CN106846414A - A kind of active vision camera calibration method based on variable spotting - Google Patents

A kind of active vision camera calibration method based on variable spotting Download PDF

Info

Publication number
CN106846414A
CN106846414A CN201710054683.2A CN201710054683A CN106846414A CN 106846414 A CN106846414 A CN 106846414A CN 201710054683 A CN201710054683 A CN 201710054683A CN 106846414 A CN106846414 A CN 106846414A
Authority
CN
China
Prior art keywords
camera
coordinate
scaling board
liquid crystal
crystal panel
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.)
Granted
Application number
CN201710054683.2A
Other languages
Chinese (zh)
Other versions
CN106846414B (en
Inventor
林斌
杨浩
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhejiang Jiangao Photoelectric Technology Co ltd
Original Assignee
Zhejiang Four Ling Robot Ltd By Share Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Zhejiang Four Ling Robot Ltd By Share Ltd filed Critical Zhejiang Four Ling Robot Ltd By Share Ltd
Priority to CN201710054683.2A priority Critical patent/CN106846414B/en
Publication of CN106846414A publication Critical patent/CN106846414A/en
Application granted granted Critical
Publication of CN106846414B publication Critical patent/CN106846414B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • G05D3/20—Control of position or direction using feedback using a digital comparing device
    • 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
    • G06T2207/30204—Marker
    • G06T2207/30208—Marker matrix

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Liquid Crystal (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The present invention provides a kind of active vision camera calibration method based on variable spotting, and the present invention uses active vision principle, sets up system of linear equations to the inside and outside parameter of camera using known spotting movable information and solve；Manpower is not only reduced using scaling method of the invention, and improve the efficiency of demarcation, improve the accuracy rate demarcated.

Description

A kind of active vision camera calibration method based on variable spotting
Technical field
It is a kind of active vision camera based on variable spotting the present invention relates to three-dimensional measurement and field of industry detection Scaling method.
Background technology
In three-dimensional reconstruction, structural light measurement, panoramic video is obtained etc. in the research direction of each computer vision, and camera is all Important measurement and image signal acquisition means.During the inside and outside parameter of calibration for cameras is many computer vision research exactly Important step.Therefore, it is always a popular direction of computer vision field for the research of the scaling method of camera parameter.
The camera calibration method of current main flow is divided three classes, respectively traditional camera scaling method, Camera Self-Calibration method And active vision camera calibration method.Compared with other two methods, active vision camera calibration method is when applying It is general to place the cameras on the precision surface plate that accurately read mobile and rotation parameter, using known camera movement information The equation on camera parameter is set up, with demarcating that speed is fast, can be automated and the features such as stated accuracy is high.
The content of the invention
To solve the deficiencies in the prior art, regarded it is an object of the invention to provide a kind of active based on variable spotting Feel camera calibration method, manpower is not only reduced using scaling method of the invention, and improve the efficiency of demarcation, improve and demarcate Accuracy rate.
In order to realize above-mentioned target, the present invention is adopted the following technical scheme that：
A kind of active vision camera calibration method based on variable spotting, including：Following steps：
Step one：World coordinate system is set up by origin of the upper left corner of liquid crystal panel, panel plane is z=0 planes, z-axis Outwards, coordinate of each scaling board characteristic point in world coordinate system in record display screen, is shot with calibration for cameras and is displayed in liquid crystal Scaling board on panel；
Step 2：The position translation motion of controller control scaling board is multiple, and repetition records each feature point coordinates, demarcates phase Machine repeats to shoot scaling board；
Step 3：Controller control whirligig is repeatedly rotated, and drives fixed liquid crystal panel on the spinning device also to turn It is dynamic, measure angle of rotation, repeat step one, step 2, coordinate and collection in collection each characteristic point world coordinate system of scaling board Camera shoots the picture that scaling board is obtained；
Step 4：Calculate the limit coordinate of camera translational motion；Same camera same point in diverse location shoots space, The different pixels coordinate referred to as corresponding points of the point for obtaining, in the case where an invariant is differed, by two corresponding points Basis matrix F is solved, the limit coordinate of this translational motion is solved by formula F e=0；
Step 5：Equation is set up using the translational motion information and limit coordinate of camera, is calculated from world coordinates to camera The camera inside and outside parameter of coordinate, inside and outside parameter includes：Translation vector tp, Intrinsic Matrix K and spin matrix Rp；
Step 6：The inside and outside parameter that will be calculated carries out steepest and declines fitting optimization as initial value, obtains final result.
A kind of foregoing active vision camera calibration method based on variable spotting, step 3：Controller control rotation Rotary device is repeatedly rotated, and drives fixed liquid crystal panel on the spinning device also to rotate, and measures angle of rotation, repeat step one, step Rapid two, coordinate and collection camera in collection each characteristic point world coordinate system of scaling board shoot the picture that scaling board is obtained；Rotation Rotary device number of revolutions is more than or equal to 5 times.
A kind of foregoing active vision camera calibration method based on variable spotting,
Step 4：Calculate the limit coordinate of camera translational motion；Same camera same point in diverse location shoots space, The different pixels coordinate referred to as corresponding points of the point for obtaining, corresponding points pixel coordinate is respectively m1And m2, using formulaIn the case where an invariant is differed, basis matrix F is solved by two corresponding points,The limit coordinate of this translational motion is solved by formula F e=0 again；
A kind of foregoing active vision camera calibration method based on variable spotting,
Step 5：Equation is set up using the translational motion information and limit coordinate of camera, is calculated from world coordinates to camera The camera inside and outside parameter of coordinate, inside and outside parameter includes：Translation vector tp, Intrinsic Matrix K and spin matrix Rp；
2 points of world coordinates is P in panel1And P2, its coordinate in camera coordinates system is：
If point in panel is by from P2Move to P1, then equivalent to camera edgeVector has carried out a translational motion, this Translational motion is expressed as in camera coordinates system：
λ can be obtained by the relation between limit and motion vector1e1=KRpT0,
Make A=KRp, A has nine unknown quantitys, as follows：
Assuming that translational motion vector T0=(t11, t12, t13), limit coordinate is e1=(e11, e12, 1)；
A is expanded into one-dimensional column vectorArrangement is obtained
Spent, it is necessary to liquid crystal panel is rotated into 5 to 10 after scaling board completes evolution twice so that ensuing fortune It is dynamic to be moved twice not in the same plane with preceding；In this step, it is necessary to artificially measure the rotational angle of liquid crystal panel, so as to The scaling board position coordinates unification that obtains will be measured after panel rotation in initial world coordinate system；Set forth herein method exist That utilized during demarcation is the motion vector Tc of scaling board in liquid crystal panel, due to the translation invariance of vector, liquid crystal panel rotation The translation change of front and back position has no effect on stated accuracy, can be simply set to (0,0,0)；
After solution matrix A, it is assumed that matrix A, Intrinsic Matrix K and spin matrix RpWith following form；
Intrinsic Matrix K and spin matrix R are obtained according to formula below split-matrix Ap；
Coordinate of the every bit in liquid crystal panel, i.e. space coordinates are M, define characteristic point in camera actual photographed scaling board Image coordinate be m；After solving the interior matrix and spin matrix of camera, can obtain
Wherein
Arrange various above obtaining
αtp1+γtp2+(u0-m1)tp3=b2m1-αb1-γb2-u0b3
βtp2+(v0-m2)tp3=b3m2-βb2-v0b3；
Three unknown numbers are had in formula, each space midpoint can set up two equations, therefore at least need two Spatial point calculates translation vector t；
Assuming that scaling board has i characteristic point in liquid crystal panel, using parameter K, R obtained by calibratingp, tp, by MiAccording to public affairs The image coordinate that formula λ m=K (RM+t) is calculated isDefining the difference that following this function calculated between two coordinate values is：
A kind of foregoing active vision camera calibration method based on variable spotting, step 6：By what is be calculated Inside and outside parameter carries out steepest and declines fitting optimization as initial value, obtains final result；Steepest decline is fitted the definition for optimizing： Referred to as gradient descent method, will find a local minimum for function, it is necessary to current point pair on function using gradient descent method The regulation step distance point of the opposite direction of gradient (or approximate gradient) is answered to be iterated search.Comprise the following steps that：A) ask Target function gradient；B) x is moved to the opposite direction of gradient；C) loop iteration step b, until the value of object function independent variable becomes Change to so that difference of the object function value between iteration twice is sufficiently small；D) now, independent variable is exported, this independent variable is just The value of independent variable when being so that object function value is minimum.
A kind of foregoing active vision camera calibration method based on variable spotting, whirligig composition has：Connection In the rotary shaft of liquid crystal panel, it is connected to rotary shaft and reads the reader of rotary shaft rotational angle.
A kind of foregoing active vision camera calibration method based on variable spotting, controller is intelPentium 4 central processing units.
The present invention is advantageous in that：The present invention provides a kind of active vision camera calibration based on variable spotting Method, the present invention uses active vision principle, and line is set up to the inside and outside parameter of camera using known spotting movable information Property equation group is solved；Manpower is not only reduced using scaling method of the invention, and improve the efficiency of demarcation, improve mark Fixed accuracy rate.
Brief description of the drawings
Fig. 1 is a kind of structural representation of embodiment of caliberating device of the present invention；
Fig. 2 is the schematic diagram of scaling board translational motion in liquid crystal panel of the invention.
Fig. 3 is liquid crystal panel establishment of coordinate system mode of the invention and rotation mode schematic diagram.
Fig. 4 is a kind of structural representation of embodiment of whirligig of the present invention；
The implication of reference in figure：
1 liquid crystal panel, 2 whirligigs, 3 calibration for cameras, 201 rotary shafts, 202 readers.
Specific embodiment
Make specific introduction to the present invention below in conjunction with the drawings and specific embodiments.
A kind of active vision camera calibration method based on variable spotting, including：Following steps：
Step one：World coordinate system is set up by origin of the upper left corner of liquid crystal panel 1, panel plane is z=0 planes, z-axis Outwards, coordinate of each scaling board characteristic point in world coordinate system in record display screen, is shot with calibration for cameras 3 and is displayed in liquid crystal Scaling board on panel 1.
Step 2：The position translation motion of controller control scaling board is multiple, and repetition records each feature point coordinates, demarcates phase Machine 3 repeats to shoot scaling board.
Step 3：Controller control more than 2 rotation of whirligig, drive is fixed on the liquid crystal panel 1 on whirligig 2 Rotate, measure angle of rotation, repeat step one, step 2 gathers the coordinate in each characteristic point world coordinate system of scaling board and adopts Collection camera shoots the picture that scaling board is obtained；As one kind preferably, whirligig 2 is rotated more than 5 times and is advisable；Need explanation It is：The motion of object is relative, and camera is in the demarcation that the change in location in liquid crystal panel 1 is shot in the case that position is constant Plate, and the chosen position of the characteristic point required for demarcation is confined in scaling board, can equally regard demarcation Board position as Constant, camera has done correspondingly translational motion.The movement of scaling board is to be completed in the opposite direction equivalent to camera in liquid crystal panel 1 In a translational motion.As shown in Fig. 2 left sides, scaling board, to the segment distance of right translation one, is equivalent in Fig. 2 right sides in liquid crystal panel 1 Demarcate Board position constant, camera translation is moved to the left same distance.
Step 3：Calculate the limit coordinate of camera translational motion；Same camera same point in diverse location shoots space, The different pixels coordinate referred to as corresponding points of the point for obtaining, corresponding points pixel coordinate is respectively m1And m2, using formulaIn the case where an invariant is differed, basis matrix F is solved by two corresponding points,The limit coordinate of this translational motion is solved by formula F e=0 again；
Step 4：Equation is set up using the translational motion information and limit coordinate of camera, is calculated from world coordinates to camera The camera inside and outside parameter of coordinate, inside and outside parameter includes：Translation vector tp, Intrinsic Matrix K and spin matrix Rp；
2 points of world coordinates is P in panel1And P2, its coordinate in camera coordinates system is：
If point in panel is by from P2Move to P1, then equivalent to camera edgeVector has carried out a translational motion, this Translational motion is expressed as in camera coordinates system：
λ can be obtained by the relation between limit and motion vector1e1=KRpT0,
Make A=KRp, A has nine unknown quantitys, as follows：
Assuming that translational motion vector T0=(t11, t12, t13), limit coordinate is e1=(e11, e12, 1)；
A is expanded into one-dimensional column vectorArrangement is obtained
, it is necessary to liquid crystal panel 1 is rotated into 5 to 10 degree after scaling board completes evolution twice so that ensuing Motion is moved not in the same plane twice with preceding；In this step, it is necessary to artificially measure the rotational angle of liquid crystal panel 1, So that the scaling board position coordinates unification for obtaining will be measured after panel rotation in initial world coordinate system；This method is being demarcated Shi Liyong be scaling board in liquid crystal panel 1 motion vector Tc, due to the translation invariance of vector, before liquid crystal panel 1 rotates The translation change of position afterwards has no effect on stated accuracy, can be simply set to (0,0,0)；
After solution matrix A, it is assumed that matrix A, Intrinsic Matrix K and spin matrix RpWith following form；
Intrinsic Matrix K and spin matrix R are obtained according to formula below split-matrix Ap；
Coordinate of the every bit in liquid crystal panel 1, i.e. space coordinates are M, define feature in camera actual photographed scaling board The image coordinate of point is m；After solving the interior matrix and spin matrix of camera, can obtain
Wherein
Arrange various above obtaining
αtp1+γtp2+(u0-m1)tp3=b2m1-αb1-γb2-u0b3
βtp2+(v0-m2)tp3=b3m2-βb2-v0b3；
Three unknown numbers are had in formula, each space midpoint can set up two equations, therefore at least need two Spatial point calculates translation vector t；
Assuming that scaling board has i characteristic point in liquid crystal panel 1, using parameter K, R obtained by calibratingp, tp, by MiAccording to The image coordinate that formula λ m=K (RM+t) is calculated isDefine the difference between two coordinate values of following this function calculating For：
Step 5：The inside and outside parameter that will be calculated carries out steepest and declines fitting optimization as initial value, obtains final result. Steepest decline is fitted the definition for optimizing：Also referred to as gradient descent method, will find a part for function using gradient descent method Minimum, it is necessary to carried out to the regulation step distance point of the opposite direction of current point correspondence gradient (or approximate gradient) on function Iterative search.Comprise the following steps that：A) target function gradient is sought；B) x is moved to the opposite direction of gradient；C) loop iteration step B, until the value changes of object function independent variable are to so that difference of the object function value between iteration twice is sufficiently small；D) this When, export independent variable, the value of independent variable when this independent variable is just so that object function value is minimum.
As shown in figure 1, caliberating device composition has：Calibration for cameras 3, is connected to the liquid crystal panel 1 of calibration for cameras 3, is connected to The whirligig 2 of liquid crystal panel 1.As shown in figure 4, the composition of whirligig 2 has：The rotary shaft 201 of liquid crystal panel 1 is connected to, even It is connected to rotary shaft 201 and reads the reader 202 of the rotational angle of rotary shaft 201.
Used as a kind of embodiment, controller is the central processing units of intel Pentium 4, and this is of the invention minimum to realize Match somebody with somebody, other central processing units can realize present invention also within protection scope of the present invention.
Compared with traditional manual scaling method, the method can be under the platform of computer controls according to the stream arranged properly Cheng Jinhang is demarcated., it is necessary to pre-production carries the scaling board of certain type pattern in traditional scaling method, and in calibration process Constantly change and demarcate Board position and angle, waste time and energy.In this method, by scaling board pattern displaying in display screen, eliminate The step of making materials calibration plate, while the step of demarcating Board position will be changed to be changed to convert display of the scaling board in display screen Position, can accomplish that moment completes, and improve demarcation speed.
Traditional scaling board is typically made using Method of printing, and in 0.1mm or so, it demarcates pattern and can not keep away printing precision The presence error exempted from.And the Pixel Dimensions of LCD Panel are in micron level, therefore can using the scaling board that display shows With by its control errors in micron accuracy.In addition, traditional scaling method cannot essence due to relative position before and after scaling board movement Really measurement, is setting up equation, originally during calculating camera parameter just with the relation between corresponding points on scaling board Be added to kinematic parameter in calculating using the controllable scaling board in position by method, improves the accuracy rate of demarcation.
The present invention provides a kind of active vision camera calibration method based on variable spotting, and the present invention is regarded using active Feel principle, system of linear equations is set up to the inside and outside parameter of camera using known spotting movable information and is solved；Use Scaling method of the invention not only reduces manpower, and improves the efficiency of demarcation, improves the accuracy rate demarcated.
The basic principles, principal features and advantages of the present invention have been shown and described above.The technical staff of the industry should Understand, the invention is not limited in any way for above-described embodiment, it is all to be obtained by the way of equivalent or equivalent transformation Technical scheme, all falls within protection scope of the present invention.

Claims (7)

1. a kind of active vision camera calibration method based on variable spotting, it is characterised in that including：Following steps：
Step one：World coordinate system is set up by origin of the upper left corner of liquid crystal panel, panel plane is z=0 planes, and z-axis is outside, Coordinate of each scaling board characteristic point in world coordinate system in record display screen, is shot with calibration for cameras and is displayed on liquid crystal panel Scaling board；
Step 2：The position translation motion of controller control scaling board is multiple, and repetition records each feature point coordinates, calibration for cameras weight Scaling board is shot again；
Step 3：Controller control whirligig is repeatedly rotated, and drives fixed liquid crystal panel on the spinning device also to rotate, and is surveyed Amount angle of rotation, repeat step one, step 2, coordinate and collection camera in collection each characteristic point world coordinate system of scaling board are clapped Take the photograph the picture that scaling board is obtained；
Step 4：Calculate the limit coordinate of camera translational motion；Same camera same point in diverse location shoots space, obtains The different pixels coordinate of the point be referred to as corresponding points, in the case where an invariant is differed, solved by two corresponding points Basis matrix F, the limit coordinate of this translational motion is solved by formula F e=C；
Step 5：Equation is set up using the translational motion information and limit coordinate of camera, is calculated from world coordinates to camera coordinates Camera inside and outside parameter, inside and outside parameter includes：Translation vector tp, Intrinsic Matrix K and spin matrix Rp；
Step 6：The inside and outside parameter that will be calculated carries out steepest and declines fitting optimization as initial value, obtains final result.
2. a kind of active vision camera calibration method based on variable spotting according to claim 1, its feature exists In step 3：Controller control whirligig is repeatedly rotated, and drives fixed liquid crystal panel on the spinning device also to rotate, and is surveyed Amount angle of rotation, repeat step one, step 2, coordinate and collection camera in collection each characteristic point world coordinate system of scaling board are clapped Take the photograph the picture that scaling board is obtained；Whirligig number of revolutions is more than or equal to 5 times.
3. a kind of active vision camera calibration method based on variable spotting according to claim 1, its feature exists In,
Step 4：Calculate the limit coordinate of camera translational motion；Same camera same point in diverse location shoots space, obtains The different pixels coordinate of the point be referred to as corresponding points, corresponding points pixel coordinate is respectively m1And m2, using formula In the case of one invariant of difference, basis matrix F is solved by two corresponding points,Again by public affairs Formula Fe=0 solves the limit coordinate of this translational motion；
4. a kind of active vision camera calibration method based on variable spotting according to claim 1, its feature exists In,
Step 5：Equation is set up using the translational motion information and limit coordinate of camera, is calculated from world coordinates to camera coordinates Camera inside and outside parameter, inside and outside parameter includes：Translation vector tp, Intrinsic Matrix K and spin matrix Rp；
2 points of world coordinates is P in panel1And P2, its coordinate in camera coordinates system is：
If point in panel is by from P2Move to P1, then equivalent to camera edgeVector has carried out a translational motion, this translation Motion is expressed as in camera coordinates system：
λ can be obtained by the relation between limit and motion vector1e1=KRpTo,
Make A=KRp, A has nine unknown quantitys, as follows：
A = a 1 a 2 a 3 a 4 a 5 a 6 a 7 a 8 a 9 ;
Assuming that translational motion vector T0=(t11, t12, t13), limit coordinate is e1=(e11, e12, 1)；
A is expanded into one-dimensional column vector a=[a1 a2 … a2 ae]T, arrangement obtains
t 11 t 12 t 13 0 0 0 - t 11 e 11 t 12 e 11 t 13 e 11 0 0 0 t 11 t 12 t 13 - t 11 e 12 - t 11 e 12 - t 11 e 12 a = 0 ;
Complete to be spent, it is necessary to liquid crystal panel is rotated into 5 to 10 after evolution twice in scaling board so that ensuing motion with It is preceding to move twice not in the same plane；In this step, it is necessary to the artificial rotational angle of measurement liquid crystal panel, so as to by face Plate measures the scaling board position coordinates unification that obtains in initial world coordinate system after rotating；Set forth herein method demarcate Shi Liyong be scaling board in liquid crystal panel motion vector Tc, due to the translation invariance of vector, before and after liquid crystal panel rotation The translation change of position has no effect on stated accuracy, can be simply set to (0,0,0)；
After solution matrix A, it is assumed that matrix A, Intrinsic Matrix K and spin matrix RpWith following form；
A = A 1 A 2 A 3
K = K 11 K 12 K 13 0 K 22 K 23 0 0 K 33
R p = R 1 R 2 R 3
Intrinsic Matrix K and spin matrix R are obtained according to formula below split-matrix Ap；
K 33 = A 3 A 3 T
R 3 = A 1 K 33
K 23 = R 3 A 3 T
K 22 = ( A 2 - K 23 R 3 ) ( A 2 - K 23 R 3 ) T
R 2 = A 2 - K 23 R 3 K 22
K 13 = R 3 A 1 T
K 12 = R 2 A 1 T
K 11 = ( A 1 - K 13 R 3 - K 21 R 2 ) ( A 1 - K 13 R 3 - K 21 R 2 ) T
R 1 = ( A 1 - K 13 R 3 - K 21 R 2 ) K 11
K = 1 K 33 K ;
Coordinate of the every bit in liquid crystal panel, i.e. space coordinates are M, define the figure of characteristic point in camera actual photographed scaling board As coordinate is m；After solving the interior matrix and spin matrix of camera, can obtain
λ m 1 m 2 1 = α γ u 0 0 β v 0 0 0 1 b 1 + t p 1 b 2 + t p 2 b 3 + t p 3 ;
Wherein
b 1 + t 1 b 2 + t 2 b 3 + t 3 = R M + t p
Arrange various above obtaining
αtp1+γtp2+(u0-m1)tp3=b2m1-αb1-γb2-u0b3
βtp2+(v0-m2)tp3=b3m2-βb2-v0b3；
Three unknown numbers are had in formula, each space midpoint can set up two equations, therefore at least need two spaces Put to calculate translation vector t；
Assuming that scaling board has i characteristic point in liquid crystal panel, using parameter K, R obtained by calibratingp, tp, by MiAccording to formula λ m The image coordinate that=K (RM+t) is calculated isDefining the difference that following this object function calculated between two coordinate values is：
5. a kind of active vision camera calibration method based on variable spotting according to claim 1, its feature exists In,
Step 6：The inside and outside parameter that will be calculated carries out steepest and declines fitting optimization as initial value, obtains final result.Steepest Decline is fitted the definition for optimizing, also referred to as gradient descent method, to find a local minimum for function using gradient descent method Value, it is necessary to be iterated to the regulation step distance point of the opposite direction of current point correspondence gradient or approximate gradient on function and searched Rope；Comprise the following steps that：A) target function gradient is sought；B) x is moved to the opposite direction of gradient；C) loop iteration step b, until The value changes of object function independent variable are to so that difference of the object function value between iteration twice is sufficiently small；D) now, it is defeated Go out independent variable, the value of independent variable when this independent variable is just so that object function value is minimum.
6. a kind of active vision camera calibration method based on variable spotting according to claim 1, its feature exists In above-mentioned whirligig composition has：The rotary shaft of liquid crystal panel is connected to, above-mentioned rotary shaft is connected to and is read rotary shaft rotation The reader of angle.
7. a kind of active vision camera calibration method based on variable spotting according to claim 1, its feature exists In controller noted above is the central processing units of intel Pentium 4.
CN201710054683.2A 2017-01-24 2017-01-24 A kind of active vision camera calibration method based on variable spotting Active CN106846414B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710054683.2A CN106846414B (en) 2017-01-24 2017-01-24 A kind of active vision camera calibration method based on variable spotting

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710054683.2A CN106846414B (en) 2017-01-24 2017-01-24 A kind of active vision camera calibration method based on variable spotting

Publications (2)

Publication Number Publication Date
CN106846414A true CN106846414A (en) 2017-06-13
CN106846414B CN106846414B (en) 2019-08-27

Family

ID=59120563

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710054683.2A Active CN106846414B (en) 2017-01-24 2017-01-24 A kind of active vision camera calibration method based on variable spotting

Country Status (1)

Country Link
CN (1) CN106846414B (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109389645A (en) * 2017-08-02 2019-02-26 珊口（上海）智能科技有限公司 Camera method for self-calibrating, system, camera, robot and cloud server
CN109978956A (en) * 2019-03-22 2019-07-05 新华三技术有限公司 Acquire scaling method, device and the calibration system of equipment
CN110942483A (en) * 2019-11-21 2020-03-31 三一重工股份有限公司 Function rapid convergence model construction method and device and terminal
CN111311692A (en) * 2020-03-05 2020-06-19 广州市斯睿特智能科技有限公司 Visual calibration method for simple robot
CN113658266A (en) * 2021-07-27 2021-11-16 中航西安飞机工业集团股份有限公司 Moving axis rotation angle visual measurement method based on fixed camera and single target
CN116152358A (en) * 2023-04-21 2023-05-23 深圳明锐理想科技有限公司 Camera parameter calibration optimization method and electronic equipment

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005003463A (en) * 2003-06-10 2005-01-06 Topcon Corp Calibration chart image display device, calibration apparatus, and calibration method
CN105225224A (en) * 2015-08-30 2016-01-06 大连理工大学 Improve arrangements of cameras and the scaling method of depth of field measuring accuracy
CN106228534A (en) * 2016-07-08 2016-12-14 众趣（北京）科技有限公司 Relation scaling method between a kind of rotating shaft based on constrained global optimization and camera

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005003463A (en) * 2003-06-10 2005-01-06 Topcon Corp Calibration chart image display device, calibration apparatus, and calibration method
CN105225224A (en) * 2015-08-30 2016-01-06 大连理工大学 Improve arrangements of cameras and the scaling method of depth of field measuring accuracy
CN106228534A (en) * 2016-07-08 2016-12-14 众趣（北京）科技有限公司 Relation scaling method between a kind of rotating shaft based on constrained global optimization and camera

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109389645A (en) * 2017-08-02 2019-02-26 珊口（上海）智能科技有限公司 Camera method for self-calibrating, system, camera, robot and cloud server
CN109389645B (en) * 2017-08-02 2021-01-01 珊口（上海）智能科技有限公司 Camera self-calibration method and system, camera, robot and cloud server
CN109978956A (en) * 2019-03-22 2019-07-05 新华三技术有限公司 Acquire scaling method, device and the calibration system of equipment
CN110942483A (en) * 2019-11-21 2020-03-31 三一重工股份有限公司 Function rapid convergence model construction method and device and terminal
CN110942483B (en) * 2019-11-21 2023-05-23 三一重工股份有限公司 Function rapid convergence model construction method, device and terminal
CN111311692A (en) * 2020-03-05 2020-06-19 广州市斯睿特智能科技有限公司 Visual calibration method for simple robot
CN111311692B (en) * 2020-03-05 2023-08-25 广州市斯睿特智能科技有限公司 Visual calibration method of simple robot
CN113658266A (en) * 2021-07-27 2021-11-16 中航西安飞机工业集团股份有限公司 Moving axis rotation angle visual measurement method based on fixed camera and single target
CN113658266B (en) * 2021-07-27 2023-10-20 中航西安飞机工业集团股份有限公司 Visual measurement method for rotation angle of moving shaft based on fixed camera and single target
CN116152358A (en) * 2023-04-21 2023-05-23 深圳明锐理想科技有限公司 Camera parameter calibration optimization method and electronic equipment

Also Published As

Publication number Publication date
CN106846414B (en) 2019-08-27

Similar Documents

Publication Publication Date Title
CN106846414A (en) A kind of active vision camera calibration method based on variable spotting
CN110763152B (en) Underwater active rotation structure light three-dimensional vision measuring device and measuring method
CN104851104B (en) Using the flexible big view calibration method of target high speed camera close shot
CN106097300B (en) A kind of polyphaser scaling method based on high-precision motion platform
CN106408556B (en) A kind of small items measuring system scaling method based on general imaging model
CN101998136B (en) Homography matrix acquisition method as well as image pickup equipment calibrating method and device
CN105069743B (en) Detector splices the method for real time image registration
CN100417231C (en) Three-dimensional vision semi-matter simulating system and method
CN111536902A (en) Galvanometer scanning system calibration method based on double checkerboards
CN106091983B (en) The complete scaling method of Vision Measuring System With Structured Light Stripe comprising scanning direction information
CN108458665A (en) The method for carrying out the quick distortion measurement in tunnel using up short
CN109215108A (en) Panorama three-dimensional reconstruction system and method based on laser scanning
CN107105147A (en) A kind of bionical super-resolution imaging sensor and imaging method
CN109859272A (en) A kind of auto-focusing binocular camera scaling method and device
CN108898634A (en) Pinpoint method is carried out to embroidery machine target pinprick based on binocular camera parallax
CN112132908B (en) Camera external parameter calibration method and device based on intelligent detection technology
CN108253939A (en) Variable optical axis single eye stereo vision measuring method
CN107481291B (en) Traffic monitoring model calibration method and system based on physical coordinates of marked dotted lines
CN113205603A (en) Three-dimensional point cloud splicing reconstruction method based on rotating platform
CN102927917A (en) Multi-view vision measurement method of iron tower
CN107356212A (en) A kind of method for three-dimensional measurement and system based on single width optical grating projection
CN107067423A (en) A kind of micro- method for becoming monitoring of the historical relic body for being applied to open environmental effect
CN106892133A (en) Load the aircraft head stability test device and method of camera head
CN111768451A (en) Large-size binocular vision defocusing calibration method based on mobile display screen
CN104167001A (en) Large-visual-field camera calibration method based on orthogonal compensation

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
GR01 Patent grant
GR01 Patent grant
TR01 Transfer of patent right
TR01 Transfer of patent right

Effective date of registration: 20230817

Address after: Room 101, Floor 1, Building 1, No. 15, Jiuzhou Road, Shangcheng District, Hangzhou City, Zhejiang Province, 310000

Patentee after: Zhejiang Jiangao Photoelectric Technology Co.,Ltd.

Address before: 410, Floor 4, Huaye Building, 511 Jianye Road, Binjiang District, Hangzhou City, Zhejiang Province, 310052

Patentee before: ZHEJIANG SIDIANLING ROBOT CO.,LTD.