CN106485755A - A kind of multi-camera system scaling method - Google Patents
A kind of multi-camera system scaling method Download PDFInfo
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Abstract
The invention discloses a kind of multi-camera system scaling method, its demarcating steps is：Using phase shift target respectively to per individual sub- video camera in multi-camera system, and the inner parameter of auxiliary camera is demarcated；Two phase place target is respectively placed within the visible field range of two sub- video cameras, collection phase shift target image simultaneously extracts characteristic point, calculates the transition matrix of two sub- video cameras and corresponding phase target；Keep two phase place target placement constant, mobile auxiliary camera so as to two phase place target can be photographed simultaneously；With auxiliary camera as medium, the transition matrix between two phase place target is calculated；In conjunction with two sub- video cameras and the transition matrix of corresponding phase target, and the transition matrix between two phase place target, the transition matrix between two sub- video cameras can be calculated；Using the transition matrix of sub- video camera two-by-two, the global calibration of multi-camera system is can achieve.Strong applicability of the present invention, anti-out of focus are good, flexibility is high.
Description
Technical field
The invention belongs to field of machine vision, more particularly to a kind of multi-camera system scaling method.
Background technology
Multi-camera system in field extensive application such as scene rebuilding, motion-captured and commercial measurements, one of them
Key issue is the global calibration of system, determines the inside and outside parameter of each video camera.But for different application scenarios, image more
Machine arranging rule is not quite similar, it is possible that situation of the neighbouring video camera nothing public view field.And traditional overall calibration method
Need between video camera, the presence of certain public view field, while target need to be placed within the video camera depth of field, limit its range of application.
For the video camera for focusing on farther out, large scale target is generally required, enough camera field of view could be covered and photographed clearly
Target image, equally increased the difficulty of system calibrating.
Content of the invention
It is an object of the invention to provide a kind of multi-camera system scaling method, strong applicability, anti-out of focus be good, flexible
Property high.
The technical solution used in the present invention is as follows：A kind of multi-camera system scaling method, the method demarcating steps are as follows：
Step a, using phase target respectively to per individual sub- video camera in multi-camera system, and auxiliary camera
Inner parameter is demarcated, and an optional sub- video camera sets up global coordinate system as fiducial cameras；
Step b, the local for carrying out sub- video camera two-by-two are demarcated, and two phase place target is respectively placed in two sub- video cameras are visible to be regarded
Within the scope of, the sub- video camera of local demarcation has been completed including fiducial cameras or；Acquisition phase target image
And characteristic point is extracted, calculate the transition matrix of two sub- video cameras and corresponding phase target；Keep two phase place target placement constant,
Mobile auxiliary camera so as to two phase targets can be photographed simultaneously；With auxiliary camera as medium, two phase place mark is calculated
Transition matrix between target, in conjunction with two sub- video cameras and the transition matrix of corresponding phase target, and the conversion between two phase place target
Matrix, can calculate the transition matrix between two sub- video cameras；
Step c, repeat step b, each video camera completes local and demarcates in the multi-camera system；Using son two-by-two
Transition matrix between video camera, by all sub- video camera unifications to global coordinate system, realizes the global mark of multi-camera system
Fixed.
In such scheme, the multi-camera system includes some sub- video cameras, need not exist public between sub- video camera
Visual field；The sub- video camera all nearer with other sub- video cameras in fiducial cameras, preferably multi-camera system, by this height shooting
Machine coordinate system is used as global coordinate system.
In such scheme, the auxiliary camera arbitrarily can be moved in calibration process, preferred resolution is high, it is little to distort,
The big video camera in visual field is used as auxiliary camera.
In such scheme, in being encoded characteristic point to characteristic image using phase-shifting technique, characteristic image can be grey or coloured silk
The Circular gratings array of color, wedge grating array or sine streak；From digital display as two dimensional surface scaling board, show special
Image is levied, constitutes phase target；After camera acquisition phase target image, which is calculated using phase-shifting technique and block phase place and divide
Cloth, therefrom extracts characteristic point；According to the space coordinates of characteristic point and the one-to-one relationship of image coordinate, phase target is set up
Projection equation, solves the inside and outside parameter of video camera.
In such scheme, during the inner parameter of step a calibrating camera, phase target is at least put in diverse location or orientation
Put three times；When step b carries out the local demarcation of two sub- video cameras, by multiple mobile auxiliary camera, two phase place target is shot
Image, the accurate transition matrix solved between two phase shift targets；Meanwhile, by repeatedly putting two phase place target, obtain more
Characteristic point, and then the accurate transition matrix solved between two sub- video cameras.
Present invention advantage compared with prior art is：
A kind of multi-camera system scaling method provided by the present invention, separate between two phase place target, put certainly
High by degree；Using the auxiliary camera for moving freely as medium, the contact of two phase place target, i.e. transition matrix is set up；To two-by-two
The local of sub- video camera is demarcated, and can achieve the global calibration of multi-camera system；Essence is extracted using the phase zero points of phase target
The feature that degree is high, anti is strong, outside phase target is placed in the field depth of video camera, remains to accurately extract characteristic point reality
Now demarcate；Using digital display as two dimensional surface scaling board, characteristic image size, characteristic point can be changed according to different occasions
Number, cost is relatively low, flexibility is high.
Description of the drawings
Fig. 1 is the Circular gratings array features Cleaning Principle schematic diagram of the embodiment of the present invention, and wherein, Fig. 1 (a) is Circular gratings battle array
Row target, Fig. 1 (b) block phase place for which, and Fig. 1 (c) is its phase zero points.
Fig. 2 is the wedge grating array feature detection principle schematic of the embodiment of the present invention, and wherein, Fig. 2 (a) is wedge light
Grid array target, Fig. 2 (b) block phase place for which, and Fig. 2 (c) is its phase zero points.
Fig. 3 is the multi-camera system calibration principle schematic diagram of the embodiment of the present invention.
Specific embodiment
Embodiments of the invention are described in detail below in conjunction with the accompanying drawings.
The demarcation of single camera is introduced first.Fig. 1 is the phase target principle schematic of Circular gratings array, aobvious by numeral
Show device as two dimensional surface scaling board, show the phase target, the intensity function of wherein single Circular gratings is：
Wherein n=0,1 ..., N-1；N >=3 are phase shift sum；In' (r) is the (n+1)th width phase shifted images of Circular gratings；T ' is
The radius cycle of Circular gratings；R is for a little to the distance in its center of circle on radius of circle, i.e. Circular gratings；r′maxFor single Circular gratings most
Big radius of circle, in order to ensure two complete radius cycles, its span is set as 2.2T '≤r 'max≤2.8T′.By right
Single Circular gratings carry out simple array processing, you can obtain Circular gratings array, shown in such as Fig. 1 (a), wherein along horizontal direction
Equal with the center of circle spacing of the adjacent Circular gratings of vertical direction, and it is all higher than 2r 'max.Video camera photographs the phase in each orientation
N width phase shifted images I of position targetn, walk phase shift algorithm and calculate which and block phase distribution by N and be：
The span for blocking phase (u, v) of wherein Circular gratings array is [0,2 π].As shown in Fig. 1 (b), can see
Go out its phase distribution to block at zero phase φ (u, v)=0, using conventional edge detection algorithm such as Sobel and Canny
Algorithm, you can extract these phase zero points.As shown in Fig. 1 (c), these phase zero points constitute Concentric circle array, are intended by ellipse
Hop algorithm can try to achieve the drop shadow curve of these circles；Then according to the Cross ration invariability of projective transformation, can be in the hope of the Circular gratings center of circle
Subpoint.
Fig. 2 is the phase target principle schematic of wedge grating array, and the intensity function of wherein single wedge grating is：
Wherein I "nThe (n+1)th width phase shifted images for wedge grating；T " is the angle cycle of wedge grating；θ is wedge grating
Angle；r″minWith r "maxThe minimum and maximum radius of circle of respectively single wedge grating.Similarly, by single wedge light
Grid carry out simple array processing and can obtain wedge grating array.Cutting using the calculated wedge grating array of formula (2)
Disconnected phase placeAs shown in Fig. 2 (b), phase zero points are extracted by edge detection algorithmFor single wedge light
Grid image, phase zero points are distributed on two straight lines, such as shown in Fig. 2 (c).This two are obtained directly by least square fitting
Line, then two linear equations of simultaneous, you can solve the center of circle subpoint of wedge grating.
For Circular gratings array or wedge grating array, center of circle subpoint is tried to achieve as characteristic point, according to Zhang Zhengyou side
Method, sets up the space coordinates of these characteristic points and the one-to-one relationship of image coordinate, you can solve the inner parameter K of video camera
With external parameter R, t, wherein R is 3 × 3 spin matrix, and t is 3 × 1 translation vector.
The demarcation of multiple video cameras is described below.By coordinate system X1Y1Z1With mark system X2Y2Z2Transformational relation be expressed as：
Wherein [x1y1z1]T[x2y2z2]TRepresent that the same space point is located at coordinate system X respectively1Y1Z1With coordinate system
X2Y2Z2Coordinate value,Denotation coordination system X1Y1Z1With coordinate system X2Y2Z2Spin matrix,Denotation coordination system X1Y1Z1With coordinate
It is X2Y2Z2Translation vector, spin matrixWith translation vectorIn conjunction with just constituting coordinate system X1Y1Z1With coordinate system X2Y2Z2It
Between transition matrix.
As shown in figure 3, C1 and C2 represent the sub- video camera of any two in multi-camera system；C0 represents second camera
Machine；P1 and P2 represent two phase targets.Phase target P1 and P2 is placed in the visible visual field model of sub- video camera C1 and C2 respectively
Within enclosing, corresponding phase target image is gathered, and characteristic point is extracted, in conjunction with the sub- video camera C1 for having demarcated and sub- video camera C2
Inner parameter KC1And KC2, seek the spin matrix for obtaining phase target P1 and sub- video camera C1And translation vectorAnd son
The spin matrix of video camera C2 and phase target P2And translation vectorMobile auxiliary camera C0 so which can be simultaneously
Phase target P1 and phase target P2 was photographed, collection image simultaneously extracts characteristic point, in conjunction with the interior of the auxiliary camera C0 for having demarcated
Portion's parameter KC0, try to achieve the spin matrix of phase target P2 and auxiliary camera C0And translation vectorAnd auxiliary camera
The spin matrix of C0 and phase target P1And translation vectorThe then spin matrix of phase target P2 and phase target P1And translation vectorAnd then try to achieve the spin matrix of sub- video camera C2 and sub- video camera C1And translation vectorUsing spin matrix two-by-two between sub- video camera
With translation vector, the global mark of multi-camera system by all sub- camera coordinate system unifications to global coordinate system, can be realized
Fixed.
Claims (6)
1. a kind of multi-camera system scaling method, it is characterised in that：The method demarcating steps are as follows：
Step a, using phase target respectively to per individual sub- video camera in multi-camera system, and the inside of auxiliary camera
Parameter is demarcated, and an optional sub- video camera sets up global coordinate system as fiducial cameras；
Step b, the local for carrying out sub- video camera two-by-two are demarcated, and two phase place target is respectively placed in the visible visual field model of two sub- video cameras
Within enclosing, the sub- video camera of local demarcation has been completed including fiducial cameras or；Acquisition phase target image is simultaneously carried
Characteristic point is taken, calculates the transition matrix of two sub- video cameras and corresponding phase target；Keep two phase place target placement constant, mobile
Auxiliary camera so as to two phase targets can be photographed simultaneously；With auxiliary camera as medium, calculate between two phase place target
Transition matrix, in conjunction with the transition matrix of two sub- video cameras and corresponding phase target, and the transition matrix between two phase place target,
The transition matrix between two sub- video cameras can be calculated；
Step c, repeat step b, each video camera completes local and demarcates in the multi-camera system；Using son shooting two-by-two
Transition matrix between machine, by all sub- video camera unifications to global coordinate system, realizes the global calibration of multi-camera system.
2. multi-camera system scaling method according to claim 1, it is characterised in that：The multi-camera system includes
, between sub- video camera, need not there is public view field in some sub- video cameras；In multi-camera system, select and other sub- video cameras
All nearer sub- video camera as fiducial cameras, using this fiducial cameras coordinate system as global coordinate system.
3. multi-camera system scaling method according to claim 1, it is characterised in that：The auxiliary camera is being demarcated
During, arbitrarily can move, preferred resolution is high, the big video camera in little, visual field that distorts is used as auxiliary camera.
4. multi-camera system scaling method according to claim 1, it is characterised in that：Using phase-shifting technique by characteristic point
In encoding to characteristic image, characteristic image can be the Circular gratings array of grey or colour, wedge grating array or sine streak；Choosing
With digital display as two dimensional surface scaling board, show characteristic image, constitute phase target；Camera acquisition phase target figure
After picture, which is calculated using phase-shifting technique and block phase distribution, therefrom extract characteristic point；Space coordinates and figure according to characteristic point
As the one-to-one relationship of coordinate, the projection equation of phase target is set up, solve the inside and outside parameter of video camera.
5. multi-camera system scaling method according to claim 1, it is characterised in that：Step a calibrating camera interior
During portion's parameter, video camera at least needs to photograph phase target from three orientation；Step b carries out the local of two sub- video cameras and demarcates
When, by multiple mobile auxiliary camera, shoot the image of two phase place target, the accurate conversion square solved between two phase shift targets
Battle array；Meanwhile, by two phase place target is repeatedly put, obtain turning between more characteristic points, and then two sub- video cameras of accurate solution
Change matrix.
6. multi-camera system scaling method according to claim 1, it is characterised in that：Demarcate in the inside and outside ginseng of video camera
During, phase target is placed in outside the field depth of video camera, remains to accurately extract characteristic point realization demarcation.
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| CN107705335A (en) * | 2017-09-21 | 2018-02-16 | 珠海中视科技有限公司 | Demarcate the non-method that ken line sweeps laser range finder and measures camera orientation altogether |
| CN109003309A (en) * | 2018-07-05 | 2018-12-14 | 烟台大学 | A kind of high-precision camera calibration and object's pose estimation method |
| CN109345594A (en) * | 2018-09-04 | 2019-02-15 | 顺丰科技有限公司 | Global coordinate system building and application method, device, equipment and storage medium |
| CN109408856A (en) * | 2018-09-04 | 2019-03-01 | 顺丰科技有限公司 | Ground scaling method, device, equipment and the storage medium of polyphaser |
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