CN107067442B - Infrared and visible light double-camera synchronous calibration plate - Google Patents
Infrared and visible light double-camera synchronous calibration plate Download PDFInfo
- Publication number
- CN107067442B CN107067442B CN201710424493.5A CN201710424493A CN107067442B CN 107067442 B CN107067442 B CN 107067442B CN 201710424493 A CN201710424493 A CN 201710424493A CN 107067442 B CN107067442 B CN 107067442B
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- panel
- bottom plate
- calibration
- visible light
- infrared
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- 230000001360 synchronised effect Effects 0.000 title description 5
- 230000000873 masking effect Effects 0.000 claims abstract description 11
- 238000005057 refrigeration Methods 0.000 claims description 17
- 239000004065 semiconductor Substances 0.000 claims description 15
- 239000000956 alloy Substances 0.000 claims description 3
- 238000000576 coating method Methods 0.000 claims description 2
- 239000003086 colorant Substances 0.000 claims description 2
- 230000009977 dual effect Effects 0.000 claims 1
- 238000000034 method Methods 0.000 description 6
- 238000013461 design Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000004927 fusion Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000012937 correction Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 239000012482 calibration solution Substances 0.000 description 1
- 229910010293 ceramic material Inorganic materials 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000009792 diffusion process Methods 0.000 description 1
- 238000007499 fusion processing Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 239000003507 refrigerant Substances 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
-
- 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
- G06T2207/10—Image acquisition modality
- G06T2207/10048—Infrared image
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B30/00—Energy efficient heating, ventilation or air conditioning [HVAC]
Landscapes
- Radiation Pyrometers (AREA)
Abstract
The invention discloses a calibration plate for synchronously calibrating an infrared camera and a visible light camera, which consists of a panel, a heat conducting pad, a refrigerating sheet, a cold conducting pad, a bottom plate, a power supply, a fixing screw and a saddle-shaped heat masking bridge.
Description
Technical Field
The invention relates to a calibration plate, in particular to a calibration plate simultaneously applicable to the calibration of an infrared camera and a visible light camera, and belongs to the field of camera calibration.
Background
The infrared image and visible light image fusion system is provided with a visible light camera and an infrared camera which respectively acquire the visible light image and the infrared image. Due to various factors such as inconsistent internal parameters of the two cameras and inconsistent installation positions, the sizes and the positions of the field of view of the images acquired by the two cameras are not uniform. In order to realize the fusion of images in multiple wave bands, the image fusion system firstly needs to carry out distortion correction and spatial registration on the two acquired images so as to eliminate the distortion of each camera and make the images aligned and consistent in space. There are various methods for correcting and registering images of infrared and visible cameras, and a simpler method is to adopt a calibration solution similar to that realized by a common three-dimensional calibration principle.
In the common binocular three-dimensional calibration method, patterns with special rules are printed on a calibration plate, two cameras to be calibrated acquire the same calibration plate and surrounding images thereof, then a calibration program searches the images acquired by the two cameras for the position and the size of the calibration plate in an image coordinate system where the patterns of the calibration plate are located, and parameters such as focal length, scaling and distortion degree of each camera are calculated after the parameters are compared with the actual physical size of the calibration plate, and meanwhile, the relative position information between the two cameras can be obtained. The distortion correction and the spatial registration of the images acquired by the two different cameras can be realized by using the calibrated parameters. The calibration plate images are generally printed on hard plates or ceramic materials, so that the relative positions among the calibration plate images cannot be deformed due to the expansion caused by heat and contraction caused by cold, and the calibration precision is ensured.
However, in the calibration of the infrared camera and the visible light camera, the infrared camera is insensitive to the pattern of the printed calibration plate (especially the medium-long wave infrared detector), so that the synchronous calibration of the visible light camera and the infrared camera cannot be realized by adopting the common calibration plate. The existing infrared camera method is realized by using a round steel ball and a high-precision three-dimensional attitude instrument, and the method has higher cost and complex calibration flow. At present, high-efficiency synchronous calibration of the infrared camera and the visible light camera can be realized by using an infrared camera and visible light camera calibration plate product which is not molded. The cost of the calibrating plate which is designed by the general user independently is higher, and the calibrating effect is not good.
Disclosure of Invention
In order to solve the problems in the background technology, the invention designs the infrared and visible light dual-band calibration plate, can realize synchronous calibration of the infrared camera and the visible light camera, and can be used in a system for fusion processing of a visible light image and an infrared image.
In order to achieve the above purpose, the specific technical scheme of the invention is as follows:
the utility model provides an infrared and two cameras of visible light mark board, includes panel, heat conduction pad, refrigeration piece, cold conduction pad, bottom plate, power, set screw, saddle formula mask the heat bridge, and the panel sets up in the bottom plate top, is provided with polylith refrigeration piece between panel and the bottom plate, and the refrigeration piece is connected with the bottom plate through cold conduction pad, and the refrigeration piece is connected with the panel through the heat conduction pad, the power is connected with the refrigeration piece, is provided with a plurality of saddle formula mask the heat bridge on the bottom plate, between panel and the bottom plate, between refrigeration piece and panel, the bottom plate are all fixed through the set screw; the panel appearance color is white, the bottom plate appearance color is black, the temperature of the panel is higher than that of the bottom plate, and the pattern of the calibration plate is represented on the panel in a hollowed-out mode.
Further, the panel is provided with a hollowed-out circular array and a corner-cut square boundary pattern as patterns of the calibration plate, the diameter of each small circle and the distance between circle centers are determined, and a gap is formed on the square boundary.
Further, the circular array pattern structure on the panel is connected with the outside through a land bridge.
Further, the refrigerating piece is a semiconductor refrigerating piece, a plurality of semiconductor refrigerating pieces are respectively arranged in a plurality of different directions between the panel and the bottom plate, the refrigerating surface of the refrigerating piece is connected with one side of the bottom plate through the cold conducting pad, and the radiating surface of the refrigerating piece is connected with one side of the panel through the heat conducting pad.
Further, the appearance colors of the panel and the bottom plate are realized through different coatings, and the temperature of the panel and the bottom plate is controlled by using a semiconductor refrigerating sheet.
Further, the number of the saddle type heat masking bridges is four, and the color of the saddle type heat masking bridges is black.
Further, the panel and the bottom plate are both made of alloy materials so as to increase the temperature diffusion performance of the refrigerating and heating source.
Furthermore, the power supply is a constant voltage and constant current source, and a plurality of refrigerating sheets are connected in parallel and then are uniformly supplied with power or are independently regulated.
Further, the pattern of the calibration plate can be directly identified by the Halcon software, and calibration is realized through a calibration function in the Halcon software. If OpenCV software is adopted, the identification program of the circular array features needs to be written by oneself to find out the corresponding feature point pairs in the two calibration plates, and then the calibration can be realized.
Compared with the prior art, the invention has the following advantages:
(1) The infrared camera and the visible light camera can be calibrated synchronously, and the infrared camera and the visible light camera are simple to manufacture and high in calibration efficiency.
(2) The design of the cold and hot surfaces of the double-layer metal plates is adopted, the temperature distribution of the calibration plate is realized by using the semiconductor refrigerating sheet, the cost is low, and the effect is obvious.
Drawings
FIG. 1 is an overall block diagram of the present invention;
FIG. 2 is a panel size diagram of the present invention;
FIG. 3 is a schematic view of a refrigerant sheet installation in accordance with the present invention;
FIG. 4 is a schematic diagram of the power supply of the refrigeration sheet of the present invention;
reference numerals illustrate: the heat-conducting plate comprises a 1-panel, a 2-heat-conducting pad, a 3-refrigerating sheet, a 4-heat-conducting pad, a 5-bottom plate, a 6-power supply, 7-fixing screws and an 8-saddle-shaped heat-shielding bridge.
Detailed Description
The technical scheme of the invention will be further described with reference to the accompanying drawings:
example 1
As shown in FIG. 1, the infrared and visible light double-camera calibration plate provided by the invention comprises the following parts: the panel 1, the heat conduction pad 2, the refrigerating sheet 3, the cold conduction pad 4, the bottom plate 5, the power supply 6, the fixing screw 7 and the saddle type heat masking bridge 8 are arranged above the bottom plate 5, a plurality of refrigerating sheets 3 are arranged between the panel 1 and the bottom plate 5, the refrigerating sheet 3 is connected with the bottom plate 5 through the cold conduction pad 4, the refrigerating sheet 3 is connected with the panel 1 through the heat conduction pad 2, the power supply 6 is connected with the refrigerating sheet 3, a plurality of saddle type heat masking bridges 8 are arranged on the bottom plate 5, and the refrigerating sheet 3 is fixed with the panel 1 and the bottom plate 5 through the fixing screw 7; the appearance color of the panel 1 is white, the appearance color of the bottom plate 5 is black, the temperature of the panel 1 is higher than that of the bottom plate 5, and the pattern of the calibration plate is represented on the panel 1 in a hollowed-out mode.
The realization principle of the calibration plate is as follows: the design of the double-layer structure of the panel 1 and the bottom plate 5 is used for the calibration plate, the temperature of the upper panel 1 is relatively hot, the appearance is white, the temperature of the lower bottom plate 5 is low, the color is black, the pattern of the calibration plate is represented on the panel 1 in a hollowed-out mode, the hollowed-out part leaks out the color and temperature information of the bottom plate 5, and the calibration pattern in the same calibration plate can be obtained by the infrared camera and the visible camera through controlling the difference of the color and the temperature between the panel 1 and the bottom plate 5.
The panel 1 and the bottom plate 5 are made of alloy materials with good heat conductivity so as to achieve good heat transfer effect, and in the embodiment, stainless steel materials are used for design.
In order to ensure that the infrared camera and the visible light camera can simultaneously recognize the calibration patterns, the calibration plate uses a double-layer structure panel and different temperature and color combinations: the temperature of the panel 1 is relatively hot and the appearance is white, the temperature of the bottom plate 5 is low and the color is black, the appearance color is realized by using different paints, the temperature of the panel 1 is controlled by utilizing the refrigerating and heat radiating functions of the semiconductor refrigerating sheet 3, and the semiconductor refrigerating sheet with the model number TEC1-12703 is used in the embodiment.
The panel 1 is provided with a hollowed-out circular array and a corner-cut square boundary pattern as patterns of a calibration plate, the diameter of each small circle and the distance between circle centers are determined, and a gap is arranged on the square boundary.
As shown in fig. 2, the calibration plate in the embodiment is designed to be 30×30cm, wherein the main body portion of the calibration pattern occupies 20×20cm of space. In the panel 1 of the calibration plate, a circular array pattern is used as a calibration identification pattern, in this embodiment, the diameter of each small circle is 1.25cm, the distance between circle centers is 2.5cm, and a notch is designed in the upper left corner of the panel 1 to facilitate the calibration procedure to identify the rotation direction of the calibration plate. According to the requirement of calibration precision, the specific number and size of circles in the circular array can be set according to the calibration precision requirement, and the calibration precision is relatively higher as the number of the circular patterns is larger, and the array size is 7×7 in the embodiment.
The circular array pattern structure on the panel 1 is connected with the outside through a land bridge, and plays a role in heat transfer. However, the rectangular shape of the periphery of the circular array can be damaged by the land bridges in four directions, and 4 saddle-shaped heat masking bridges 8 are designed in the calibration plate in order to solve the problem of damage to the pattern caused by the land bridges. The saddle type heat masking bridge 8 is black as the bottom plate 5, and the saddle type heat masking bridge 8 is fixed on the bottom plate 5 so as to be at a low temperature.
The panel 1, the bottom plate 5, the refrigerating sheet 3, the panel 1 and the bottom plate 5 are all fixed by penetrating fixing screws 7.
The plurality of semiconductor refrigerating sheets 3 are respectively arranged at a plurality of different orientations between the panel and the bottom plate, the refrigerating surface of the refrigerating sheet 3 is connected with the cold conducting pad near the bottom plate side, and the radiating surface of the refrigerating sheet 3 is connected with the heat conducting pad near the panel side.
As shown in fig. 3, a plurality of refrigerating sheets 3 are respectively arranged between the panel 1 and the bottom plate 5 in four different directions, thereby ensuring the temperature balance of the panel 1 and the bottom plate 5, and the installation mode is as follows: the refrigerating surface of the refrigerating sheet 3 is close to the bottom plate 5 side, and the radiating surface of the semiconductor refrigerating sheet 3 is close to the panel 1 side. The refrigerating sheet 3 is connected with the panel 1 and the bottom plate 5 through the heat conduction pad 2 and the cold conduction pad 4 in sequence, and the gasket can play roles of buffering, fixing and heat conduction.
Since the rated power of the semiconductor refrigeration sheet product is large in general, and the calibration plate does not need too much refrigeration power when in actual work, the power supply 6 is used for supplying power to the constant voltage and constant current source so as to conveniently control and regulate the power of the refrigeration sheet 3. The multiple semiconductor refrigeration sheets 3 can adopt a parallel connection and then a unified power supply mode or an independent power supply adjustment mode, wherein the former mode can uniformly adjust the power of all the refrigeration sheets 3, and the latter mode can independently adjust the power of each refrigeration sheet 3.
In this embodiment, a power supply mode shown in fig. 4 is disclosed, that is, after every two semiconductor refrigeration sheets 3 are connected in parallel, a constant current and constant voltage source 6 is used for supplying power, and the output current of the constant current and constant voltage source 6 can be adjusted, so that the power of the two connected semiconductor refrigeration sheets 3 is controlled.
The pattern of the calibration plate can be directly identified by Halcon software, so that calibration can be directly realized by adopting a calibration function in the Halcon software.
If the calibration is performed based on the OpenCV library, the identification program of the characteristics of the circular array and the corner-cut square boundary is required to be written by self, so that the calibration is realized after the corresponding characteristic points and the matching point pairs in the two calibration plates are found out.
Claims (5)
1. The infrared and visible light double-camera calibration plate is characterized by comprising a panel, a plurality of heat conduction pads, a plurality of refrigeration sheets, a plurality of cold conduction pads, a bottom plate, a power supply, fixing screws and a plurality of saddle-shaped heat masking bridges, wherein the panel is arranged above the bottom plate; the appearance color of the panel is white, the appearance color of the bottom plate is black, the temperature of the panel is higher than that of the bottom plate, and the pattern of the calibration plate is expressed on the panel in a hollowed-out mode;
the panel takes a hollowed-out circular array and a corner-cut square boundary pattern as the patterns of the calibration plate, the diameter of each small circle and the distance between circle centers are determined, and a notch is arranged on the square boundary;
the circular array pattern structure on the panel is connected with the outside through a plurality of continental bridges, and the circular array pattern structure on the panel is isolated from the bottom plate by air; the saddle-shaped heat masking bridges respectively cross corresponding continental bridges and are fixed on the bottom plate, and the saddle-shaped heat masking bridges are black in color;
the refrigerating piece is a semiconductor refrigerating piece, a plurality of semiconductor refrigerating pieces are respectively arranged in a plurality of different directions between the panel and the bottom plate, the refrigerating surface of the refrigerating piece is connected with one side of the bottom plate through the cold conducting pad, and the radiating surface of the refrigerating piece is connected with one side of the panel through the heat conducting pad.
2. The infrared and visible light double-camera calibration plate according to claim 1, wherein the appearance colors of the panel and the bottom plate are realized through different coatings, and the temperature of the panel and the bottom plate is controlled by using a semiconductor refrigerating sheet.
3. An infrared and visible light dual camera calibration plate as defined in claim 1, wherein said faceplate and base plate are each formed of an alloy material.
4. The infrared and visible light double-camera calibration plate according to claim 1, wherein the power supply is a constant voltage and constant current source, and a plurality of refrigeration sheets are connected in parallel to form a unified power supply mode or an independent power supply adjustment mode.
5. The infrared and visible light double-camera calibration plate according to any one of claims 1-4, wherein the pattern of the calibration plate can be directly identified by Halcon software, and calibration is achieved through a calibration function in the Halcon software.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710424493.5A CN107067442B (en) | 2017-06-07 | 2017-06-07 | Infrared and visible light double-camera synchronous calibration plate |
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| CN201710424493.5A CN107067442B (en) | 2017-06-07 | 2017-06-07 | Infrared and visible light double-camera synchronous calibration plate |
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| CN107067442A CN107067442A (en) | 2017-08-18 |
| CN107067442B true CN107067442B (en) | 2023-08-15 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107884073A (en) * | 2017-10-19 | 2018-04-06 | 中车青岛四方机车车辆股份有限公司 | Gridiron pattern calibration facility |
| CN108010088A (en) * | 2017-12-18 | 2018-05-08 | 南京理工大学 | For visible ray to be stereoscopic and the multispectral scaling board and caliberating device of infrared stereoscopic vision |
| CN108335334B (en) * | 2018-04-17 | 2024-04-26 | 深圳市道通科技股份有限公司 | Calibration device, system and method for vehicle-mounted camera |
| CN111164962B (en) * | 2018-09-26 | 2021-11-30 | 深圳市大疆创新科技有限公司 | Image processing method, device, unmanned aerial vehicle, system and storage medium |
| CN109523496B (en) * | 2018-10-19 | 2023-04-07 | 中国航空工业集团公司洛阳电光设备研究所 | Infrared shimmer binary channels image fusion distortion correction target board |
| CN110298887A (en) * | 2019-05-31 | 2019-10-01 | 中国人民解放军陆军工程大学 | A kind of compound scaling board of visible light infrared double-waveband |
| CN112184784B (en) * | 2020-09-27 | 2023-06-06 | 烟台艾睿光电科技有限公司 | Dual-spectrum image alignment method and device, electronic equipment and storage medium |
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