally will be on photo
Key point is compared with the three-dimensional coordinate of the corresponding key point on three-dimensional digital model, double to visible light according to the result of comparison
Mesh camera and thermal infrared imager camera carry out parameter calibration, realize two kinds of camera scene dynamic parameter combined calibratings.
The above described is only a preferred embodiment of the present invention, be not intended to limit the present invention in any form, it is all
It is any simple modification, equivalent change and modification to the above embodiments according to the technical essence of the invention, still falls within
In the range of technical solution of the present invention.
Claims (8)
1. a kind of dynamic syndicated scaling method of camera parameter based on three-dimensional digital model, comprising the following steps:
A, substation's high-precision three-dimensional mathematical model is established, and will be seen that light binocular camera and thermal infrared imager camera pass through peace
It shelves and is separately positioned on the position that substation needs to monitor；
B, the video photography for shooting substation field respectively using visible light binocular camera and thermal infrared imager camera, passes through ether
All photos are transferred to image processor GPU by net, and image processor GPU and central processor CPU are connected with each other；
C, the key point on photo is compared with the three-dimensional coordinate of the corresponding key point on three-dimensional digital model, according to comparison
Result parameter calibration is carried out to visible light binocular camera and thermal infrared imager camera, realize two kinds of camera scene dynamic parameters connection
Close calibration；The key point is the crosspoint of equipment or the key point is equipment label, device clamp, cannula tip, mark
The central point of bar, shaft tower；The result of result and the camera parameter adjustment of comparison is respectively transmitted to upper by radio communication network
On machine and personal information terminal.
2. the dynamic syndicated scaling method of the camera parameter according to claim 1 based on three-dimensional digital model, it is characterized in that:
The visible light binocular camera and thermal infrared imager camera are separately positioned on mounting rack, or are commonly mounted on same mounting rack
On；Substation's high-precision three-dimensional mathematical model constitutes standard gallery, and the standard gallery and the central processor CPU connect
It connects.
3. the dynamic syndicated scaling method of the camera parameter according to claim 2 based on three-dimensional digital model, it is characterized in that:
The mounting rack is stationary structure, or the rotational structure for that can rotate in perpendicular, or being can be vertical
The rotational structure that rotation in surface can rotate in the horizontal plane again.
4. the dynamic syndicated scaling method of the camera parameter according to claim 3 based on three-dimensional digital model, it is characterized in that:
The rotational structure includes arc panel or arc-shaped rack, and the arc panel or arc gear wheel are electric with fastening bolt or driving respectively
The gear of machine connects.
5. a kind of dynamic syndicated calibration system of camera parameter based on three-dimensional digital model, including it is visible light binocular camera, infrared
Thermal imaging system camera, image processor GPU and central processor CPU, it is characterized in that: the visible light binocular camera and infrared thermal imagery
Instrument camera is separately positioned on substation by mounting rack and needs on the field position that monitors, the visible light binocular camera with it is infrared
The image of thermal imaging system camera shooting is transferred on described image processor GPU by Ethernet, described image processor GPU and institute
State central processor CPU connection, the central processor CPU by photo key point and substation's high-precision three-dimensional number mould
The three-dimensional coordinate of correspondence key point in type compares, according to the result of comparison to visible light binocular camera and thermal infrared imager
Camera carries out parameter calibration, realizes two kinds of camera scene dynamic parameter combined calibratings；The key point is the crosspoint of equipment, or
The key point is the central point of equipment label, device clamp, cannula tip, mark post, shaft tower；The result and camera of comparison are joined
The result of number adjustment is respectively transmitted on host computer and personal information terminal by radio communication network.
6. the dynamic syndicated calibration system of the camera parameter according to claim 5 based on three-dimensional digital model, it is characterized in that:
The visible light binocular camera and thermal infrared imager camera are separately positioned on the mounting rack, or are commonly mounted on same institute
It states on mounting rack；Substation's high-precision three-dimensional mathematical model constitutes standard gallery, the standard gallery and the central processing
Device CPU connection.
7. the dynamic syndicated calibration system of the camera parameter according to claim 6 based on three-dimensional digital model, it is characterized in that:
The mounting rack is stationary structure, or the rotational structure for that can rotate in perpendicular, or being can be vertical
The rotational structure that rotation in surface can rotate in the horizontal plane again.
8. the dynamic syndicated calibration system of the camera parameter according to claim 7 based on three-dimensional digital model, it is characterized in that:
The rotational structure includes arc panel or arc-shaped rack, and the arc panel or arc gear wheel are electric with fastening bolt or driving respectively
The gear of machine connects.
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| 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 |
| 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 |
| CN109141506B (en) * | 2018-06-28 | 2021-01-22 | 奥比中光科技集团股份有限公司 | Multifunctional 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 |
| CN113763485B (en) * | 2021-09-28 | 2022-07-26 | 合肥的卢深视科技有限公司 | Temperature drift coefficient acquisition method, electronic device, storage medium, and image correction method |
| 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 |
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