CN106898025A - It is a kind of to be based on 8 camera displacement transformation matrix scaling methods of coding maker - Google Patents
It is a kind of to be based on 8 camera displacement transformation matrix scaling methods of coding maker Download PDFInfo
- Publication number
- CN106898025A CN106898025A CN201710103078.XA CN201710103078A CN106898025A CN 106898025 A CN106898025 A CN 106898025A CN 201710103078 A CN201710103078 A CN 201710103078A CN 106898025 A CN106898025 A CN 106898025A
- Authority
- CN
- China
- Prior art keywords
- coordinate
- coding
- camera
- camera coordinates
- dimensional
- 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
- Length Measuring Devices By Optical Means (AREA)
- Image Processing (AREA)
Abstract
8 camera displacement transformation matrix scaling methods of coding maker are based on the present invention relates to a kind of, the method is realized that camera is changed by the coordinate system that No. 0 survey station to No. 1 survey station is changed before and after station, comprised the following steps：Multiple 8 coding makers are set in the range of viewing field of camera；8 coding makers are taken pictures at No. 0 survey station and No. 1 survey station respectively；Image according to acquisition of taking pictures is identified, and obtains three-dimensional coordinate of all index points under No. 0 camera coordinates system and No. 1 camera coordinates system in multiple 8 coding makers；Set up No. 0 survey station and No. 1 respective coded target cloud three-dimensional system of coordinate of survey station respectively according to three-dimensional coordinate, and correspondence obtains the displacement transformation matrix that coded target cloud three-dimensional coordinate is tied to No. 0 camera coordinates system and No. 1 camera coordinates system；Calculate No. 0 camera coordinates and be tied to No. 1 displacement transformation matrix of camera coordinates system.Compared with prior art, to have the advantages that to can be used for complicated and large-sized object accurate measurement, demarcation target flexibility high for the present invention.
Description
Technical field
The present invention relates to a kind of external parameters calibration method of multicamera system, it is related specifically to a kind of based on 8 points of coding marks
The camera displacement transformation matrix scaling method of will, belongs to photogrammetric field.
Background technology
In photogrammetric, the external parameters calibration of camera is the important prerequisite for realizing point cloud, the sheet of external parameters calibration
Matter is exactly the space conversion matrices between transformation matrix or camera coordinates system between calibration for cameras coordinate system and object coordinates system.
The scaling method of camera is generally divided into self-calibrating method and traditional scaling method.The self-calibrating method of camera does not need specific target
Mark is demarcated, and is demarcated by shooting the corresponding relation during camera motion between the image of surrounding environment.Self-calibration side
Method is used flexibly, but the parameter used in calibration process is more, and arithmetic result is not bery stablized.Traditional standardization, by referring to spy
Fixed target carries out matrix manipulation and realizes demarcating, and stated accuracy is high, is suitable for photogrammetric.Traditional camera calibration
Method, can be divided into three-dimensional target standardization, two-dimensional target and determine two kinds of method according to different calibrated references.Three-dimensional target standardization needs
Know three-dimensional coordinate of the index point on target in target co-ordinates system, and process, safeguard relatively difficult.The two-dimensional target method of determining is three-dimensional
The simplification of target standardization, it also requires knowing coordinate of all index points in target co-ordinates system in two-dimentional target surface.Therefore two-dimentional target
Upper index point distribution comparison rule or irregular but needs first measure the position of index point on scaling board by other means.As practised
Person of outstanding talent is logical to be waited in " the big field-of-view binocular stereo visual system structural parameters standardization in place of small two-dimension target " (publication No. CN
102968794A) proposed that small-sized two-dimensional target determined method, the two-dimentional target that the method is used is two rows shown with IPAD liquid crystal displays
The three simple dot matrix of row；Sui Guorong etc. has used a kind of circle and the inscribed octagon in " a kind of video camera scaling method "
As demarcation thing；Mentioned in " digital close shot industrial photogrammetry theory, method and application " (Science Press, 2016) yellow Guiping
Two-dimensional calibrations plate, be uniformly distributed 9 coding makers and 48 directional reflective calibration points, it is necessary to first be measured using V-STARS/S
Go out all index points and demarcate the coordinate of target coordinate system.In actually measurement, it usually needs paste bulk information unique encodings mark
Will is to realize the splicing of a large amount of photos, and this several two dimensional pattern of the above are all impracticable.
The content of the invention
The purpose of the present invention is exactly to provide a kind of based on 8 points of codings for the defect for overcoming above-mentioned prior art to exist
The camera displacement transformation matrix scaling method of mark.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of to be based on 8 camera displacement transformation matrix scaling methods of coding maker, the method realizes camera by No. 0 survey
The coordinate system changed before and after station to No. 1 survey station of standing is changed, and is comprised the following steps：
1) multiple 8 coding makers are set in the range of viewing field of camera, coding maker group is formed；
2) 8 coding makers are taken pictures at No. 0 survey station and No. 1 survey station respectively；
3) image according to acquisition of taking pictures is identified, and all index points are 0 in obtaining multiple 8 coding makers
Three-dimensional coordinate under number camera coordinates system and No. 1 camera coordinates system；
4) No. 0 survey station and No. 1 respective coded target cloud three-dimensional coordinate of survey station are set up according to the three-dimensional coordinate respectively
System, and correspondence obtains the shift transformation square that coded target cloud three-dimensional coordinate is tied to No. 0 camera coordinates system and No. 1 camera coordinates system
Battle array Q0And Q1；
5) No. 0 camera coordinates are calculated and is tied to No. 1 displacement transformation matrix Q of camera coordinates system01=Q0×Q1 -1。
8 coding makers are a coding maker being made up of eight circular index points, eight circular index points
In, the center of circle of index point 0,1,2,3 presses 6 × 6 strokes to be clockwise that sequence constitutes foursquare four summits to the square
Subnetting lattice, index point 4 is located at index point 0, a mesh point of 1 line, and index point 5,6,7 is distributed in the square interior
On three mesh points.
The step 3) in, obtain three-dimensional of all index points under No. 0 camera coordinates system in a certain 8 coding makers
Coordinate is specially：
301) in the image for being obtained according to No. 0 survey station index point 0,1,2,3 imaging plane pixel coordinate, by square target
Modular concept obtains index point 0,1,2,3 in No. 0 three-dimensional coordinate of camera coordinates system；
302) coding maker coordinate system is set up on a certain 8 coding makers, wherein, the center of circle of index point 0 is seat
Mark system origin, index point 0,1 circle center line connecting are X ' axles, and index point 0,3 circle center line connectings are Y ' axles, and the plane normal for crossing origin is Z '
Axle, so as to obtain coordinate of each index point on the coding maker coordinate system；
303) according to index point 0,1,2,3 in the three-dimensional coordinate of No. 0 camera coordinates system and its on coding maker coordinate system
Coordinate calculate obtain coding maker coordinate be tied to No. 0 the spin matrix R and translation vector T of camera coordinates system；
304) calculated according to the spin matrix R and translation vector T and obtain index point 4,5,6,7 in No. 0 camera coordinates system
Three-dimensional coordinate；
Three-dimensional of all index points under No. 0 camera coordinates system is sat in obtaining all 8 coding makers by above-mentioned steps
Mark；
Similarly, all index points are under No. 1 camera coordinates system in obtaining all 8 coding makers by above-mentioned steps
Three-dimensional coordinate.
The step 4) in, the coded target cloud three-dimensional system of coordinate for setting up No. 0 survey station is specially：
401) three-dimensional coordinate of all index points under No. 0 camera coordinates system forms a coding maker group point cloud, P0=
(x0i, y0i, z0i), i=0,1 ..., n, n are the sum of index point, obtain the three-dimensional coordinate of point cloud center of gravity As the origin of coded target cloud three-dimensional system of coordinate；
402) covariance matrix is calculatedTry to achieve
Three eigenvalue λs1, λ2, λ3Corresponding three unit characters vector η1, η2, η3Successively as the X of this cloud three-dimensional system of coordinate,
Y, Z axis；
Obtain coded target cloud three-dimensional coordinate and be tied to No. 0 displacement transformation matrix Q of camera coordinates system0It is designated as：
Similarly, No. 1 coded target cloud three-dimensional system of coordinate of survey station is set up, and obtains it to No. 1 position of camera coordinates system
Move transformation matrixWherein, P1oIt is No. 1 original of the coded target cloud three-dimensional system of coordinate of survey station
Point, ξ1, ξ2, ξ3It is unit characteristic vector.
For same coding maker group, when the characteristic value order that different cameral coordinate system is obtained is identical, three are taken successively
The corresponding characteristic vector of characteristic value is the X, Y, Z axis of coordinate system；The feature obtained twice before and after using different cameral coordinate system
When value order is different, the characteristic value order that will be obtained twice adjusts order that is consistent and accordingly adjusting corresponding unit character vector
With behind direction successively as the X, Y, Z axis of coordinate system.
The area of each 8 coding maker is less than 25cm2。
Compared with prior art, the present invention has advantages below：
1) present invention carries out camera displacement transformation matrix demarcation using 8 coding makers, realizes the mark of Camera extrinsic number
Fixed, using its embedded side's target model and the big characteristic of encoding amount, can be used to being independent of demarcating rod carries out complicated and large-sized object essence
Really measurement, present invention utilizes square target model, its effect is to play a part of to demarcate rod, the pixel coordinate of photo can be converted to
Engineering coordinate, encoding amount is capable of achieving greatly the measurement of complicated and large-sized object.
2) present invention demarcate change station before, change station after camera coordinates system transformational relation small-sized coding maker be flexibly paste
On measured object or periphery, the relative position between coding maker is indefinite, and essence constitutes the phase between coded target
The uncertain overall three-dimensional scaling target of mutual position relationship, the present invention is by establishing a kind of point cloud three-dimensional system of coordinate so that in mark
Coordinate description during fixed to index point cloud in any coding maker is achieved, and so substantially increases the spirit for demarcating target
Activity, greatly improves actual photogrammetric operability and flexibility.
3) present invention can be conveniently pasted on the measured object in viewing field of camera or week using 8 coding makers of small size
Side, it is easy to use.
Brief description of the drawings
Fig. 1 for the present invention in use 8 coding maker schematic diagrames；
Fig. 2 is the relation schematic diagram of 8 coded target cloud three-dimensional system of coordinates of the invention and each survey station camera coordinates system；
In Fig. 2, the point cloud that all index points are constituted on A presentation code marks, B represents a cloud three-dimensional system of coordinate, and C represents 0
Number camera coordinates system, D represents No. 1 camera coordinates system；
Fig. 3 is flow chart of the invention.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.The present embodiment is with technical solution of the present invention
Premised on implemented, give detailed implementation method and specific operating process, but protection scope of the present invention is not limited to
Following embodiments.
As shown in figure 3, the present embodiment offer is a kind of to be based on 8 camera displacement transformation matrix scaling methods of coding maker,
In the method the intrinsic parameter id of camera according to Yuan Yong etc. in a kind of " industrial fixed-focus camera parameter mark based on motion side's target earnest
Determine method " (publication No. 103559707A) demarcate in advance.The camera displacement transformation matrix scaling method can realize camera by 0
The coordinate system conversion that number survey station to No. 1 survey station is changed before and after station, comprises the following steps：
1) multiple 8 coding makers are set in the range of viewing field of camera, coding maker group, in the present embodiment, is formed at 8 points
Coding maker is provided with three, is pasted onto on the measured object in viewing field of camera or periphery, and particular location is not strict with, multiple
Coding maker constitutes an integral calibrating target.
8 coding makers are a coding maker being made up of eight circular index points, eight circular index points
In, the center of circle of index point 0,1,2,3 presses 6 × 6 strokes to be clockwise that sequence constitutes foursquare four summits to the square
Subnetting lattice, index point 4 is located at index point 0, a mesh point of 1 line, and index point 5,6,7 is distributed in the square interior
On three mesh points.
As shown in figure 1, square of 8 coding makers of the present embodiment for length of side 49mm, four corners are being clockwise
Sequence sets the index point that numbering is as 0,1,2,3 respectively, and index point is the circle of a diameter of 5mm, and the center of circle with index point 0,1,2,3 is
40mm × 40mm squares on summit press 6 × 6 grid divisions, and eight index point centers of circle are all disposed within mesh point, index point 0,
1st, 2,3 center of circle is lived apart the corner of the grid, and an orientation mark point 4 is set in index point 0, five mesh points of 1 line, its
His three index points 5,6,7 are respectively provided on 6 × 6 grids inside, 25 the three of mesh point points.
2) 8 coding makers are taken pictures at No. 0 survey station and No. 1 survey station respectively, obtains present encoding
Image of the set of landmarks under No. 0 camera coordinates system and No. 1 camera coordinates system.
3) image according to acquisition of taking pictures is identified, and all index points are 0 in obtaining multiple 8 coding makers
Three-dimensional coordinate under number camera coordinates system and No. 1 camera coordinates system.
By taking the coding maker that No. 0 camera is clapped as an example, the centre point of the index point 0,1,2,3 of the coding maker is constituted
One square side's target, according to square target model principle algorithm, by this 4 points pixel coordinate (x in imaging planei, yi), i=0,
1,2,3, its three-dimensional coordinate q in camera coordinates system can be calculatedi=(Xi, Yi, Zi), i=0,1,2,3.
Definition has coordinate system on the coding maker：The center of circle of index point 0 is coordinate origin, index point 0,1 circle center line connecting
It is X ' axles, index point 0,3 circle center line connectings are Y ' axles, and the plane normal for crossing origin is Z ' axles.By after code identification treatment, obtaining
The numbering of the coding maker simultaneously obtains coordinate p of eight coded target centers of circle in the coding maker coordinate systemi=(Xi', Yi',
Zi'), i=0,1,2,3,4,5,6,7；
According to q=T+Rp, it is known that pi=(Xi', Yi', Zi') and qi=(Xi, Yi, Zi), i=0,1,2,3, can obtain
Coding maker coordinate is tied to the spin matrix R and translation vector T of camera coordinates system.
By pi=(Xi', Yi', Zi'), i=4,5,6,7, coded target 4,5,6,7 can be asked at No. 0 according to q=T+Rp
The coordinate q of camera coordinates systemi=(Xi, Yi, Zi), i=4,5,6,7.
Similar approach, can be in the hope of 16 coordinate P of point on other two coding makers under No. 0 camera0=(x0i, y0i,
z0i), i=8,9 ..., 23.
As above 24 coordinate P in the index point center of circle on No. 0 lower three coding maker of camera can be tried to achieve0=(x0i, y0i,
z0i), i=0,24 coordinate P in the index point center of circle on 1 ..., 23 and No. 1 lower three coding makers of camera1=(x1i, y1i,
z1i), i=0,1 ..., 23.
4) No. 0 survey station and No. 1 respective coded target cloud three-dimensional coordinate of survey station are set up according to the three-dimensional coordinate respectively
System, and correspondence obtains the shift transformation square that coded target cloud three-dimensional coordinate is tied to No. 0 camera coordinates system and No. 1 camera coordinates system
Battle array Q0And Q1.As shown in Figure 2.
The coding maker that 24 index points are constituted is set up under No. 0 camera coordinates system and No. 1 camera coordinates system respectively
Point cloud three-dimensional system of coordinate, the coded target cloud three-dimensional system of coordinate is a local coordinate system, in No. 0 and No. 1 camera coordinates system
It is down two kinds of expression-forms, but is uniquely determined in the position of global world coordinate system.
By this 24 three-dimensional coordinate P in the index point center of circle of the same name under No. 0 camera coordinates system0=(x0i, y0i, z0i), i
=0,1 ..., 23.Try to achieve the three-dimensional coordinate of this cloud center of gravity N=23, as the origin of the coded target cloud three-dimensional system of coordinate；The point is tried to achieve again
The covariance matrix of cloud coordinateThree features tried to achieve
Value λ1, λ2, λ3Corresponding three unit characters vector η1, η2, η3Successively as the X, Y, Z axis of this cloud three-dimensional system of coordinate.Association side
In difference matrix, a, b, c represent three column vectors of covariance matrix, and first subscript 0 is expressed as the element of cov0, under second
Mark represents that the line position of element is put.
Then coded target cloud three-dimensional coordinate is tied to No. 0 spin matrix R=(η of camera coordinates system1, η2, η3), translate square
Battle array T=P0o, remember that the displacement transformation matrix that point cloud coordinate is tied to No. 0 camera coordinates system is
By this 24 three-dimensional coordinate P in the index point center of circle of the same name under No. 1 camera coordinates system1=(x1i, y1i, z1i), i
=0,1 ..., 23, try to achieve the three-dimensional coordinate of this cloud center of gravity N=23, as the origin of the coded target cloud three-dimensional system of coordinate；The point is tried to achieve again
The covariance matrix of cloud coordinateIf three spies for trying to achieve
Value indicative order is also λ1, λ2, λ3, then corresponding three unit characters vector ξ1, ξ2, ξ3As the X of this cloud three-dimensional system of coordinate, Y,
Z axis.
Then point cloud coordinate is tied to No. 1 spin matrix R=(ξ of camera coordinates system1, ξ2, ξ3), translation matrix T=P1o, note point
The displacement transformation matrix that cloud coordinate is tied to No. 1 camera coordinates system is
η in Q01, η2, η3With ξ in Q11, ξ2, ξ3Order and sign follow the example of specially：For same coding maker group,
When the characteristic value order that different cameral coordinate system is obtained is identical, it is coordinate system that the corresponding characteristic vector of three characteristic values is taken successively
X, Y, Z axis；When the characteristic value order obtained twice before and after using different cameral coordinate system is different, the feature that will be obtained twice
Value order is adjusted behind order that is consistent and accordingly adjusting corresponding unit character vector and direction successively as X, Y, Z of coordinate system
Axle.
5) No. 0 camera coordinates are calculated and is tied to No. 1 displacement transformation matrix Q of camera coordinates system01=Q0×Q1 -1。
Preferred embodiment of the invention described in detail above.It should be appreciated that one of ordinary skill in the art without
Need creative work just can make many modifications and variations with design of the invention.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical scheme, all should be in the protection domain being defined in the patent claims.
Claims (6)
1. it is a kind of to be based on 8 camera displacement transformation matrix scaling methods of coding maker, it is characterised in that the method realizes phase
Machine is changed by the coordinate system that No. 0 survey station to No. 1 survey station is changed before and after station, is comprised the following steps：
1) multiple 8 coding makers are set in the range of viewing field of camera, coding maker group is formed；
2) 8 coding makers are taken pictures at No. 0 survey station and No. 1 survey station respectively；
3) image according to acquisition of taking pictures is identified, and all index points are in No. 0 phase in obtaining multiple 8 coding makers
Three-dimensional coordinate under machine coordinate system and No. 1 camera coordinates system；
4) No. 0 survey station and No. 1 respective coded target cloud three-dimensional system of coordinate of survey station are set up according to the three-dimensional coordinate respectively, and
Correspondence obtains the displacement transformation matrix Q that coded target cloud three-dimensional coordinate is tied to No. 0 camera coordinates system and No. 1 camera coordinates system0
And Q1；
5) No. 0 camera coordinates are calculated and is tied to No. 1 displacement transformation matrix Q of camera coordinates system01=Q0×Q1 -1。
2. according to claim 1 to be based on 8 camera displacement transformation matrix scaling methods of coding maker, its feature exists
In, 8 coding makers are a coding maker being made up of eight circular index points, in eight circular index points, mark
The center of circle of will point 0,1,2,3 divides net to the square to be clockwise that sequence constitutes foursquare four summits by 6 × 6
Lattice, index point 4 is located at index point 0, a mesh point of 1 line, and index point 5,6,7 is distributed in three of the square interior
On mesh point.
3. according to claim 2 to be based on 8 camera displacement transformation matrix scaling methods of coding maker, its feature exists
In the step 3) in, obtain three-dimensional coordinate tool of all index points under No. 0 camera coordinates system in a certain 8 coding makers
Body is：
301) in the image for being obtained according to No. 0 survey station index point 0,1,2,3 imaging plane pixel coordinate, by square target model
Principle obtains index point 0,1,2,3 in No. 0 three-dimensional coordinate of camera coordinates system；
302) coding maker coordinate system is set up on a certain 8 coding makers, wherein, the center of circle of index point 0 is coordinate system
Origin, index point 0,1 circle center line connecting are X ' axles, and index point 0,3 circle center line connectings are Y ' axles, and the plane normal for crossing origin is Z ' axles,
So as to obtain coordinate of each index point on the coding maker coordinate system；
303) according to index point 0,1,2,3 in No. 0 three-dimensional coordinate and its seat on coding maker coordinate system of camera coordinates system
Mark calculates acquisition coding maker coordinate and is tied to No. 0 the spin matrix R and translation vector T of camera coordinates system；
304) calculated according to the spin matrix R and translation vector T and obtain index point 4,5,6,7 at No. 0 the three of camera coordinates system
Dimension coordinate；
Three-dimensional coordinate of all index points under No. 0 camera coordinates system in all 8 coding makers is obtained by above-mentioned steps；
Similarly, three-dimensional of all index points under No. 1 camera coordinates system in all 8 coding makers is obtained by above-mentioned steps
Coordinate.
4. according to claim 2 to be based on 8 camera displacement transformation matrix scaling methods of coding maker, its feature exists
In the step 4) in, the coded target cloud three-dimensional system of coordinate for setting up No. 0 survey station is specially：
401) three-dimensional coordinate of all index points under No. 0 camera coordinates system forms coding maker group point cloud, is designated as P0=
(x0i, y0i, z0i), i=0,1 ..., n, n are the sum of index point, obtain the three-dimensional coordinate of point cloud center of gravityAs the origin of coded target cloud three-dimensional system of coordinate；
402) covariance matrix is calculatedThree for trying to achieve
Eigenvalue λ1, λ2, λ3Corresponding three unit characters vector is successively as the X, Y, Z axis of this cloud three-dimensional system of coordinate；
Obtain coded target cloud three-dimensional coordinate and be tied to No. 0 displacement transformation matrix Q of camera coordinates system0It is designated as：
Similarly, No. 1 coded target cloud three-dimensional system of coordinate of survey station is set up, and obtains it and become to No. 1 displacement of camera coordinates system
Change matrixWherein, P1oIt is No. 1 origin of the coded target cloud three-dimensional system of coordinate of survey station,
ξ1, ξ2, ξ3It is unit characteristic vector.
5. according to claim 4 to be based on 8 camera displacement transformation matrix scaling methods of coding maker, its feature exists
In, for same coding maker group, different cameral coordinate system obtain characteristic value order it is identical when, three characteristic values are taken successively
Corresponding characteristic vector is the X, Y, Z axis of coordinate system；The characteristic value obtained twice before and after using different cameral coordinate system is sequentially
When different, the characteristic value order that will be obtained twice adjusts order that is consistent and accordingly adjusting corresponding unit character vector and direction
Afterwards successively as the X, Y, Z axis of coordinate system.
6. according to claim 2 to be based on 8 camera displacement transformation matrix scaling methods of coding maker, its feature exists
In the area of each 8 coding maker is less than 25cm2。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710103078.XA CN106898025A (en) | 2017-02-24 | 2017-02-24 | It is a kind of to be based on 8 camera displacement transformation matrix scaling methods of coding maker |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710103078.XA CN106898025A (en) | 2017-02-24 | 2017-02-24 | It is a kind of to be based on 8 camera displacement transformation matrix scaling methods of coding maker |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106898025A true CN106898025A (en) | 2017-06-27 |
Family
ID=59184081
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710103078.XA Pending CN106898025A (en) | 2017-02-24 | 2017-02-24 | It is a kind of to be based on 8 camera displacement transformation matrix scaling methods of coding maker |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106898025A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110332886A (en) * | 2019-06-21 | 2019-10-15 | 南京航空航天大学 | A kind of precision visual method for rapidly positioning |
| CN110689585A (en) * | 2019-10-09 | 2020-01-14 | 北京百度网讯科技有限公司 | Multi-phase external parameter combined calibration method, device, equipment and medium |
| CN110836662A (en) * | 2019-11-04 | 2020-02-25 | 南京理工大学 | Slope displacement monitoring method based on relative orientation and absolute orientation algorithm |
| CN111524238A (en) * | 2020-04-23 | 2020-08-11 | 南京航空航天大学 | Three-dimensional point cloud deformation method based on coding point driving |
| CN112750172A (en) * | 2020-07-23 | 2021-05-04 | 江苏普达迪泰科技有限公司 | Improved method for point-shaped coding mark in photogrammetry |
| CN112991460A (en) * | 2021-03-10 | 2021-06-18 | 哈尔滨工业大学 | Binocular measurement system, method and device for obtaining size of automobile part |
| CN113129394A (en) * | 2020-12-23 | 2021-07-16 | 合肥工业大学 | Parallelogram coding mark based on region division coding and coding method thereof |
| CN113188524A (en) * | 2020-12-23 | 2021-07-30 | 合肥工业大学 | Parallelogram coding sign based on graphic geometric relation and coding method thereof |
| CN115641382A (en) * | 2022-10-21 | 2023-01-24 | 哈尔滨工业大学 | External parameter calibration method for orthogonal stereoscopic vision structure |
| CN116797669A (en) * | 2023-08-24 | 2023-09-22 | 成都飞机工业（集团）有限责任公司 | Multi-camera array calibration method based on multi-face tool |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101876555A (en) * | 2009-11-04 | 2010-11-03 | 北京控制工程研究所 | Lunar rover binocular vision navigation system calibration method |
| CN103559707A (en) * | 2013-10-30 | 2014-02-05 | 同济大学 | Industrial fixed-focus camera parameter calibration method based on moving square target calibration object |
| CN104376328A (en) * | 2014-11-17 | 2015-02-25 | 国家电网公司 | Distribution type coded mark identification method and system based on coordinates |
| CN104715469A (en) * | 2013-12-13 | 2015-06-17 | 联想(北京)有限公司 | Data processing method and electronic device |
| CN105976353A (en) * | 2016-04-14 | 2016-09-28 | 南京理工大学 | Spatial non-cooperative target pose estimation method based on model and point cloud global matching |
-
2017
- 2017-02-24 CN CN201710103078.XA patent/CN106898025A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101876555A (en) * | 2009-11-04 | 2010-11-03 | 北京控制工程研究所 | Lunar rover binocular vision navigation system calibration method |
| CN103559707A (en) * | 2013-10-30 | 2014-02-05 | 同济大学 | Industrial fixed-focus camera parameter calibration method based on moving square target calibration object |
| CN104715469A (en) * | 2013-12-13 | 2015-06-17 | 联想(北京)有限公司 | Data processing method and electronic device |
| CN104376328A (en) * | 2014-11-17 | 2015-02-25 | 国家电网公司 | Distribution type coded mark identification method and system based on coordinates |
| CN105976353A (en) * | 2016-04-14 | 2016-09-28 | 南京理工大学 | Spatial non-cooperative target pose estimation method based on model and point cloud global matching |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110332886A (en) * | 2019-06-21 | 2019-10-15 | 南京航空航天大学 | A kind of precision visual method for rapidly positioning |
| CN110689585A (en) * | 2019-10-09 | 2020-01-14 | 北京百度网讯科技有限公司 | Multi-phase external parameter combined calibration method, device, equipment and medium |
| US11394872B2 (en) | 2019-10-09 | 2022-07-19 | Apollo Intelligent Driving Technology (Beijing) Co., Ltd. | Method and apparatus for jointly calibrating external parameters of multiple cameras, device and medium |
| CN110689585B (en) * | 2019-10-09 | 2022-06-21 | 阿波罗智能技术(北京)有限公司 | Multi-phase external parameter combined calibration method, device, equipment and medium |
| CN110836662B (en) * | 2019-11-04 | 2021-10-26 | 南京理工大学 | Slope displacement monitoring method based on relative orientation and absolute orientation algorithm |
| CN110836662A (en) * | 2019-11-04 | 2020-02-25 | 南京理工大学 | Slope displacement monitoring method based on relative orientation and absolute orientation algorithm |
| CN111524238A (en) * | 2020-04-23 | 2020-08-11 | 南京航空航天大学 | Three-dimensional point cloud deformation method based on coding point driving |
| CN112750172A (en) * | 2020-07-23 | 2021-05-04 | 江苏普达迪泰科技有限公司 | Improved method for point-shaped coding mark in photogrammetry |
| CN113188524B (en) * | 2020-12-23 | 2022-07-22 | 合肥工业大学 | Parallelogram coding sign based on graphic geometric relation and coding method thereof |
| CN113188524A (en) * | 2020-12-23 | 2021-07-30 | 合肥工业大学 | Parallelogram coding sign based on graphic geometric relation and coding method thereof |
| CN113129394A (en) * | 2020-12-23 | 2021-07-16 | 合肥工业大学 | Parallelogram coding mark based on region division coding and coding method thereof |
| CN113129394B (en) * | 2020-12-23 | 2022-09-06 | 合肥工业大学 | Parallelogram coding mark based on region division coding and coding method thereof |
| CN112991460B (en) * | 2021-03-10 | 2021-09-28 | 哈尔滨工业大学 | Binocular measurement system, method and device for obtaining size of automobile part |
| CN112991460A (en) * | 2021-03-10 | 2021-06-18 | 哈尔滨工业大学 | Binocular measurement system, method and device for obtaining size of automobile part |
| CN115641382A (en) * | 2022-10-21 | 2023-01-24 | 哈尔滨工业大学 | External parameter calibration method for orthogonal stereoscopic vision structure |
| CN115641382B (en) * | 2022-10-21 | 2023-09-08 | 哈尔滨工业大学 | External parameter calibration method for orthogonal stereoscopic vision structure |
| CN116797669A (en) * | 2023-08-24 | 2023-09-22 | 成都飞机工业（集团）有限责任公司 | Multi-camera array calibration method based on multi-face tool |
| CN116797669B (en) * | 2023-08-24 | 2024-01-12 | 成都飞机工业（集团）有限责任公司 | Multi-camera array calibration method based on multi-face tool |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106898025A (en) | It is a kind of to be based on 8 camera displacement transformation matrix scaling methods of coding maker | |
| US10867406B2 (en) | Unmanned aerial vehicle calibration method and system based on color 3D calibration object | |
| Huang et al. | Research on multi-camera calibration and point cloud correction method based on three-dimensional calibration object | |
| CN102692214B (en) | Narrow space binocular vision measuring and positioning device and method | |
| CN102032878B (en) | Accurate on-line measurement method based on binocular stereo vision measurement system | |
| CN103267491B (en) | The method and system of automatic acquisition complete three-dimensional data of object surface | |
| CN100470590C (en) | Camera calibration method and calibration apparatus thereof | |
| CN107481288A (en) | The inside and outside ginseng of binocular camera determines method and apparatus | |
| CN100417231C (en) | Three-dimensional vision semi-matter simulating system and method | |
| CN110443879B (en) | Perspective error compensation method based on neural network | |
| CN103150724B (en) | Segmented model-based camera calibration method | |
| CN109443209A (en) | A kind of line-structured light system calibrating method based on homography matrix | |
| JP2020053008A (en) | Positioning method, robot, and computer storage medium | |
| CN102136140B (en) | Rectangular pattern-based video image distance detecting method | |
| CN109141226A (en) | The spatial point coordinate measuring method of one camera multi-angle | |
| CN103278138A (en) | Method for measuring three-dimensional position and posture of thin component with complex structure | |
| CN107966100A (en) | Measuring method and measuring system based on camera array | |
| CN109559349A (en) | A kind of method and apparatus for calibration | |
| CN108010086A (en) | Camera marking method, device and medium based on tennis court markings intersection point | |
| CN101915573A (en) | Positioning measurement method based on key point detection of marker | |
| CN103218812A (en) | Method for rapidly acquiring tree morphological model parameters based on photogrammetry | |
| CN109900205A (en) | A kind of quick calibrating method of high-precision single line laser device and optical camera | |
| CN104123726B (en) | Heavy forging measuring system scaling method based on vanishing point | |
| CN109993801A (en) | A kind of caliberating device and scaling method for two-dimensional camera and three-dimension sensor | |
| CN102750698B (en) | Texture camera calibration device, texture camera calibration method and geometry correction method of texture image of texture camera |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| AD01 | Patent right deemed abandoned | ||
| AD01 | Patent right deemed abandoned |
Effective date of abandoning: 20201120 |