CN106815873A - The determination method and apparatus of camera internal reference - Google Patents
The determination method and apparatus of camera internal reference Download PDFInfo
- Publication number
- CN106815873A CN106815873A CN201710052001.4A CN201710052001A CN106815873A CN 106815873 A CN106815873 A CN 106815873A CN 201710052001 A CN201710052001 A CN 201710052001A CN 106815873 A CN106815873 A CN 106815873A
- Authority
- CN
- China
- Prior art keywords
- camera
- mark
- version
- internal reference
- mark version
- 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.)
- Pending
Links
Landscapes
- Studio Devices (AREA)
Abstract
The invention discloses a kind of determination method and apparatus of camera internal reference, wherein, the method is used to determine based on the image comprising multiple mark version the internal reference of camera, and the method includes：Step 1, is shot by camera to multiple mark version, obtains single-frame images, wherein, comprising the corresponding region of multiple mark versions in image；Step 2, the region according to where multiple mark versions in image, region division is carried out to image, obtains multiple subgraphs, wherein, mark the corresponding region of version comprising one in each subgraph；Step 3, the internal reference of camera is determined according to multiple subgraphs.The present invention can effectively reduce the number of times of shooting, avoid being respectively arranged and adjusting the relative position and relative angle of each mark version and camera, time spent by shortening parameter calibration and subsequent survey adjustment result, treatment effeciency is improved, and do not interfere with the accuracy of internal reference determination.
Description
Technical field
The present invention relates to art of image analysis, and especially, it is related to a kind of determination method and apparatus of camera internal reference.
Background technology
With the vehicle-mounted popularization for looking around application and look around splicing effect requirement lifting, look around stitching algorithm to participate in splice
Many vehicle-mounted camera modules internal reference coherence request it is more harsh, typically require the consistent sexual deviation of internal reference principal point several
In individual pixel.
At present, the finished product module for being produced by conventional making technology, it is difficult to by the deviation of its internal reference principal point and picture centre
Control in several pixel scales, it is necessary to be eliminated this deviation using the mode of adjustment.
In order to eliminate deviation, it is necessary to obtain internal reference principal point using the method for camera calibration.At present, the shooting for generally using
The fixed method of leader is demarcated fully, it is necessary to shoot the mark domain of multiple relative positions in order to ensure its internal reference.For example, in periodical
《Photoelectric project》Volume 39 the 9th it is interim, it is entitled《The free hand drawing scaling method that Correction Method for Camera Radial Distortion and internal reference are estimated》
Article in just describe a kind of internal reference scaling method, in photo disclosed in this article only include single mark version.In fact, should
Scheme disclosed in article is when internal reference is demarcated, it is necessary to which mark version is shot repeatedly with multiple difference angles can just realize it
Purpose.
Therefore, the internal reference calibration process in prior art needs repeatedly to be shot, and its treatment effeciency is relatively low.Not only such as
This, after multiple images are processed and analyzed, if the parameter demarcated is not inconsistent with standard, needs to be adjusted, and is adjusting
After whole, in order to check adjustment result, it is still desirable to repeatedly shoot.Therefore, existing parameter calibration scheme takes more long, Er Qiejian
Testing the process of adjustment result can cause time-consuming being multiplied.
Regarding to the issue above, effective solution is not yet proposed at present.
The content of the invention
For the problem in correlation technique, the present invention proposes a kind of determination method and apparatus of camera internal reference, can subtract
Few internal reference demarcates the spent time, and does not interfere with accuracy.
According to an aspect of the invention, there is provided a kind of determination method of camera internal reference, for based on comprising multiple
The image for marking version determines the internal reference of camera.
The determination method of camera internal reference of the invention includes：
Step 1, is shot by camera to multiple mark version, obtains single-frame images, wherein, marked comprising multiple in image
The corresponding region of version；
Step 2, the region according to where multiple mark versions in image, region division is carried out to image, obtains multiple subgraphs,
Wherein, the corresponding region of version is marked comprising one in each subgraph；
Step 3, the internal reference of camera is determined according to multiple subgraphs.
Additionally, the above method of the invention may further include：
According to the performance indications of camera, it is determined that the mark version for being used is chessboard case marker version or round dot pattern mark version, go forward side by side
One step determines the spacing and/or mark version of characteristic point in the quantity of characteristic point in the quantity of mark version, the size of mark version, mark version, mark version
The size of middle characteristic point, wherein, the performance indications of camera include：Resolving power, the angle of visual field and/or pixel quantity.
Wherein, above-mentioned internal reference can be the principal point of camera.
Further, after step 3, the above method may further include：
Step 4, according to determination deviation value between the position of principal point and the center of image for determining；
Whether step 5, judgment bias value is more than target offset threshold value；
Step 6, in the case where the judgment result is yes, is adjusted to camera；
Step 1 to step 6 is repeated, until the judged result in step 5 is no.
Alternatively, the mark version quantity for being included in above-mentioned image can be 5 to 9.
In one embodiment, the mark version quantity for being included in above-mentioned image can be 5.
Additionally, above-mentioned multiple mark version is plane mark version, one of mark version just to the optical axis of camera and mark version with take the photograph
As the optical axis of head is vertical, the optical axis of other mark versions and camera is into a non-perpendicular angle.
Alternatively, above-mentioned camera is the camera in vehicle-mounted viewing system.
According to another aspect of the present invention, there is provided a kind of determining device of camera internal reference, for based on comprising multiple
The image for marking version determines the internal reference of camera.
The determining device of camera internal reference of the invention includes：
Control module, for controlling camera to shoot multiple mark version, obtains single-frame images, wherein, wrapped in image
The corresponding region of the version of mark containing multiple；
Image processing module, for the region according to where multiple mark versions in image, region division is carried out to image, is obtained
Multiple subgraphs, wherein, mark the corresponding region of version comprising one in each subgraph；
Determining module, the internal reference for determining camera according to multiple subgraphs.
Wherein, above-mentioned internal reference can be the principal point of camera, and the mark version quantity included in image can be 5 to 9.
The present invention can realize following beneficial effect：
(1) present invention shoots single-frame images by multiple mark version, and then based on corresponding to each target in the image
Region determines the internal reference of camera, can effectively reduce the number of times of shooting, it is to avoid be respectively arranged and adjust each mark version and take the photograph
As the relative position and relative angle of head, the time spent by shortening parameter calibration and subsequent survey adjustment result, raising treatment
Efficiency, additionally it is possible to improve the accuracy of parameter determination；Further, since comprising corresponding to multiple mark versions in captured single-frame images
Region, so it is determined that ensure that input enough information during internal reference, will not because the amount of images for shooting is reduced shadow
Ring the accuracy that internal reference determines；
(2) present invention selects to mark version according to the performance indications of camera, actually in view of when camera is nearer
When distance (distance is shorter than the routine work distance of camera) shoots to mark version, can cause to be imaged unsharp problem and
It is existing.And the present invention is exactly based on the appropriate mark version of selection, so as to allow the camera of pending parameter calibration to be shot in closer distance
When, it is also possible to allow imaging results to reach certain definition, so that for follow-up treatment and analysis, to determine in camera
Ginseng.Because the present invention shortens camera with mark the distance between version, it is possible to allow camera internal reference calibration facility body
Product reduces, and correspondingly also reduces the quality of equipment so that internal reference calibration facility is more prone to use and carries；
(3) the solution of the present invention is determined for the internal reference principal point of camera, compared to other internal references (focal length and abnormal
Variable coefficient), determine mark version negligible amounts required during internal reference principal point, therefore when principal point is only determined, can be relative using quantity
Less mark version, allows the design of mark version to be more prone to, while treatment effeciency is also higher.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
The accompanying drawing for needing to use is briefly described, it should be apparent that, drawings in the following description are only some implementations of the invention
Example, for those of ordinary skill in the art, on the premise of not paying creative work, can also obtain according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is the flow chart of the determination method of camera internal reference according to embodiments of the present invention；
Fig. 2 and Fig. 3 are the schematic diagrames of mark version that are used of determination method of camera internal reference according to embodiments of the present invention；
Fig. 4 is the single frames comprising multiple mark version captured by the determination method of camera internal reference according to embodiments of the present invention
The schematic diagram of image；
Fig. 5 is that the determination method of camera internal reference according to embodiments of the present invention uses the structure diagram of tool；
Fig. 6 is a flow for implementing process of the determination method of camera internal reference according to embodiments of the present invention
Figure；
Fig. 7 is the block diagram of the determining device of camera internal reference according to embodiments of the present invention.
Specific embodiment
The description of this illustrated embodiment should be combined with corresponding accompanying drawing, and accompanying drawing should be used as the one of complete specification
Part.In the accompanying drawings, the shape or thickness of embodiment can expand, and to simplify or conveniently indicate.Furthermore, respectively tied in accompanying drawing
The part of structure will be describing to illustrate respectively, it is notable that the unit not illustrated not shown in figure or by word
Part, is the form known to a person of ordinary skill in the art in art.
The description of embodiments herein, about any reference in direction and orientation, is for only for ease of description, and can not manage
Solution is any limitation to the scope of the present invention.Explanation below for preferred embodiment can be related to the combination of feature,
These features may be individually present or combine presence, and the present invention is not defined in especially preferred embodiment.The present invention
Scope be defined by the claims.
Embodiments in accordance with the present invention, there is provided a kind of determination method of camera internal reference.
The determination method of camera internal reference of the invention is used to determine camera based on the image comprising multiple mark version
Internal reference.
As shown in figure 1, the determination method of camera internal reference of the invention includes：
Step 1, is shot by camera to multiple mark version, obtains single-frame images, wherein, marked comprising multiple in image
The corresponding region of version；
Step 2, the region according to where multiple mark versions in image, region division is carried out to image, obtains multiple subgraphs,
Wherein, the corresponding region of version is marked comprising one in each subgraph；
Step 3, according to the internal reference that camera is determined in multiple subgraphs.Wherein, it is determined that during internal reference, being referred to difference
Calibration algorithm corresponding to internal reference determines.
In one embodiment, the determination method of camera internal reference of the invention may further include：
Before being shot to mark version by camera, can be previously according to the performance indications of camera, it is determined that being made
Mark version is chessboard case marker edition or round dot pattern mark version, and further determines that spy in the quantity of mark version, the size of mark version, mark version
Levy the size of characteristic point in the spacing and/or mark version of characteristic point in quantity, mark version a little.
So, for the camera of better performances, can select to parse the larger mark version of difficulty, and for poor-performing
Camera, then can select to parse the less mark version of difficulty.The performance indications of camera include：The resolving power of camera, visual field
Angle and/or the pixel quantity of camera.
For example, in actual applications, can be designed according to the angle of visual field of camera (module) and resolving power or selection is suitable
When mark version.Specifically, the module small for the angle of visual field can select the mark version integration of small number, and the big module of the angle of visual field is optional
Greater number of mark version is selected to integrate；In addition, the module good for resolving power, the big mark version of optional angle point parsing difficulty (for example,
Black and white chessboard case marker version, as shown in Figure 2)；The module poor for resolving power, the small mark version of optional angle point parsing difficulty (for example,
Round dot pattern mark version, as shown in Figure 3).In the case where resolving power is allowed, single mark version uses more angle points, and final is interior
Ginseng result is more accurate.
Fig. 2 shows the chessboard case marker version of 9*6, and Fig. 3 then shows the round dot mark version of 9*6.In fact, the present invention is available
Mark version is not limited to above form.In actual applications, the number of mark version according to the angle of visual field of camera, can further be changed
The size of characteristic point in the amount quantity of version (increase or decrease mark), the size of mark version, mark version, the quantity of characteristic point, characteristic point
Interval etc..
Fig. 4 shows the schematic diagram of single-frame images resulting after being shot to multiple mark version.As shown in figure 4, image
Include 5 mark versions, each mark version is plane mark version, and with chessboard grid pattern.One of mark version is centrally located,
Mark version is just to the optical axis of camera and substantially vertical with the optical axis of camera.Other four are marked version in cross-shaped arrangement four
Individual direction, and this four optical axises of mark versions and camera are into a non-perpendicular angle.These mark versions are not blocked mutually, so as in single frames
Can be embodied in image.Based on image similar to Figure 4, internal reference proposed by the present invention determines that method just can be accurate
Ground determines the internal reference of camera.
In order to shoot the image for obtaining shown in Fig. 4, camera and multiple mark versions can be placed on the tool shown in Fig. 5
On.As shown in figure 5, tool of the invention can include target unit 1, target adjustment unit 2 adjusts bearing unit 3, takes the photograph
As module fixed cell 4.Wherein, target unit 1 includes principal mark plate 101 and auxiliary target 102.Principal mark plate 101 is in by one
The supporting station of square is fixed on the center of device, and auxiliary target 102 is arranged on around supporting station, in present embodiment
In, principal mark plate 101 is lain on supporting station, and four auxiliary targets 102 being supported on by supporting station at an angle.At this
In implementation method, by means of adjustment bearing unit 3, aiding in the angle and upper-lower position of target 102 can be adjusted as needed
Section.Camera module fixed cell 4 is used to install camera.In the present embodiment, in order to avoid metal reflective in calibration process
Effect is demarcated in influence, and all structures are blacked using aluminium and processed.
In the embodiment shown in fig. 5, because four adjustment bearing units 3 are symmetrically distributed in principal mark 101 surroundings of version, so
5 mark versions just meet space symmetr.When different camera to be measured (modules) are installed, it is ensured that each camera is in tool
In relative position it is consistent.In other embodiments, in order to install greater number of mark version, the number of bearing unit is adjusted in tool
Amount can suitably increase.In selection mark version quantity, 5 mark versions can be as shown in Figure 4 selected, it is also possible to design other quantity
Mark version, for example, can select to install 6 mark versions, 7 mark versions etc..For the ease of the processing and manufacturing of image procossing and tool, can be with
After allowing mark version to be installed on tool, the arrangement of mark version is allowed to meet space symmetr.Wherein, it is more preferred using 5 mark versions
Scheme, so can not only allow the structure of tool relatively easy (without installing excessive amounts of mark version), at the same allow mark version number
Amount reaches the mark version quantitative requirement needed for determining internal reference principal point.In another embodiment, tool can be designed with 8 and be uniformly distributed
Adjustment bearing unit, this 8 adjustment bearing units be distributed in a ring, each adjustment bearing unit on be respectively mounted one auxiliary mark
Version, the centre position of annular can install the 9th mark version (principal mark version).In this way, it is possible to allow on whole tool install 9 marks
Version, 9 mark versions are same arranged evenly in the way of space symmetr.In other embodiments, 13 mark versions, this 13 can be selected
Mark version is same arranged evenly in the way of space symmetr.
In the above-described embodiments, the performance indications according to camera select to mark version, actually in view of working as camera
When closer distance (distance is shorter than the routine work distance of camera) shoots to mark version, imaging can be caused unsharp
Problem occurs.And the present invention is exactly based on the appropriate mark version of selection, so as to allow pending parameter calibration camera compared with low coverage
From when shooting, it is also possible to allow imaging results to reach certain definition, so that for follow-up treatment and analysis, to determine shooting
The internal reference of head.Because the present invention shortens camera with the distance between version is marked, it is possible to allow the internal reference of camera to demarcate setting
Standby volume-diminished, correspondingly also reduces the quality of equipment so that internal reference calibration facility is more prone to use and carries.
In one embodiment, above-mentioned internal reference can be the principal point of camera.So, determine camera principal point it
Afterwards, if it find that the principal point of camera is larger with picture centre deviation, then camera can further be adjusted.
As shown in fig. 6, after step 3, internal reference of the invention determines that method is further included：
Step 4, according to determination deviation value between the position of principal point and the center of image for determining；
Whether step 5, judgment bias value (dx, dy) is more than target offset threshold value；
Step 6, in the case where the judgment result is yes, is adjusted to camera.Before adjustment every time, can be according to core
Piece imaging contexts obtain adjusted value (dx ', dy ')；
Step 1 to step 6 is repeated, until the judged result in step 5 is no.
In the case where principal point is demarcated, it usually needs the mark that is included in image version quantity is 5 to 9, for example, can be with
5 mark versions are shot, the image shown in Fig. 4 is obtained, principle point location can be accurately determined based on the image.In other realities
Apply in example, greater number of mark version can be shot (for example, can enter to 9 mark versions, 13 mark versions or more marks version
Row shoots), greater number of mark version is also correspondingly included in resulting image.
It is determined that after the principal point of camera, can effectively determine the center of image captured by camera.When above-mentioned
When camera is the camera in vehicle-mounted viewing system, by determining principle point location, can aid in and camera is adjusted,
And then the image captured by multiple cameras is more accurately spliced into panoramic view picture (or further generating top view), so that
Guiding driver is driven.
Embodiments in accordance with the present invention, additionally provide a kind of determining device of camera internal reference.
The determining device of camera internal reference of the invention is used to determine camera based on the image comprising multiple mark version
Internal reference.
As shown in fig. 7, above-mentioned determining device includes：
Control module 71, for controlling camera to shoot the multiple mark version, obtains single-frame images, wherein, institute
State in image comprising the corresponding region of the multiple mark version；
Image processing module 72, for the region where multiple mark versions according to described image, enters to described image
Row region division, obtains multiple subgraphs, wherein, mark the corresponding region of version comprising one in each subgraph；
Determining module 73, the internal reference for determining the camera according to the multiple subgraph.
Wherein, above-mentioned internal reference can be the principal point of the camera, and the mark version quantity included in above-mentioned image is 5 to 9.
In sum, the quick determination the present invention relates to a kind of camera module internal reference principal point and method of adjustment, will image
Head mould group carries out frame data acquisition, then extracts multiple mark versions of internal reference demarcation, then carries out camera calibration, calculates current
Internal reference principal point is adjusted with the deviation and foundation deviation of picture centre.First, multiple are captured by camera single frames to mark
Version；Afterwards, internal reference calculating is carried out；Finally, carrying out the adjustment based on deviation makes its internal reference principal point be overlapped with picture centre.This hair
It is bright required mark version to be greatly decreased and shoots number of times and reduces space on the premise of the accuracy that internal reference principal point is demarcated is ensured
It is required that, while realizing real-time calculating of the principal point with picture centre deviation and on-line tuning.Calibration process is briefly changed in realization, real
The miniaturization of space and hardware, realizes the internal reference principal point uniformity on-line tuning of module needed for now demarcating, and multiple operations are merged.
The present invention has following characteristics：1st, the present invention realizes that single frames shoots multiple and demarcates mark version, significantly shortens tradition and demarcates institute
The time that the module for needing is adjusted with mark version relative position.2nd, the present invention can realize reducing shooting and demarcate mark version quantity but still protect
Demonstrate,prove the accuracy of internal reference principal point.3rd, the present invention can realize the adjustment of the deviation of module principal point and picture centre.
In addition to determining the principal point of camera, the solution of the present invention can be also used for determining other internal references of camera.
Presently preferred embodiments of the present invention is the foregoing is only, is not intended to limit the invention, it is all in essence of the invention
Within god and principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.
Claims (10)
1. a kind of determination method of camera internal reference, it is characterised in that for determining shooting based on the images comprising multiple mark versions
The internal reference of head, the determination method includes：
Step 1, is shot by camera to the multiple mark version, obtains single-frame images, wherein, institute is included in described image
State the corresponding region of multiple mark versions；
Step 2, the region according to described image where multiple mark versions, region division is carried out to described image, obtains many
Individual subgraph, wherein, mark the corresponding region of version comprising one in each subgraph；
Step 3, the internal reference of the camera is determined according to the multiple subgraph.
2. determination method according to claim 1, it is characterised in that further include：
According to the performance indications of the camera, it is determined that the mark version for being used is chessboard case marker version or round dot pattern mark version, go forward side by side
One step determines characteristic point in the quantity of characteristic point in the quantity for marking version, the size of mark version, mark version, mark version
Spacing and/or the mark version in characteristic point size, wherein, the performance indications of the camera include：Resolving power, the angle of visual field
And/or pixel quantity.
3. determination method according to claim 1, it is characterised in that the internal reference is the principal point of the camera.
4. determination method according to claim 3, it is characterised in that after the step 3, the determination method enters
Step includes：
Step 4, according to determination deviation value between the position of the principal point and the center of described image for determining；
Whether step 5, judge the deviation more than target offset threshold value；
Step 6, in the case where the judgment result is yes, is adjusted to the camera；
The step 1 to the step 6 is repeated, until the judged result in the step 5 is no.
5. determination method according to claim 3, it is characterised in that the mark version quantity included in described image is 5 to 9
It is individual.
6. determination method according to claim 5, it is characterised in that the mark version quantity included in described image is 5.
7. determination method according to claim 1, it is characterised in that the multiple mark version is plane mark version, one of them
Optical axis of the mark version just to the camera and mark version is vertical with the optical axis of the camera, other mark version and described cameras
Optical axis is into a non-perpendicular angle.
8. determination method according to claim 1, it is characterised in that the camera is the shooting in vehicle-mounted viewing system
Head.
9. a kind of determining device of camera internal reference, it is characterised in that for determining shooting based on the images comprising multiple mark versions
The internal reference of head, the determining device includes：
Control module, for controlling camera to shoot the multiple mark version, obtains single-frame images, wherein, described image
In comprising the corresponding region of the multiple mark version；
Image processing module, for the region where multiple mark versions according to described image, region is carried out to described image
Divide, obtain multiple subgraphs, wherein, mark the corresponding region of version comprising one in each subgraph；
Determining module, the internal reference for determining the camera according to the multiple subgraph.
10. determining device according to claim 9, it is characterised in that the internal reference is the principal point of the camera, described
The mark version quantity included in image is 5 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710052001.4A CN106815873A (en) | 2017-01-19 | 2017-01-19 | The determination method and apparatus of camera internal reference |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710052001.4A CN106815873A (en) | 2017-01-19 | 2017-01-19 | The determination method and apparatus of camera internal reference |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106815873A true CN106815873A (en) | 2017-06-09 |
Family
ID=59112412
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710052001.4A Pending CN106815873A (en) | 2017-01-19 | 2017-01-19 | The determination method and apparatus of camera internal reference |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106815873A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108777787A (en) * | 2018-05-23 | 2018-11-09 | 苏州市运泰利自动化设备有限公司 | A kind of VR glasses vision inspection apparatus |
| CN110246188A (en) * | 2019-05-20 | 2019-09-17 | 歌尔股份有限公司 | Internal reference scaling method, device and camera for TOF camera |
| CN111064864A (en) * | 2018-10-17 | 2020-04-24 | 杭州海康慧影科技有限公司 | Method and device for setting distortion correction parameters and endoscope system |
| CN112188191A (en) * | 2020-11-03 | 2021-01-05 | 中科创达软件股份有限公司 | Camera debugging equipment and method |
| CN112581546A (en) * | 2020-12-30 | 2021-03-30 | 深圳市杉川机器人有限公司 | Camera calibration method and device, computer equipment and storage medium |
| CN112630750A (en) * | 2019-10-08 | 2021-04-09 | 华为技术有限公司 | Sensor calibration method and sensor calibration device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103440639A (en) * | 2013-07-15 | 2013-12-11 | 江南大学 | Camera internal parameter calibration method based on regular triangle template |
| CN103544699A (en) * | 2013-10-11 | 2014-01-29 | 江西省电力公司检修分公司 | Method for calibrating cameras on basis of single-picture three-circle template |
| CN103702113A (en) * | 2013-12-31 | 2014-04-02 | 南京车联网研究院有限公司 | Camera internal reference extraction system and method for vehicle-mounted calibration |
| CN103955916A (en) * | 2014-03-21 | 2014-07-30 | 贺徵廷 | Automobile panorama camera calibration method and apparatus |
| CN105405115A (en) * | 2014-08-19 | 2016-03-16 | 宁波舜宇光电信息有限公司 | Image module group alignment system and method thereof |
| CN105825475A (en) * | 2016-04-01 | 2016-08-03 | 西安电子科技大学 | 360-degree panorama image generation method based on single pick-up head |
-
2017
- 2017-01-19 CN CN201710052001.4A patent/CN106815873A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103440639A (en) * | 2013-07-15 | 2013-12-11 | 江南大学 | Camera internal parameter calibration method based on regular triangle template |
| CN103544699A (en) * | 2013-10-11 | 2014-01-29 | 江西省电力公司检修分公司 | Method for calibrating cameras on basis of single-picture three-circle template |
| CN103702113A (en) * | 2013-12-31 | 2014-04-02 | 南京车联网研究院有限公司 | Camera internal reference extraction system and method for vehicle-mounted calibration |
| CN103955916A (en) * | 2014-03-21 | 2014-07-30 | 贺徵廷 | Automobile panorama camera calibration method and apparatus |
| CN105405115A (en) * | 2014-08-19 | 2016-03-16 | 宁波舜宇光电信息有限公司 | Image module group alignment system and method thereof |
| CN105825475A (en) * | 2016-04-01 | 2016-08-03 | 西安电子科技大学 | 360-degree panorama image generation method based on single pick-up head |
Non-Patent Citations (2)
| Title |
|---|
| ANDREAS GEIGER ET AL: "Automatic Camera and Range Sensor Calibration using a single Shot", 《2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION》 * |
| 朱云芳 等: "摄像机径向畸变校正和内参估计的单图标定方法", 《光学工程》 * |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108777787A (en) * | 2018-05-23 | 2018-11-09 | 苏州市运泰利自动化设备有限公司 | A kind of VR glasses vision inspection apparatus |
| CN111064864A (en) * | 2018-10-17 | 2020-04-24 | 杭州海康慧影科技有限公司 | Method and device for setting distortion correction parameters and endoscope system |
| CN110246188A (en) * | 2019-05-20 | 2019-09-17 | 歌尔股份有限公司 | Internal reference scaling method, device and camera for TOF camera |
| CN112630750A (en) * | 2019-10-08 | 2021-04-09 | 华为技术有限公司 | Sensor calibration method and sensor calibration device |
| WO2021068723A1 (en) * | 2019-10-08 | 2021-04-15 | 华为技术有限公司 | Sensor calibration method and sensor calibration apparatus |
| CN112188191A (en) * | 2020-11-03 | 2021-01-05 | 中科创达软件股份有限公司 | Camera debugging equipment and method |
| CN112581546A (en) * | 2020-12-30 | 2021-03-30 | 深圳市杉川机器人有限公司 | Camera calibration method and device, computer equipment and storage medium |
| WO2022143283A1 (en) * | 2020-12-30 | 2022-07-07 | 深圳市杉川机器人有限公司 | Camera calibration method and apparatus, and computer device and storage medium |
| CN112581546B (en) * | 2020-12-30 | 2024-07-16 | 深圳市杉川机器人有限公司 | Camera calibration method, device, computer equipment and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106815873A (en) | The determination method and apparatus of camera internal reference | |
| US20170132820A1 (en) | Method and system for mitigating color mutation in image fusion | |
| CN106851122A (en) | The scaling method and device of the auto exposure parameter based on dual camera system | |
| CN109862345B (en) | Method and system for testing field angle | |
| KR20110082903A (en) | Method of compensating and generating orthoimage for aerial-photo | |
| JP2000358157A (en) | Method and device for compensating optical attenuation of digital image | |
| CN107302668A (en) | High dynamic range imaging module based on runner dynamic light splitting | |
| CN104952048B (en) | A kind of focus storehouse picture synthesis method based on as volume reconstruction | |
| CN107563987A (en) | Demarcate the method and device of imaging difference | |
| CN110537197A (en) | Image processing apparatus, maturation history image creation system and program | |
| CN106447735A (en) | Panoramic camera geometric calibration processing method | |
| CN102752504A (en) | Relative radiation correction method for wide-view-field linear array CCD (Charge Coupled Device) camera | |
| CN106408614A (en) | Video camera intrinsic parameter calibration method and system suitable for field application | |
| US20040212680A1 (en) | Device for determining a location-dependent intensity profile and color profile and/or sharpness profile of optical lens system | |
| EP3182697A1 (en) | A method and apparatus for correcting vignetting effect caused on an image captured by lightfield cameras | |
| CN110136203B (en) | Calibration method and calibration system of TOF equipment | |
| CN112598751A (en) | Calibration method and device, terminal and storage medium | |
| JP3440631B2 (en) | Luminance center of gravity measurement device for display | |
| CN116883465A (en) | Multispectral plant phenotype three-dimensional imaging method, system and device | |
| CN106558078B (en) | A kind of binocular stereo vision video camera and its image capture method | |
| CN113093783B (en) | Shooting control method and device of unmanned aerial vehicle | |
| JP7216994B2 (en) | Existing survey map creation system, method and program | |
| CN108391106A (en) | Optical projection system, projection device and method for displaying projection | |
| CN110650331B (en) | Array camera module testing method and target device thereof | |
| JP2023035612A (en) | Estimation device, method and program |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 315400 No. 1918, Shinan West Road, Yuyao, Ningbo, Zhejiang. Applicant after: Ningbo wisdom Sensor Technology Co., Ltd. Address before: 315400 No. 1918, Shinan West Road, Yuyao, Ningbo, Zhejiang. Applicant before: Ningbo vking Intelligent Sensing Technology Co. Ltd. |
|
| CB02 | Change of applicant information | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170609 |
|
| RJ01 | Rejection of invention patent application after publication |