CN106023237B - A kind of binocular camera positioning calibration method - Google Patents
A kind of binocular camera positioning calibration method Download PDFInfo
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- CN106023237B CN106023237B CN201610436661.8A CN201610436661A CN106023237B CN 106023237 B CN106023237 B CN 106023237B CN 201610436661 A CN201610436661 A CN 201610436661A CN 106023237 B CN106023237 B CN 106023237B
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Abstract
The present invention proposes a kind of binocular camera positioning calibration method, positioning shooting machine is installed to workbench, it is adjusted by simple supplementary instrument to horizontality, then calibrated feature point image is shot by using monocular positioning measurement algorithm and calculate characteristic point spatial position, finally by the installation deviation angle that two video cameras are calculated, to realize the calibration to binocular camera.The present invention can accurately and rapidly measure the installation deviation angle of binocular camera, and use it to calibration positioning result.
Description
Technical field
The invention belongs to the technical fields of machine vision more particularly to a kind of binocular camera to position calibration method.
Background technique
Binocular visual positioning is a kind of common vision positioning method, its location algorithm is simple, and positioning accuracy is high, to mesh
Mark characteristic point does not have particular/special requirement, therefore has wide applicability.
When being installed to workbench installation deviation can occur for binocular camera, uneven so as to cause the optical axis of two video cameras
Row, large error can occurs when will lead to calculating positioning target in this.In order to eliminate this error, in addition to improving peace in installation process
Precision is filled, installation error is minimized, within the acceptable range by final position error control.It can also be fixed by measuring
The installation deviation angle of position video camera, final calculated result is corrected with installation deviation angle, also can guarantee final positioning accuracy.
Summary of the invention
The technical problem to be solved by the invention is to solve the above problems providing a kind of binocular camera positioning
Calibration method to realize the measurement at accurately and rapidly binocular camera installation deviation angle, and uses it to calibration positioning result.
The technical proposal adopted by the invention to solve the above technical problems is that: a kind of binocular camera positioning calibration method,
It is characterized by comprising the following steps:
S1) equipment is installed, and the first positioning shooting machine and the second positioning shooting machine are left and right symmetrically arranged on workbench,
Positioning shooting machine is installed into level-off in x-axis and y-axis direction, adjustment positioning shooting machine z-axis direction takes the photograph it with two positioning
The line of camera is vertical；
S2) feature point for calibration is shot being placed in positioning shooting machine visual field by the characteristic point of calibration, adjusts feature
Point position makes characteristic point be in the visual field center of positioning shooting machine in y-axis direction；
S3) characteristic point monocular positions, and keeps characteristic point spatial position motionless, and using monocular location algorithm, the first positioning is taken the photograph
Camera and the second positioning shooting machine measure spatial position coordinate C of the characteristic point relative to positioning shooting machine respectivelyL(XL,O,ZL) and
CR(XR,O,ZR)；
S4) coordinate system twiddle operation, by CLCentered on origin O, [- α ,+α] is section, and α is maximum deflection difference value, and β is step
It is long to carry out coordinate system twiddle operation, obtain one group of coordinate A；By CRCentered on origin O ', [- α ,+α] be section, β be step-length into
Row coordinate system twiddle operation, carries out coordinate system translation again after rotation, so that O ' is overlapped with O, obtain one group of coordinate B；
S5 installation deviation angle) is calculated, A, B two groups of point coordinates pairing is calculated, found out nearest with distance in B group in A group
Two point A [i] and B [j], the corresponding rotation angle of A [i] are the installation deviation angle of the first positioning shooting machine, the corresponding rotation of B [j]
Corner is the installation deviation angle of the second positioning shooting machine.
The beneficial effects of the present invention are: providing a kind of binocular camera positioning calibration method, accurately and rapidly binocular is realized
The measurement at video camera installation deviation angle, and use it to calibration positioning result.
Detailed description of the invention
Fig. 1 is the schematic diagram of the positioning shooting machine coordinate system of one embodiment of the invention.
Fig. 2 is the schematic diagram of the measurement coordinate system of the binocular camera of one embodiment of the invention.
Wherein: 1. first positioning shooting machines, 2. second positioning shooting machines.
Specific embodiment
For a better understanding of the invention, the invention will be further described with reference to the accompanying drawings and examples.
A kind of binocular camera positioning calibration method is provided, is included the following steps:
1. the first positioning shooting machine and the second positioning shooting machine are left and right symmetrically arranged on workbench in x-axis and y-axis side
Video camera is installed into level-off (camera coordinate system is shown in Fig. 1) upwards, it is auxiliary that level meter etc. can be used when installing in positioning shooting machine
Assistant engineer's tool, only z-axis deviation in the horizontal direction needs to measure calibration below in this way；
2. adjustment positioning shooting machine z-axis direction is taken the photograph with substantially vertical can position (see Fig. 2) of two positioning shooting machine lines
Camera z-axis horizontal departure should be less than the maximum deflection difference value α of default；
It is shot 3. characteristic point C is placed in positioning shooting machine visual field；
4. adjust characteristic point position, make characteristic point y-axis direction be in video camera visual field center, i.e., positioning shooting machine and
Target feature point is in same level, is plane geometry problem by solid geometry problem reduction, achievees the purpose that simplify calculating；
5. keeping characteristic point spatial position motionless, two positioning shooting machines calculate characteristic point C's using monocular location algorithm
Space coordinate；Left video camera and right video camera measure characteristic point relative to the spatial position coordinate of shooting video camera respectively
CL(XL,O,ZL) and CR(XR,O,ZR)；
6. the characteristic point coordinate that the first positioning shooting machine measures, centered on origin O, [- α ,+α] is section, and β is step-length
Coordinate system twiddle operation is carried out, one group of coordinate A is obtained.Here is the class C language pseudocode description of algorithm:
7. the characteristic point coordinate that the second positioning shooting machine measures, centered on origin O ', [- α ,+α] is section, and β is step-length
Coordinate system twiddle operation is carried out, coordinate system translation H is carried out after rotation again so that O ' is overlapped with O and obtains one group of coordinate B.Here is
The class C language pseudocode of algorithm describes:
8. two groups of point coordinate pairings of A, B are calculated, two point A [i] and B [j] nearest with distance in B group in A group are found out；
The corresponding rotation angle of 9.A [i] is the installation deviation angle of left video camera；
Delta_L=i_min* β-α；
The corresponding rotation angle of 10.B [j] is the installation deviation angle of right video camera；
Delta_R=j_min* β-α.
Claims (1)
1. a kind of binocular camera positions calibration method, which comprises the steps of:
S1) equipment is installed, and the first positioning shooting machine and the second positioning shooting machine is left and right symmetrically arranged on workbench, in x
Positioning shooting machine is installed into level-off on axis and y-axis direction, adjustment positioning shooting machine z-axis direction makes itself and two positioning shooting machines
Line it is vertical；
S2) feature point for calibration is shot being placed in positioning shooting machine visual field by the characteristic point of calibration, adjusts feature point
It sets, characteristic point is made to be in the visual field center of positioning shooting machine in y-axis direction；
S3) characteristic point monocular positions, and keeps characteristic point spatial position motionless, using monocular location algorithm, the first positioning shooting machine
Spatial position coordinate C of the characteristic point relative to positioning shooting machine is measured respectively with the second positioning shooting machineL(XL,O,ZL) and CR(XR,
O,ZR)；
S4) coordinate system twiddle operation, by CLCentered on origin O, [- α ,+α] is section, and α is maximum deflection difference value, β be step-length into
Row coordinate system twiddle operation obtains one group of coordinate A；By CRCentered on origin O ', [- α ,+α] is section, and β is that step-length is sat
Mark system twiddle operation, carries out coordinate system translation again after rotation, so that O ' is overlapped with O, obtain one group of coordinate B；
S5 installation deviation angle) is calculated, two groups of point coordinate pairings of A, B are calculated, nearest with distance in B group in A group two are found out
The corresponding rotation angle of point A [i] and B [j], A [i] is the installation deviation angle of the first positioning shooting machine, the corresponding rotation angle of B [j]
The as installation deviation angle of the second positioning shooting machine.
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| CN106780308B (en) * | 2016-12-20 | 2020-05-05 | 武汉理工大学 | Image perspective transformation method |
| WO2019109226A1 (en) * | 2017-12-04 | 2019-06-13 | 深圳市沃特沃德股份有限公司 | Binocular camera calibration method and device |
| CN108180975A (en) * | 2017-12-08 | 2018-06-19 | 北京天恒长鹰科技股份有限公司 | A kind of contactless Vibration-Measuring System and method |
| CN107909616A (en) * | 2017-12-14 | 2018-04-13 | 元橡科技（北京）有限公司 | A kind of automatic correction method of binocular vision system |
| CN108844542B (en) * | 2018-04-23 | 2021-05-14 | 合肥工业大学 | An error analysis and compensation method based on automatic positioning system of unmanned detection vehicle |
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