CN106910221A - A kind of method and device of global calibration - Google Patents
A kind of method and device of global calibration Download PDFInfo
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- CN106910221A CN106910221A CN201710064220.4A CN201710064220A CN106910221A CN 106910221 A CN106910221 A CN 106910221A CN 201710064220 A CN201710064220 A CN 201710064220A CN 106910221 A CN106910221 A CN 106910221A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30244—Camera pose
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Abstract
The present invention relates to a kind of method and device of global calibration, for being demarcated to the system comprising camera array and turntable, setting at least one on turntable upon execution and demarcate chessboard, and demarcate chessboard can be rotated with turntable, and method is comprised the following steps：Control turntable is rotated, and obtains the shooting picture for demarcating chessboard respectively from two or more orientation；Position relationship between the position relationship and camera that determine camera and demarcate between chessboard according to shooting picture；Picture is shot by two or more and the three-dimensional world coordinate system of chessboard is demarcated, the center of rotation of turntable is determined；The position orientation relation between camera and turntable is determined by the position relationship and the center of rotation of turntable between camera and position relationship, the camera demarcated between chessboard.It is demarcated using chessboard secondary computer is demarcated to the position orientation relation between the camera array and turntable in system, and hardware device low cost, simple installation, method implementation process is simple.
Description
Technical field
The present invention relates to technical field of computer vision, more particularly to a kind of method and device of global calibration.
Background technology
In terms of computer vision field and commercial measurement, the platform arranged in pairs or groups using turntable and camera, auxiliary are generally required
Measurement process is smoothed out.And the method for traditional demarcation, generally require design high accuracy, the hardware of high stability and ensure
The spatial pose relation for determining to each other, especially under complicated working condition, integral calibrating essence is ensured by hardware precision
The method of degree, high cost and bad adaptability.
The content of the invention
Based on this, it is necessary to regarding to the issue above, there is provided a kind of to carry out the complete of global calibration by simple hardware setting
The method and device that office demarcates.
The method of the global calibration of one of embodiment, for entering rower to the system comprising camera array and turntable
It is fixed, at least one is set on turntable and demarcates chessboard, and the demarcation chessboard can be rotated with the turntable, the method bag
Include following steps：
Control turntable is rotated, and obtains the shooting picture of the demarcation chessboard respectively from two or more orientation；
The position between position relationship and camera between camera and the demarcation chessboard is determined according to the shooting picture
Relation；
By shooting the three-dimensional world coordinate system of picture and the demarcation chessboard described in two or more, the turntable is determined
Center of rotation；
By turning for the position relationship between position relationship, the camera between camera and the demarcation chessboard and the turntable
Dynamic center determines the position orientation relation between the camera and the turntable.
Wherein in the method for the global calibration of one embodiment, two demarcation chessboards, a level are set on turntable
Demarcate chessboard and one is demarcated chessboard vertically, the angle between the level calibration chessboard and the turntable is less than 90 degree, and institute
Stating level calibration chessboard can be photographed by least one camera, it is described it is vertical demarcate chessboard can by camera array in it is all
Camera is photographed.
Wherein in the method for the global calibration of one embodiment, the level calibration chessboard is affixed with the turntable table top
Close.
Wherein in the method for the global calibration of one embodiment, between the vertical demarcation chessboard and the turntable table top
Angle in the range of 80 degree~100 degree.
Wherein in the method for the global calibration of one embodiment, the demarcation chessboard is obtained from 8 different orientation
Shoot picture.
It is described by shooting picture described in two or more and described wherein in the method for the global calibration of one embodiment
The three-dimensional world coordinate system of chessboard is demarcated, the center of rotation of the turntable is determined, including：
Camera coordinates system relative level according to the camera that can photograph level calibration chessboard demarcate chessboard coordinate system it
Between position relationship and all level calibration chessboard angle points three-dimensional world coordinate, carry out least square fitting and determine the turntable
Center of rotation coordinate initial value；
By the way of radius of turn constraint, camera is being distributed on the circumference of turntable center, optimize and revise described
Coordinate initial value, obtains the coordinate optimizing value of the center of rotation of the turntable.
Wherein in the method for the global calibration of one embodiment, by the vertical mark shot in picture under different azimuth
Determine chessboard, determine the position relationship between each camera and the camera that level calibration chessboard can be photographed；
Position relationship and the turntable between position relationship, the camera by between camera and the demarcation chessboard
The center of rotation position relationship that determines between the camera and the turntable, including：
By position of the center of rotation of turntable under the level calibration chessboard coordinate system, by coordinate system translation transformation,
Set up with the turntable center as origin, turntable table top is the global world coordinate system of XOY plane；
Closed according to the position between the camera that can photograph level calibration chessboard and the level calibration chessboard coordinate system
System, it is determined that position orientation relation of the camera that level calibration chessboard can be photographed in the global world coordinate system；
According to the position relationship between each camera and the camera that level calibration chessboard can be photographed, camera battle array is determined
Position orientation relation of each camera in the global world coordinate system in row.
A kind of device of global calibration is also provided based on same inventive concept, for comprising camera array and turntable system
System is demarcated, and at least one is set on the turntable and demarcates chessboard, and the demarcation chessboard can be with the turntable
Rotate, described device includes：
Picture shooting control module, for controlling camera to obtain the shooting of the demarcation chessboard respectively from two or more orientation
Picture；
Position relationship determining module, for being determined between the camera and the demarcation chessboard according to the shooting picture
Position relationship between position relationship and camera；
Center of rotation determining module, for the three-dimensional world by shooting picture and the demarcation chessboard described in two or more
Coordinate system, determines the center of rotation of the turntable；
Location position module, for by the position relationship between camera and the demarcation chessboard, between the camera
The center of rotation of position relationship and the turntable determines the position orientation relation between the camera and the turntable.
Wherein in the device of the global calibration of one embodiment, two demarcation chessboards, a level are set on turntable
Demarcate chessboard and one is demarcated chessboard vertically, the angle between the level calibration chessboard and the turntable is less than 90 degree, and institute
Stating level calibration chessboard can be photographed by least one camera, it is described it is vertical demarcate chessboard can by camera array in it is all
Camera is photographed；
The center of rotation determining module includes：
Initial value calculating sub module, for the camera coordinates system according to the camera that can photograph level calibration chessboard with respect to water
The three-dimensional world coordinate of the flat position relationship demarcated between chessboard coordinate system and all level calibration chessboard angle points, carries out a most young waiter in a wineshop or an inn
Multiply the coordinate initial value that fitting determines the center of rotation of the turntable；
Centre coordinate optimizes submodule, for by the way of radius of turn constraint, making camera around turntable center
It is distributed on circumference, optimizes and revises the coordinate initial value, obtains the coordinate optimizing value of the center of rotation of the turntable.
Wherein in the device of the global calibration of one embodiment, by the vertical mark shot in picture under different azimuth
Determine chessboard, determine the position relationship between each camera and the camera that level calibration chessboard can be photographed；
The location position module includes：
Global world coordinate system setting up submodule, for the center of rotation according to turntable in the level calibration chessboard coordinate
Position under system, by coordinate system translation transformation, sets up with the turntable center as origin, and turntable table top is complete for XOY plane
Office's world coordinate system；
Level shoots camera position orientation relation determination sub-module, for according to can photograph the camera of level calibration chessboard with
Position relationship between the level calibration chessboard coordinate system, it is determined that the camera that can photograph level calibration chessboard is in institute
State the position orientation relation in global world coordinate system；
Global pose determination sub-module, for according to each camera and the camera that level calibration chessboard can be photographed it
Between position relationship, determine position orientation relation of each camera in the global world coordinate system in camera array.
Beneficial effects of the present invention include：The method of global calibration of the invention sets demarcation chessboard on electrical turntable,
Determined by the position carried out comprising the shooting picture for demarcating chessboard between camera and electrical turntable and between camera for shooting, most
The demarcation of position orientation relation between each camera and electrical turntable in camera array is realized eventually.This method implementation process it is simple, it is necessary to
Hardware device low cost, and simple installation.And by multi-faceted picture shooting secondary computer high-precision image processing, can
Realize that high accuracy camera is demarcated with electrical turntable position orientation relation.
Brief description of the drawings
Fig. 1 is the system structure diagram for carrying out global calibration；
Fig. 2 is a kind of flow chart of a specific embodiment of the method for global calibration of the invention；
Fig. 3 is to set to the demarcation chessboard schematic diagram on system turntable；
Fig. 4 is to be provided with the overall system architecture schematic diagram for demarcating chessboard；
Fig. 5 is a kind of structural representation of a specific embodiment of the device of global calibration；
Fig. 6 is a kind of center of rotation determining module structural representation of a specific embodiment of the device of global calibration；
Fig. 7 is a kind of location position modular structure schematic diagram of a specific embodiment of the device of global calibration.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, below in conjunction with accompanying drawing to of the invention
The specific embodiment of the method and system of global calibration is illustrated.It should be appreciated that specific embodiment described herein is only
Only it is used to explain the present invention, is not intended to limit the present invention.
The method of the global calibration of following embodiment suitable for the system comprising camera array and turntable camera and
Position orientation relation between turntable carries out global calibration.As described in Figure 1, an electrical turntable is generally comprised in the system to be demarcated
010 and the camera arrays that constitute of many cameras.The camera array includes first camera 2-1, second camera 2-2 as shown in Figure 1,
Third camera 2-3 ... ..., n-th machine 2-n.Wherein, n is the positive integer more than 3.The specific quantity comprising camera can be according to need
It is configured, 3,5 or 8 cameras such as can be set.Certainly if it is necessary, can also only be set in a certain system
Two cameras.
Specifically, in the method for global calibration of the invention, at least one demarcation chessboard is set on turntable, and it is described
Demarcating chessboard can together rotate with turntable.When camera and turntable position orientation relation are demarcated in the system of carrying out, such as Fig. 2 institutes
Show, comprise the following steps：
S100, control turntable is rotated, and obtains the shooting picture for demarcating chessboard respectively from two or more orientation.The present embodiment
It is to determine position orientation relation between camera and turntable, it is necessary to multiple are demarcated from multiple angle shots by demarcating chessboard in method
The shooting picture of chessboard.Wherein to electrical turntable control can with the control to camera synchronously carry out, also can be individually to electric rotating
Platform carries out rotation control.And can be recorded for the rotational angle of electrical turntable, for according to the mark in shooting picture
When the position relationship that determining chessboard is carried out between camera and chessboard and camera and electrical turntable is demarcated, play auxiliary.But
It is that the rotational angle of electrical turntable can not also be recorded, only the shooting picture according to the multiple angles for shooting carries out camera
Position relationship between electrical turntable is demarcated.
It also should be noted that, in order to be determined between camera and electrical turntable according to the demarcation chessboard shot in picture
Position relationship, at least provided with a demarcation chessboard not vertical with the table top of electrical turntable in the present embodiment.And can also
One demarcation chessboard that can be photographed by all cameras is only set, and the demarcation chessboard does not hang down with the table top of electrical turntable
Directly.Position between only determining multiple cameras according to the position for shooting the demarcation chessboard in picture in follow-up pose calibration process
Relation between relation and camera and electrical turntable.And in other embodiments, it is also possible to two or more is set and demarcates chessboard, its
In at least one can by camera array in all cameras photograph, for determining the position relationship between camera.And at least
One be not orthogonal to the demarcation chessboard of electrical turntable table top can by camera array in a camera photograph, for determining this
Position relationship between camera and electrical turntable.
And the quantity and the orientation of shooting of the shooting picture specifically to be shot, can be configured as needed, in order to reach
The demarcation of the turntable and camera of more accuracy, can carry out as far as possible multi-faceted picture shooting, can such as carry out 8 orientation or more
The shooting picture in orientation.It is of course also possible to only carry out two shootings of orientation picture.
S200, determines that the position between position relationship and camera between camera and demarcation chessboard is closed according to picture is shot
System.
With reference to description above, in this step, if demarcating chessboard only one of which, according to the bat shot from multiple orientation
Picture is taken the photograph, camera and the position relationship demarcated between chessboard is determined, and according to the position between every camera and the demarcation chessboard
Relation determines the position relationship between multiple cameras.
And demarcate chessboard for for the moment, may be selected one of camera as initial position camera, determine the camera and certain
Position relationship between one demarcation chessboard.And further can combine it is another demarcation chessboard determine other cameras and foregoing camera it
Between position relationship.Can be subsequently that these position relationships for determining are further analyzed, finally demarcate each camera and electric rotating
Position orientation relation between platform.
S300, shoots picture and demarcates the three-dimensional world coordinate system of chessboard, in determining the rotation of turntable by two or more
The heart.
In this step, the center of rotation of identified turntable is the three-dimensional world coordinate system based on demarcation chessboard, wherein,
When only a demarcation chessboard is set on electrical turntable, the center of rotation is based on unique demarcation chessboard and determines, and when electricity
When two or more demarcation chessboard is set on dynamic turntable, the chessboard of demarcating being based in this step is the initial bit selected in step S200
Put the camera corresponding to camera and the demarcation chessboard demarcated in chessboard position relationship.And this step finally determine turntable turn
Dynamic center is the center of rotation based on world coordinate system.
S400, by the rotation of position relationship and turntable between camera and position relationship, the camera demarcated between chessboard
Center determines the position orientation relation between camera and turntable.
Turntable center is finally determined with reference to chessboard is demarcated, thus also can determine that turntable center and demarcate chessboard three-dimensional world
The position relationship of coordinate system, in conjunction with camera and the position relationship demarcated between chessboard, can finally determine camera with turntable
Position relationship between center of rotation, that is, determine the position orientation relation between camera and turntable.Further, because by clapping
Take the photograph picture and position relationship in camera sequence between each camera is determined, may thereby determine that the position between each camera and turntable
Relation.
The method of the global calibration of the present embodiment, sets on electrical turntable and demarcates chessboard, by shooting comprising demarcation
The shooting picture of chessboard carries out position between camera and electrical turntable and between camera and determines, finally realizes each in camera array
The demarcation of position orientation relation between camera and electrical turntable.This method implementation process it is simple, it is necessary to hardware device low cost, and peace
Dress is easy.And by multi-faceted picture shooting secondary computer high-precision image processing, high accuracy camera can be realized with electricity
Dynamic turntable position orientation relation is demarcated.
Wherein in one embodiment, as shown in figure 3, setting two demarcation chessboards, a level calibration chess on turntable
A disk 3-2 and vertical demarcation chessboard 3-1.Angle between level calibration chessboard 3-2 and turntable is less than 90 degree, is preferably to press close to
0 degree.During actual installation, level calibration chessboard 3-2 can be made to be fitted with the table top of electrical turntable.Chessboard is demarcated to be installed to
Effect on turntable is as shown in Figure 4.And level calibration chessboard can be photographed by least one camera, for determining that this is initial
Position relationship between position camera and level calibration chessboard.Demarcate vertically chessboard 3-1 can by camera array in all phases
Machine is photographed, and for determining the position relationship between each camera, other cameras are initial with described in being especially to determine camera array
Position relationship between the camera of position.
And in an instantiation, it is provided for demarcating the vertical demarcation chessboard 3-1 and electricity of position relationship between each camera
The table top of dynamic turntable is perpendicular, i.e., demarcate chessboard 3-1 vertically with turntable table top into an angle of 90 degrees.The setting can be substantially reduced subsequently
The difficulty of image procossing, is easy to determine the position relationship between camera by picture, and it is Automated generalization efficiency to improve image procossing.
When demarcation chessboard is set, the photocentre direction of camera is adjusted with just to rotation chessboard.Appropriate regulation camera is corresponding
Focal length, enables turntable equal energy blur-free imaging under each camera, and sufficiently cover whole image plane as far as possible.By stereo calibration plate
(demarcation chessboard) is placed on turntable, and chessboard in-plane is tried one's best towards direction where array camera, manually adjusts its corresponding
Position, it is ensured that camera 2-1 can simultaneously be clearly apparent level calibration chessboard surface and demarcate chessboard surface vertically, and camera 2-1 is relative
Level calibration chessboard visual angle inclines can not be too big, to ensure accurately identifying and extracting for follow-up chessboard angle point.To ensure phase simultaneously
Other phase functions in machine array are clearly apparent demarcates chessboard surface vertically.Then the rotation of turntable and the candid photograph work(of camera are utilized
Can, when turntable often turns an angle, two cameras synchronize candid photograph uncalibrated image.
More specifically, as a kind of embodiment, when picture shooting is carried out, control turntable is rotated, respectively from turntable
8 different angles synchronously capture and obtain shooting images, and ensure all 8 width images for obtaining, camera 2-1 can clearly see
To chessboard angle point is horizontally and vertically demarcated, other phase functions are clearly apparent demarcates chessboard angle point vertically.
Specifically, when two demarcation chessboards of setting carry out camera and the demarcation of electrical turntable position orientation relation as shown in Figure 3, step
S300, shoots picture and demarcates the three-dimensional world coordinate system of chessboard by two or more, determines the center of rotation of turntable, including with
Lower step：
S310, the camera coordinates system relative level according to the camera that can photograph level calibration chessboard demarcates chessboard coordinate
The three-dimensional world coordinate of position relationship and all level calibration chessboard angle points between system, carries out least square fitting and determines turntable
Center of rotation coordinate initial value.
Specifically, as shown in figure 3, it is initial position camera, the level calibration chessboard 3-2 that camera 2-1 is obtained to set camera 2-1
Angle point image, in turntable rotary course, spindle central of the level calibration chessboard with turntable around turntable is horizontally rotated.Cause
This, can be fitted the pivot position for obtaining turntable according to the three-dimensional world coordinate of the chessboard angle point obtained under different angles.
Specifically as shown in figure 4, when camera is fixed, when turntable 100 rotates, being equal in the case where turntable is fixed, camera
The motion of space circular cone is done around turntable center.By camera under 8 different position (1)-(8), camera coordinates system phase is obtained
The outer parameter [R between gridiron pattern coordinate systemi Ti] (i=1 ..., 8).Under level calibration chessboard 3-2 three-dimensional world coordinates system,
The three-dimensional world coordinate of each angle point is Pi=[xi yi zi] (i=1 ..., N), wherein N is the number of chessboard angle point, ziIt is defaulted as
0.When level calibration chessboard 3-2 rotates 8 diverse locations, using the three-dimensional world coordinate of all angle points (8*N), by minimum
Two multiply the pivot (x that fitting obtains turntablec,yc, 0).
S320, by the way of radius of turn constraint, makes camera be distributed on the circumference of turntable center, optimizes and revises
Coordinate initial value, obtains the coordinate optimizing value of the center of rotation of turntable.
Because the theoretical distance between turntable center coordinate origin and camera 2-1 origins system is a steady state value d.Cause
This, using the algorithm of bundle adjustment (Bundle Adjustment), increases the constraint of radius of turn d, it is ensured that camera is around turning
It is distributed on the circumference at platform center, optimizes and revises and obtain optimal pivot coordinate.
In the present embodiment, by under different azimuth shoot picture in vertical demarcation chessboard, determine each camera with can
Photograph the position relationship between the camera of level calibration chessboard 3-2.Specifically, step S400, by camera and demarcation chessboard
Between position relationship, camera between position relationship and the center of rotation of turntable determine that position between camera and turntable is closed
System, including：
S410, by position of the center of rotation of turntable under level calibration chessboard coordinate system, by coordinate system translation transformation,
Set up with turntable center as origin, turntable table top is the global world coordinate system of the global world coordinate system of XOY plane.It is final true
Determine the turntable center coordinate (x of turntablec,yc, 0).
S420, closes according to the position between the camera and level calibration chessboard coordinate system that can photograph level calibration chessboard
System, is determined to photograph position orientation relation of the camera of level calibration chessboard in global world coordinate system.
S430, according to each camera and can photograph the position relationship between the camera of level calibration chessboard, determine camera
Position orientation relation of each camera in global world coordinate system in array.
In the present embodiment, obtained by two cameras and demarcate chessboard table images vertically, using Zhang Zhengyou plane chessboard calibrations
Method, while calibrating the intrinsic parameter In_a and In_b of two camera 2-1,2-2.Since under each images acquisition locations, two-phase
Mutual alignment relation between machine is fixed.Therefore, the outer parameter of difference for being obtained by 8 width uncalibrated images, using global optimization side
Position relationship [R T] after Fa Ke get optimizations between two cameras.It is world coordinate system W with turntable center coordinate systemc, can obtain camera
2-1 coordinate systems Wc2-1, camera 2-2 coordinate systems Wc2-2With world coordinate system WcBetween position orientation relation, realize two cameras and turntable it
Between pose demarcate.Further, due in camera array all of camera can photograph vertically demarcate chessboard, so as to
Enough position orientation relations determined according to shooting picture between each camera and camera 2-1, using the step reality same with camera 2-2 demarcation
The global calibration of existing array camera system and turntable.
It should be noted that using the method for Zhang Zhengyou plane chessboard calibrations in the present embodiment, while calibrating two cameras
The intrinsic parameter In_a and In_b of 2-1 and camera 2-2, in other embodiments, it would however also be possible to employ the method that other are demarcated is to camera
Intrinsic parameter demarcated.
Explanation is further needed exist for, in the method for the global calibration of the present embodiment, the shooting picture that camera is obtained can be gone up
Pass to and treatment is analyzed in host computer (computer), and the control captured of control to turntable and camera also can be by same
Position machine is realized.
Based on same inventive concept, also provide a kind of device of global calibration, due to this device solve problem principle with
A kind of method of foregoing global calibration is similar, therefore, implementing for the device can be according to the realization of the specific steps of preceding method, weight
Multiple part is repeated no more.The device is used to demarcate the system comprising camera array and turntable, also exists in implementation process
At least one being set on turntable and demarcates chessboard, and demarcate chessboard can rotate with turntable.
As shown in figure 5, the device of the global calibration of one of embodiment, the device includes picture shooting control module
100, position relationship determining module 200, center of rotation determining module 300 and location position module 400.Wherein, the picture is clapped
Control module 100 is taken the photograph, for controlling camera to obtain the shooting picture for demarcating chessboard respectively from two or more orientation；Close the position
It is determining module 200, for determining the position between position relationship and camera between camera and demarcation chessboard according to shooting picture
Put relation；The center of rotation determining module 300, the three-dimensional world for shooting picture by two or more and demarcate chessboard is sat
Mark system, determines the center of rotation of turntable；The location position module 400, for by camera and the position demarcated between chessboard
The center of rotation of position relationship and turntable between relation, camera determines the position orientation relation between camera and turntable.
The device carries out the demarcation between camera array and turntable by the way of demarcation chessboard is set on electrical turntable,
The apparatus structure of use is simple, easy for installation, and global calibration effect is good by the way of computer image analysis.
Wherein in one embodiment, two demarcation chessboards are set on turntable, a level calibration chessboard and one erect
Straight to demarcate chessboard, the angle between level calibration chessboard and turntable is less than 90 degree, and level calibration chessboard can be by least one
Camera is photographed, the turntable center for determining turntable.Vertically demarcate chessboard can by camera array in all cameras shoot
Arrive, for determining the position relationship between camera, be mainly to determine each camera and can above photograph level calibration chessboard
Position relationship between camera.
In this embodiment, as shown in fig. 6, center of rotation determining module 300 includes initial value calculating sub module 310 and center
Coordinate optimizing submodule 320.Wherein, the initial value calculating sub module 310, level calibration chessboard can be photographed for basis
Position relationship that the camera coordinates system relative level of camera is demarcated between chessboard coordinate system and all level calibration chessboard angle points
Three-dimensional world coordinate, carries out the coordinate initial value that least square fitting determines the center of rotation of turntable；Centre coordinate optimization
Module 320, for by the way of radius of turn constraint, making camera be distributed on the circumference of turntable center, optimizes and revises
Coordinate initial value, obtains the coordinate optimizing value of the center of rotation of turntable.
Further, by under different azimuth shoot picture in vertical demarcation chessboard, determine each camera with can
Photograph the position relationship between the camera of level calibration chessboard.Carry out the location position module 400 of final position orientation relation demarcation
Camera position orientation relation determination sub-module 420 is shot including global world coordinate system setting up submodule 410, level and global pose is true
Stator modules 430.Wherein, the global world coordinate system setting up submodule 410, for according to the center of rotation of turntable in level
The position demarcated under chessboard coordinate system, by coordinate system translation transformation, sets up with turntable center as origin, and turntable table top is XOY
The global world coordinate system of plane.The level shoots camera position orientation relation determination sub-module 420, can be photographed for basis
Position relationship between the camera and level calibration chessboard coordinate system of level calibration chessboard, is determined to photograph level calibration chess
Position orientation relation of the camera of disk in global world coordinate system.The global pose determination sub-module 430, for according to each camera
With the position relationship between the camera that can photograph level calibration chessboard, each camera is sat in the global world in determining camera array
Position orientation relation in mark system.
One of ordinary skill in the art will appreciate that all or part of flow in realizing above-described embodiment method, can be
The hardware of correlation is instructed to complete by computer program, described program can be stored in a computer read/write memory medium
In, the program is upon execution, it may include such as the flow of the embodiment of above-mentioned each method.Wherein, described storage medium can be magnetic
Dish, CD, read-only memory (Read-Only Memory, ROM) or random access memory (Random Access
Memory, RAM) etc..
Embodiment described above only expresses several embodiments of the invention, and its description is more specific and detailed, but simultaneously
Therefore the limitation to the scope of the claims of the present invention can not be interpreted as.It should be pointed out that for one of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to guarantor of the invention
Shield scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of method of global calibration, for being demarcated to the system comprising camera array and turntable, it is characterised in that
On turntable set at least one demarcate chessboard, and it is described demarcation chessboard can be rotated with the turntable, the method include with
Lower step：
Control turntable is rotated, and obtains the shooting picture of the demarcation chessboard respectively from two or more orientation；
The position relationship between position relationship and camera between camera and the demarcation chessboard is determined according to the shooting picture；
By shooting the three-dimensional world coordinate system of picture and the demarcation chessboard described in two or more, the rotation of the turntable is determined
Center；
In rotation by position relationship and the turntable between position relationship, the camera between camera and the demarcation chessboard
The heart determines the position orientation relation between the camera and the turntable.
2. the method for global calibration according to claim 1, it is characterised in that two demarcation chessboards are set on turntable,
One level calibration chessboard and a vertical demarcation chessboard, the angle between the level calibration chessboard and the turntable are less than 90
Spend, and the level calibration chessboard can be photographed by least one camera, the vertical demarcation chessboard can be by camera array
In all cameras photograph.
3. the method for global calibration according to claim 2, it is characterised in that the level calibration chessboard and the turntable
Table top fits.
4. the method for global calibration according to claim 2, it is characterised in that described vertical to demarcate chessboard and the turntable
Angle between table top is in the range of 80 degree~100 degree.
5. the method for global calibration according to claim 1, it is characterised in that obtain the marks from 8 different orientation
Determine the shooting picture of chessboard.
6. the method for global calibration according to claim 2, it is characterised in that described by shooting figure described in two or more
The three-dimensional world coordinate system of piece and the demarcation chessboard, determines the center of rotation of the turntable, including：
Camera coordinates system relative level according to the camera that can photograph level calibration chessboard is demarcated between chessboard coordinate system
The three-dimensional world coordinate of position relationship and all level calibration chessboard angle points, carries out least square fitting and determines turning for the turntable
The coordinate initial value at dynamic center；
By the way of radius of turn constraint, camera is being distributed on the circumference of turntable center, optimize and revise the coordinate
Initial value, obtains the coordinate optimizing value of the center of rotation of the turntable.
7. the method for global calibration according to claim 6, it is characterised in that by the shooting picture under different azimuth
Vertical demarcation chessboard, determine the position relationship between each camera and the camera that level calibration chessboard can be photographed；
Position relationship and the turntable between position relationship, the camera by between camera and the demarcation chessboard turn
Dynamic center determines the position relationship between the camera and the turntable, including：
By position of the center of rotation of turntable under the level calibration chessboard coordinate system, by coordinate system translation transformation, set up
With the turntable center as origin, turntable table top is the global world coordinate system of XOY plane；
According to the position relationship between the camera that can photograph level calibration chessboard and the level calibration chessboard coordinate system, really
Position orientation relation of the camera of level calibration chessboard in the global world coordinate system can be photographed described in fixed；
According to the position relationship between each camera and the camera that level calibration chessboard can be photographed, in determining camera array
Position orientation relation of each camera in the global world coordinate system.
8. a kind of device of global calibration, for being demarcated to the system comprising camera array and turntable, it is characterised in that
At least one is set on the turntable and demarcates chessboard, and the demarcation chessboard can be rotated with the turntable, described device
Including：
Picture shooting control module, for controlling camera to obtain the shooting figure of the demarcation chessboard respectively from two or more orientation
Piece；
Position relationship determining module, for determining the position between the camera and the demarcation chessboard according to the shooting picture
Position relationship between relation and camera；
Center of rotation determining module, for the three-dimensional world coordinate by shooting picture and the demarcation chessboard described in two or more
System, determines the center of rotation of the turntable；
Location position module, for by the position relationship between camera and the demarcation chessboard, the position between the camera
The center of rotation of relation and the turntable determines the position orientation relation between the camera and the turntable.
9. the device of global calibration according to claim 8, it is characterised in that two demarcation chessboards are set on turntable,
One level calibration chessboard and a vertical demarcation chessboard, the angle between the level calibration chessboard and the turntable are less than 90
Spend, and the level calibration chessboard can be photographed by least one camera, the vertical demarcation chessboard can be by camera array
In all cameras photograph；
The center of rotation determining module includes：
Initial value calculating sub module, for the camera coordinates system relative level mark according to the camera that can photograph level calibration chessboard
Determine the three-dimensional world coordinate of the position relationship and all level calibration chessboard angle points between chessboard coordinate system, carry out least square plan
Close the coordinate initial value of the center of rotation for determining the turntable；
Centre coordinate optimizes submodule, for by the way of radius of turn constraint, making camera in the circumference around turntable center
Upper distribution, optimizes and revises the coordinate initial value, obtains the coordinate optimizing value of the center of rotation of the turntable.
10. the device of global calibration according to claim 9, it is characterised in that by the shooting picture under different azimuth
In vertical demarcation chessboard, determine the position relationship between each camera and the camera that level calibration chessboard can be photographed；
The location position module includes：
Global world coordinate system setting up submodule, for the center of rotation according to turntable under the level calibration chessboard coordinate system
Position, by coordinate system translation transformation, set up with the turntable center as origin, turntable table top is the global generation of XOY plane
Boundary's coordinate system；
Level shoot camera position orientation relation determination sub-module, for according to can photograph the camera of level calibration chessboard with it is described
Position relationship between level calibration chessboard coordinate system, it is determined that the camera that can photograph level calibration chessboard is described complete
Position orientation relation in office's world coordinate system；
Global pose determination sub-module, for according between each camera and the camera that level calibration chessboard can be photographed
Position relationship, determines position orientation relation of each camera in the global world coordinate system in camera array.
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