CN106600648A - Stereo coding target for calibrating internal parameter and distortion coefficient of camera and calibration method thereof - Google Patents
Stereo coding target for calibrating internal parameter and distortion coefficient of camera and calibration method thereof Download PDFInfo
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- CN106600648A CN106600648A CN201611109156.9A CN201611109156A CN106600648A CN 106600648 A CN106600648 A CN 106600648A CN 201611109156 A CN201611109156 A CN 201611109156A CN 106600648 A CN106600648 A CN 106600648A
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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
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30244—Camera pose
Abstract
The invention discloses a stereo coding target for calibrating an internal parameter and a distortion coefficient of a camera and a calibration method thereof. The stereo coding target is formed by four flat plates at a certain angle, the flat plates are provided with same circular characteristic pattern arrays, and the center of mass thereof is a to-be-extracted mark pint; and connecting positions of the flat plates in the vertical direction are provided with two quadrangular coding patterns used for coding of the four flat plates. The calibration method includes: firstly photographing a stereo coding target image; and extracting circular characteristic patterns in the image and the coordinate of the center of mass of the quadrangular coding patterns, wherein the quadrangular coding patterns are used for coding of the four flat plates, and the image coordinate and the physical coordinate of the center of mass of the circular characteristic patterns are used for calculating the internal parameter and the distortion coefficient of the camera. Compared with the prior art, according to the stereo coding target and the calibration method thereof, only one stereo coding target image needs to be photographed, the requirement of the depth of field of a camera lens is not high, the stereo coding target and the calibration method thereof are applicable to calibration of a multi-camera system, the mark points in different flat plates can be rapidly distinguished, the calibration process is simple, and the precision is high.
Description
Technical field
The present invention relates to the three-dimensional volume of camera calibration technical field, specifically a kind of calibration for cameras intrinsic parameter and distortion factor
Code target and its scaling method.
Background technology
Photogrammetric technology is widely used in the modern life and commercial measurement, and camera calibration technology is photogrammetric technology
The step of key one, the quality of calibration mass is directly connected to the degree of reliability of measurement result.According to the characteristics of measurement object, select
Camera properties, number and camera array arrangement mode.At present, for the reconstruct of large scale object surface type and solid object
Three-dimensional modeling becomes main hot issue, and improving the precision of calibration result, simplified calibration process becomes polyphaser problem of calibrating
Key technology.Existing demarcation target can be divided mainly into：Plane reference plate, one-dimension calibration thing, stereo calibration block and some other
The target of special construction.
Additive method is compared, it is high that classical Zhang Zhengyou plane gridiron patterns scaling board prepares simple, stated accuracy.Descendant according to
Zhang Zhengyou scaling methods design some classical calibration tool casees and calibration function so that the method is found broad application.Zhang Zhengyou
Scaling method need to shoot the standard flat chessboard table images (at least 3) of repeatedly difference attitudes, according between image and
The relation of correspondence point coordinates can calculate the parameter of camera on image and scaling board.
Zhao Zijian et al. demarcates multicamera system using one-dimension calibration bar, due to there is no occlusion issue, demarcates around row
During the camera array of row, can be from multiple angle shots to demarcate bar.Feature point number is less, calibration process relative ease, needs
The position for repeatedly putting demarcate bar shoots the image of different attitudes for calculating camera parameter.
Common stereo calibration block is hexahedron, and hexahedron generally only has three faces to can be used to demarcate, presss from both sides between each face
Angle is larger to cause the characteristic pattern algorithm on detection surface complex, and the relation between camera position and three faces also can affect to mark
Determine result, when stereo block is have the polyhedron in many demarcation faces, multiple faces are not easy to distinguish, and some distinguish polyhedrons not coplanar
The complex processing speed of algorithm it is slower.
The number of patent application of He Tao et al. designs is 201510318656.2 stereo target, needs to shoot many in calibration process
Width stereo target image, there is four circular feature patterns on each face of the method, each characteristic point need to be encoded, be decoded
Match somebody with somebody；The number of patent application of the little equality people design of Lou is that 201110064822.2 stereo target need to be used with reference to spatial digitizer,
Shoot under different attitudes stereo target pattern to realize the locating and tracking to object；Ma Xu et al. design number of patent application be
201410819869.9 stereo target, need moving target mark to shoot several patterns；The Application No. of Li Xinde et al. designs
201010228603.9 stereo target includes two non-coplanar target surfaces, using angle point as characteristic point to be extracted, works as phase
Machine shoots picture in the case of out of focus, and angle point grid process is more difficult.
The content of the invention
It is an object of the invention to provide the D encoding target and its demarcation of a kind of calibration for cameras intrinsic parameter and distortion factor
Method, to solve prior art because focusing is forbidden cause the inaccurate error brought of Feature corner extraction on image to affect to ask
Topic.
In order to achieve the above object, the technical solution adopted in the present invention is：
The D encoding target of calibration for cameras intrinsic parameter and distortion factor, it is characterised in that：It is made up of four flat boards, four
Flat board is distributed with respectively the multiple standard circulars arranged by equidistant ranks with same color as background, in the background of each flat board
Characteristic pattern, circular feature pattern area is equal and color or gray scale are identical on four flat boards, and four flat plate splicings are two rows two
One entirety of row, four flat boards are mutually non-coplanar in the entirety, angled between each flat board and adjacent panels, are expert at
There is respectively tetragon coding pattern junction between two adjacent upwards flat boards, and the tetragon coding pattern area is more than circle
Characteristic pattern area, and the tetragon coding pattern is identical with circular feature pattern color or gray scale, the background face of each flat board
Color has significant difference with circular feature pattern, the color of tetragon coding pattern or gray scale.
A kind of scaling method of camera intrinsic parameter and distortion factor, it is characterised in that：Comprise the following steps：
(1), D encoding target correct position in viewing field of camera is placed, as far as possible fills the D encoding target
Expire whole visual field and above-mentioned circular feature pattern and tetragon coding pattern are all in visual field, shoot piece image；
(2), the image to photographing carries out binaryzation, finds out circular feature pattern and tetragon coding pattern in image
Two parts, while filtering the less noise spot of area；
(3), each circular feature pattern barycenter and tetragon coding pattern barycenter are obtained respectively using centroid algorithm
Pixel coordinate, is encoded, the circular feature figure using the pixel coordinate of tetragon coding pattern barycenter to aforementioned four flat board
Case barycenter is divided into four groups by place flat board difference so that the circular feature pattern on same flat board is in same set；
(4), the circular feature pattern barycenter in each flat board is ranked up according to identical sort method so that different
Circular feature pattern sequence number in flat board in circular feature pattern array same position is identical；
(5), on four flat boards after the completion of input sequencing circular feature pattern barycenter pixel coordinate set, and according to circle
The physical spatial location of shape characteristic pattern obtains the physical coordinates of circular feature pattern barycenter on corresponding four flat boards, with
The pixel coordinate of Circle in Digital Images shape characteristic pattern barycenter as the image coordinate in demarcation, with the pixel of circular feature pattern barycenter
Two groups of data of coordinate and physical coordinates carry out camera calibration, are calculated the intrinsic parameter and distortion factor of camera, i.e. camera coordinates
The parameter being tied in the transformation matrix of photo coordinate system and correcting image distortion formula.
The present invention is in the case of the camera intrinsic parameter and distortion factor precision for guaranteeing to calibrate, to simplify camera intrinsic parameter
With the calibration process of distortion factor, by only need to shooting a width D encoding target image above-mentioned parameter is obtained；Reduce due to right
Jiao is forbidden to cause the inaccurate error brought of Feature corner extraction on image to affect.
The present invention has the advantage that compared with prior art as follows：
1), calibration process of the present invention is easy, it is only necessary to shoots by a width D encoding demarcates target image and obtains camera
Intrinsic parameter and distortion matrix.
2), the testing result of circular feature pattern barycenter and tetragon coding pattern barycenter is more stable, when camera focusing
When inaccurate or camera has no good depth of field deep, circular feature pattern barycenter and tetragon coding pattern can be well detected
Barycenter.
3) the circular feature pattern in different flat boards, is quickly recognized and separated using tetragon coding pattern.
Description of the drawings
Fig. 1 is the front schematic view of D encoding target；
Fig. 2 is the schematic perspective view of D encoding target；
Fig. 3 is experimental provision schematic diagram；
Fig. 4 is calibrating procedure flow chart；
Fig. 5 is the result figure for identifying circular feature pattern barycenter and tetragon coding pattern barycenter；
Fig. 6 is the packet sequencing result figure of circular feature pattern barycenter.
Specific embodiment
As shown in Figure 1 and Figure 2, the D encoding target of calibration for cameras intrinsic parameter and distortion factor, by four flat boards 1,2,3,
4 are constituted, and four flat boards 1,2,3,4 are distributed with respectively by equidistant ranks with same color as background in the background of each flat board
Multiple standard circular characteristic patterns 5 of arrangement, circular feature pattern area is equal on four flat boards 1,2,3,4 and color or gray scale
Identical, four flat boards 1,2,3,4 are spliced into an entirety of the row of two row two, and four flat boards 1,2,3,4 are mutually common in the entirety
Face, angled between each flat board and adjacent panels, two flat boards 1 being expert at adjacent upwards, between 2 and 3,4 junction
There is tetragon coding pattern 7,6 respectively, the tetragon coding pattern 6,7 areas are more than the area of circular feature pattern 5, and tetragon
Coding pattern 6,7 is identical with the color of circular feature pattern 5 or gray scale, background color and the circular feature pattern 5, four of each flat board
The color or gray scale of side shape coding pattern 6,7 has significant difference.
As shown in figure 4, the scaling method of a kind of camera intrinsic parameter and distortion factor, comprises the following steps：
(1), D encoding target correct position in viewing field of camera is placed, as far as possible fills the D encoding target
Expire whole visual field and above-mentioned circular feature pattern and tetragon coding pattern are all in visual field, shoot piece image；
(2), the image to photographing carries out binaryzation, finds out circular feature pattern and tetragon coding pattern in image
Two parts, while filtering the less noise spot of area；
(3), each circular feature pattern barycenter and tetragon coding pattern barycenter are obtained respectively using centroid algorithm
Pixel coordinate, is encoded, the circular feature figure using the pixel coordinate of tetragon coding pattern barycenter to aforementioned four flat board
Case barycenter is divided into four groups by place flat board difference so that the circular feature pattern on same flat board is in same set；
(4), the circular feature pattern barycenter in each flat board is ranked up according to identical sort method so that different
Circular feature pattern sequence number in flat board in circular feature pattern array same position is identical；
(5), on four flat boards after the completion of input sequencing circular feature pattern barycenter pixel coordinate set, and according to circle
The physical spatial location of shape characteristic pattern obtains the physical coordinates of circular feature pattern barycenter on corresponding four flat boards, with
The pixel coordinate of Circle in Digital Images shape characteristic pattern barycenter as the image coordinate in demarcation, with the pixel of circular feature pattern barycenter
Two groups of data of coordinate and physical coordinates carry out camera calibration, are calculated the intrinsic parameter and distortion factor of camera, i.e. camera coordinates
The parameter being tied in the transformation matrix of photo coordinate system and correcting image distortion formula.
Specific embodiment：
With reference to Fig. 1, flat board 1, flat board 2, flat board 3 and the bonding of flat board 4 represent D encoding into an entirety, dotted portion 8
The joint of four non-coplanar plate parts of target, the circular feature pattern 5 on D encoding target needs detection for experiment
Object, the present invention selected 3 × 4 circular feature pattern array, and the radius of circular feature pattern 5 is 12mm, the spacing in the center of circle
From for 29mm.
White tetragon coding pattern 6,7 is used for four non-coplanar flat board codings.
As seen from Figure 2 the flat board 1 of D encoding target, flat board 2, flat board 3 and flat board 4 are mutually non-coplanar.
With reference to Fig. 3, the present invention shoots D encoding target 10, phase with an industrial camera 9 being placed on optical table
Machine lens focus are 8mm, and because ambient light illumination effect is undesirable, the annular LED light source 11 of an additional scalable light intensity is made
For compensation.The stereo target that D encoding target 10 is made up of four non-coplanar flat boards.
As shown in figure 3, fixing camera and light source on optical table first, place on adjustable for height lifting platform 12
D encoding target 10, by observe computer 13 on show camera imaging window adjust lifting platform height and with camera it
Between distance.When D encoding target is full of viewing field of camera, regulation camera lens focal length causes the figure on D encoding target
Case is clear, adjusts annular LED light source 11 to appropriate brightness, and with the supporting computer software of camera lower 1 width D encoding target figure is shot
Case.
According to the program flow diagram of Fig. 4 used in the softwares of Microsoft Visual Studio 2010
OpenCV2.4.4 built-in function codings.
Coding carries out binaryzation to three-dimensional Code targets image, and according to the brightness of image the threshold value of binaryzation is chosen.
There are some white noise noise spots in image after binaryzation, can be removed by setting detection zone area threshold, after
Face will be mentioned.
Fig. 5 is the design sketch of check pattern region output, by the size for judging region, removes and is less than area threshold
The white noise noise spot of lower limit；It is tetragon coding pattern side in Lycoperdon polymorphum Vitt, i.e. figure more than the zone marker of the area threshold upper limit
Frame is Lycoperdon polymorphum Vitt；Regional edge collimation mark between the area threshold upper limit and area bottom threshold is designated as white, i.e. circular feature figure
The frame of case is white.Then calculate the center-of-mass coordinate of Lycoperdon polymorphum Vitt and white area respectively again, marked with small circle.
If circular feature pattern center-of-mass coordinate is (u, v) on image, two tetragon coding pattern center-of-mass coordinates it is average
ValueCircular feature pattern center-of-mass coordinate meetsIn being placed on the matrix that numbering is 1, this matrix is volume
Code for 1 flat board in characteristic point set；Circular feature pattern center-of-mass coordinate meetsIt is placed on the square that numbering is 2
In battle array, this matrix is the set of characteristic point in the flat board for be encoded to 2；Circular feature pattern center-of-mass coordinate meetsIn being placed on the matrix that numbering is 3, this matrix is the set for being encoded to characteristic point in 3 flat board；
Circular feature pattern center-of-mass coordinate meetsIn being placed on the matrix that numbering is 4, this matrix be encoded to 4 it is flat
The set of characteristic point in plate.The circular feature pattern barycenter for photographing is divided into according to flat board numbering by tetragon coding pattern
4 parts.
After Fig. 6 is for four flat boards of coding, the design sketch to circular feature pattern barycenter sequence output on each flat board can be with
Find out that the circular feature pattern barycenter on different coding flat board all sorts according to same rule, the same sequence number in calibration process
Circular feature pattern barycenter corresponding point each other, and it is corresponding with respective coordinate value in physical coordinates.
(refer to Zhang Guangjun《Machine vision》99-125 page and Z.Y.Zhang of A Flexible New Technique
for Camera Calibration[J]IEEE Transactions on Pattern Analysis and Machine
Intelligence,2000,22(11):1330-1334, the present invention asks the mathematical model of camera internal reference as follows.)
Pixel point coordinates on image is with matrix m=[u, v]TRepresent, be expressed as under cartesian coordinate systemThe physical coordinates at the corresponding three dimensions midpoint of picture point are expressed as M=[x, y, z]T, in cartesian coordinate
It is under system
Setting up relation of the point between three-dimensional point M and image projection point m by the pin-hole model being imaged is：S
For scale factor, R is spin matrix, and t is translation vector.
Hypothesized model under the world coordinate system of z=0,Homography matrix is H=A [R, t].
Show that obtaining homography matrix H at least needs 4 groups of corresponding point, enters one by analyzing calibration equation in Zhang Zhengyou papers
Step solves internal reference matrix A to be needed to shoot the scaling board picture of three width diverse locations.According to above-mentioned theory, the present invention has selected four
Non-coplanar flat board composition D encoding scaling board, 12 circular feature patterns on each flat board, it is ensured that camera can be solved
Intrinsic parameter.
(with reference to the Close-range camera calibration, Photogrammetric of D.C.Brown
Engineering 37(1971):855-866. and Decentering Distortion of Lenses, Photometric
The Len distortion for of Engineering 32 (3) (1966), 444-462. and J.G.Fryer and D.C.Brown
close-range photogrammetry,Photogrammetric Engineering and Remote Sensing52
(1986):51-58.)
It is as follows that the present invention solves distortion model：
xcorrected=x+x (k1r2+k2r4+k8r6)+2p1y+P2(r2+2x2)
ycorrected=y+y (k1r2+k2r4+k3r6)+p1(r2+2y2)+2p2x
Original coordinates point is set to (x, y) on imager, and the coordinate points after correction are (xcorrected, ycorrected), k1、k2、k3
For coefficient of radial distortion, p1、p2For tangential distortion coefficient.For distortion is not very big camera, k is not considered3.
Label identical point correspondence identical world coordinates value in Fig. 6, as the feature for solving intrinsic parameter and distortion factor
Point, by the image coordinate and world coordinates of input feature vector point the intrinsic parameter and distortion factor of camera can be calculated by formula.
The present invention only needs to obtain camera intrinsic parameter and distortion factor by shooting a width D encoding target pattern, circular
Characteristic pattern can also well detect the barycenter of circular feature pattern in the case where camera focusing is inaccurate, and the present invention is provided
Flat board attitude be four kinds, be conducive to improve stated accuracy, tetragon coding pattern application improve flat board identification accuracy.
Claims (2)
1. the D encoding target of calibration for cameras intrinsic parameter and distortion factor, it is characterised in that：It is made up of four flat boards, four are put down
Plate is distributed with respectively the multiple standard circulars spy arranged by equidistant ranks with same color as background, in the background of each flat board
Pattern is levied, circular feature pattern area is equal and color or gray scale are identical on four flat boards, four flat plate splicings are arranged for two rows two
An entirety, four flat boards are mutually non-coplanar in the entirety, angled between each flat board and adjacent panels, be expert to
There is respectively tetragon coding pattern junction between upper two adjacent flat boards, and the tetragon coding pattern area is special more than circular
Pattern area is levied, and the tetragon coding pattern is identical with circular feature pattern color or gray scale, the background color of each flat board
There is significant difference with circular feature pattern, the color of tetragon coding pattern or gray scale.
2. a kind of camera intrinsic parameter and the scaling method of distortion factor based on D encoding target described in claim 1, it is special
Levy and be：Comprise the following steps：
（1）, place D encoding target correct position in viewing field of camera, the D encoding target is made as far as possible full of whole
Individual visual field and above-mentioned circular feature pattern and tetragon coding pattern are all in visual field, shoots piece image；
（2）, the image to photographing carry out binaryzation, find out circular feature pattern and tetragon coding pattern two in image
Point, while filtering the less noise spot of area；
（3）, obtain using centroid algorithm the pixel of each circular feature pattern barycenter and tetragon coding pattern barycenter respectively
Coordinate, is encoded, the circular feature pattern matter using the pixel coordinate of tetragon coding pattern barycenter to aforementioned four flat board
The heart is divided into four groups by place flat board difference so that the circular feature pattern on same flat board is in same set；
（4）, the circular feature pattern barycenter in each flat board is ranked up according to identical sort method so that different flat boards
The interior circular feature pattern sequence number in circular feature pattern array same position is identical；
（5）, on four flat boards after the completion of input sequencing circular feature pattern barycenter pixel coordinate set, and according to circular special
The physical spatial location for levying pattern obtains the physical coordinates of circular feature pattern barycenter on corresponding four flat boards, with image
The pixel coordinate of middle circular feature pattern barycenter as the image coordinate in demarcation, with the pixel of above-mentioned circular feature pattern barycenter
The physical coordinates of coordinate and above-mentioned circular feature pattern barycenter this two groups of data carry out camera calibration, are calculated the internal reference of camera
Number and distortion factor, i.e. camera coordinates are tied to the parameter in the transformation matrix of photo coordinate system and correcting image distortion formula.
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