CN107358633A - Join scaling method inside and outside a kind of polyphaser based on 3 points of demarcation things - Google Patents
Join scaling method inside and outside a kind of polyphaser based on 3 points of demarcation things Download PDFInfo
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- CN107358633A CN107358633A CN201710564438.6A CN201710564438A CN107358633A CN 107358633 A CN107358633 A CN 107358633A CN 201710564438 A CN201710564438 A CN 201710564438A CN 107358633 A CN107358633 A CN 107358633A
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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Abstract
The invention discloses scaling method is joined inside and outside a kind of polyphaser based on 3 points of demarcation things, comprise the following steps：S10：Picture point data acquisition；S20：The inside and outside ginseng demarcation of camera two-by-two；S30：The inside and outside ginseng demarcation of polyphaser under unified reference camera coordinate system；S40：Specify the inside and outside ginseng demarcation of polyphaser under world coordinate system.Calibration tool makes simply used in the method for the present invention, and need not limit demarcation thing and be moved in the public view field of all cameras, workable；The method of the present invention makes more picture points participate in computing, algorithm robustness is more preferable using the polyphaser cascade path that visual field relation determines altogether.
Description
Technical field
The invention belongs to computer vision and the technical field of camera calibration, and in particular to one kind is based on 3 points of demarcation things
The inside and outside ginseng scaling method of polyphaser.
Background technology
Camera calibration technology recovers camera inside and outside parameter using the two dimensional image for demarcating object, and then reconstructs scene
Three-dimensional information, it is the committed step of computer vision field, is the precondition of view-based access control model sensor application of aspects, in work
The fields such as industry, space flight, cultural creative have extensive use.
In recent years, flourishing with virtual reality, the visual angle of single camera can not meet people to a wide range of three-dimensional
The expectation in space, polyphaser combination and demarcation are increasingly becoming new study hotspot.However, existing polyphaser scaling method, past
Toward requiring that demarcation thing moves in the public view field of all cameras simultaneously, add the difficulty of practical operation, and stated accuracy compared with
It is low.
Therefore, how by conveniently operating, while the high-precision inside and outside parameter of polyphaser is obtained, is current urgency
Need to solve the problems, such as.
The content of the invention
For above-mentioned technical problem present in prior art, the present invention provides a kind of polyphaser based on 3 points of demarcation things
Inside and outside ginseng scaling method.
In order to solve the above technical problems, the technical solution adopted by the present invention is：
Join scaling method inside and outside a kind of polyphaser based on 3 points of demarcation things, comprise the following steps：
S10：Picture point data acquisition；
S20：The inside and outside ginseng demarcation of camera two-by-two；
S30：The inside and outside ginseng demarcation of polyphaser under unified reference camera coordinate system；
S40：Specify the inside and outside ginseng demarcation of polyphaser under world coordinate system.
Preferably, calibration tool includes the T-shaped fixed pole with three conllinear infrared reflecting points that can move freely, and attached
The L-type rigid body for being used to indicate world coordinate system of some infrared reflecting points.
Step S10 includes：
S11：In scene is demarcated, the T-shaped fixed pole of mark equipped with three conllinear infrared reflecting points is freely brandished, controls multiple phases
Machine synchronous acquisition data of calibration point；
S12：L-type right angle rigid body is placed on demarcation scene center, controls multiple camera synchronous acquisition rigid body data.
Preferably, step S20 includes：
S21：Distortion is handled, and according to distortion factor and the physical size of unit pixel, using distortion model, it is abnormal to obtain removal
The coordinate of true picture point after change；
S22：Effective focal length is solved, two image coordinate system origin translations to principal point are obtained substantially using 8 methods of normalization
Matrix and limit, fundamental matrix is simplified according to Hartley self-calibrating methods and the pixel unit focal length of camera is obtained in decomposition；
S23：Outer ginseng is solved, basis matrix is normalized solution essential matrix using intrinsic parameter, passes through singular value point
Solution obtains ginseng (R, t) outside four groups, and calibration point is reconstructed first with trigonometry, is located in front of video camera (i.e. Z seats based on demarcation thing
Mark is permanent just) principle, filter out one group correct (R, t)；
S24：Inside and outside ginseng optimization, with the minimum optimization aim of picture point epipolar distance error sum, uses L-M nonlinear optimizations
Algorithm carries out nonlinear optimization to demarcating gained inside and outside parameter two-by-two.
Preferably, step S30 includes：
S31：Establish multicamera system non-directed graph；
S32：Reference camera is determined to the optimal cascade path of any camera, it is No. 0 ginseng to select the camera that viewpoint is most altogether
Examine camera, using Dijkstra methods calculate No. 0 camera to any kth camera institute through side right weigh sum minimum path；
S33：Assuming that the optimal cascade path of kth camera is 0 to i again to k, by demarcating the try to achieve No. 0 to i-th two-by-two
The outer parameter of number camera is (R0i, t0i), the outer ginseng of No. i-th to kth camera is (Rik, tik), then No. 0 arrive kth number outer ginseng
For (RikR0i, Rikt0i+tik)；
S34：Repeat step S33, the outer parameter of the relatively uniform reference camera of all cameras is obtained, is reconstructed using trigonometry
Calibration point, to minimize re-projection error as optimization aim, algorithm is bundled to all inside and outside ginseng global optimizations using BA.
Preferably, step S40 includes：
S41：Determine the matching relationship that L-type rigid body is imaged in different cameral：Camera extrinsic according to trying to achieve can determine that two regard
The basis matrix of figure, is constrained using Epipolar geometry, obtains matching picture point；
S42：Using least square triangulation method, coordinate of the L-type rigid body under reference camera coordinate system is reconstructed；
S43：Coordinate of the L-type rigid body in the case where specifying world coordinate system is set, world coordinates is obtained using kneipPnP algorithms
To the rotation and translation of reference camera coordinate system；
S44：Obtain the inside and outside parameter of all cameras under world coordinate system.
Compared with prior art, the beneficial effect of scaling method is joined inside and outside the polyphaser of the invention based on 3 points of demarcation things
It is：
1st, calibration tool used in method of the invention makes simple, and need not limit demarcation thing in the public of all cameras
Moved in visual field, it is workable.
2nd, method of the invention makes more picture points participate in fortune using the polyphaser cascade path that visual field relation determines altogether
Calculate, algorithm robustness is more preferable.
3rd, method of the invention can reach the other re-projection error of sub-pixel by multistep optimization calibrating parameters, complete
Full up sufficient requirements for high precision.
Brief description of the drawings
Fig. 1 is the flow chart for joining scaling method inside and outside the polyphaser based on 3 points of demarcation things of the present invention；
Fig. 2 is to join the demarcate bar in scaling method in calibration tool inside and outside the polyphaser based on 3 points of demarcation things of the present invention
Structural representation；
Fig. 3 is to join the L rigid bodies in scaling method in calibration tool inside and outside the polyphaser based on 3 points of demarcation things of the present invention
Structural representation；
Fig. 4 is to join the structural representation that scene is demarcated in scaling method inside and outside the polyphaser based on 3 points of demarcation things of the present invention
Figure；
Fig. 5 is to join polyphaser non-directed graph in scaling method inside and outside the polyphaser based on 3 points of demarcation things of the present invention.
Embodiment
To make those skilled in the art be better understood from technical scheme, below in conjunction with the accompanying drawings and specific embodiment party
Formula elaborates to the present invention.
As shown in Fig. 1 to 5, the preferred embodiments of the present invention provide joins inside and outside a kind of polyphaser based on 3 points of demarcation things
Scaling method, this method comprise the following steps：
S10：Picture point data acquisition.Step S10 is specifically included：
S11, in demarcation scene as shown in Figure 4, the T-shaped demarcate bar equipped with three conllinear infrared reflecting points is freely brandished,
Control multiple camera synchronous acquisition data of calibration point；
S12, L-type rigid body known to the length of side is placed on place center, controls multiple camera synchronous acquisition rigid body data.
S20：The inside and outside ginseng demarcation of camera two-by-two.Step S20 is specifically included：
S21, distortion processing：The physical size of distortion factor and unit pixel in camera specification, utilizes distortion
Model, obtain the coordinate of true picture point after removal distortion.
S22, solve effective focal length：By two image coordinate system origin translations to principal point, obtained substantially using 8 methods of normalization
Matrix and limit, fundamental matrix is simplified according to Hartley self-calibrating methods and the pixel unit focal length of camera is obtained in decomposition.
S23, solve outer join：Basis matrix is normalized using above-mentioned gained intrinsic parameter and tries to achieve essential matrix, is passed through
Singular value decomposition obtains ginseng (R, t) outside four groups, and calibration point is reconstructed first with trigonometry, and shooting is necessarily located at based on demarcation thing
The principle of (i.e. Z coordinate perseverance just), is filtered out one group correct (R, t) in front of machine.Now translation vector differs one with true translation
Individual scale factor, the scale factor can be recovered using the length for the L-type rigid body rebuild.
S24, inside and outside ginseng optimization：With the minimum optimization aim of picture point epipolar distance error sum, using L-M algorithms to two-by-two
Demarcation gained inside and outside parameter carries out nonlinear optimization.
S30：The inside and outside ginseng demarcation of polyphaser under unified reference camera coordinate system.Step S30 is specifically included：
S31, establish multicamera system non-directed graph as shown in Figure 5：Vertex representation camera, if there is m to regard altogether between two cameras
Point, then corresponding two summits Jian You sides, the weight on side is 1/m.
S32, determine reference camera to the optimal cascade path of any camera：The most camera of viewpoint is No. 0 ginseng altogether for selection
Examine camera, using Dijkstra methods calculate No. 0 camera to any kth camera institute through side right weight sum minimum path, as
The optimal cascade path of kth camera.
S33, it is assumed that the optimal cascade path of kth camera is 0 → i → k, by demarcating the try to achieve No. 0 two-by-two to No. i-th
The outer parameter of camera is (R0i, t0i), the outer ginseng of No. i-th to kth camera is (Rik, tik), then the outer ginseng of No. 0 to kth number is
(RikR0i, Rikt0i+tik)。
S34, repeat step S33, obtain so camera reconstructs demarcation with respect to the outer parameter of reference camera using trigonometry
Point, to minimize re-projection error as optimization aim, algorithm is bundled to all inside and outside ginseng global optimizations using BA.Further improve
Stated accuracy.
S40：Specify the inside and outside ginseng demarcation of polyphaser under world coordinate system.Step S40 is specifically included：
S41, determine the matching relationship that L-type rigid body is imaged in different cameral：It can determine that according to the above-mentioned Camera extrinsic tried to achieve
The basis matrix of two views, is constrained using Epipolar geometry, obtains matching picture point.
S42, using least square triangulation method, reconstruct coordinate of the L-type rigid body under reference camera coordinate system.
S43, coordinate of the setting L-type rigid body in the case where specifying world coordinate system, world coordinates is obtained using kneipPnP algorithms
To the rotation and translation of reference camera coordinate system.
S44, it is identical with step S43 principles, obtain the inside and outside parameter of all cameras under world coordinate system.
Above example is only the exemplary embodiment of the present invention, is not used in the limitation present invention, protection scope of the present invention
It is defined by the claims.Those skilled in the art can make respectively in the essence and protection domain of the present invention to the present invention
Kind modification or equivalent substitution, this modification or equivalent substitution also should be regarded as being within the scope of the present invention.
Claims (5)
1. join scaling method inside and outside a kind of polyphaser based on 3 points of demarcation things, it is characterised in that comprise the following steps：
S10：Picture point data acquisition；
S20：The inside and outside ginseng demarcation of camera two-by-two；
S30：The inside and outside ginseng demarcation of polyphaser under unified reference camera coordinate system；
S40：Specify the inside and outside ginseng demarcation of polyphaser under world coordinate system.
2. join scaling method inside and outside the polyphaser according to claim 1 based on 3 points of demarcation things, it is characterised in that demarcation
Instrument includes the T-shaped demarcate bar with three conllinear infrared reflecting points that can move freely, and some infrared reflectings of attachment
The L-type rigid body for being used to indicate world coordinate system of point.
Step S10 includes：
S11：In scene is demarcated, the T-shaped demarcate bar equipped with three conllinear infrared reflecting points is freely brandished, controls multiple cameras same
Step collection data of calibration point；
S12：L-type right angle rigid body is placed on demarcation scene center, controls multiple camera synchronous acquisition rigid body data.
3. join scaling method inside and outside the polyphaser according to claim 2 based on 3 points of demarcation things, it is characterised in that step
S20 includes：
S21：Distortion is handled, and according to distortion factor and the physical size of unit pixel, using distortion model, is obtained after removing distortion
True picture point coordinate；
S22：Effective focal length is solved, by two image coordinate system origin translations to principal point, fundamental matrix is obtained using 8 methods of normalization
And limit, fundamental matrix is simplified according to Hartley self-calibrating methods and the pixel unit focal length of camera is obtained in decomposition；
S23：Outer ginseng is solved, solution essential matrix is normalized to basis matrix using intrinsic parameter, is obtained by singular value decomposition
Ginseng (R, t), calibration point is reconstructed first with trigonometry outside to four groups, is located in front of video camera (i.e. Z coordinate perseverance based on demarcation thing
Principle just), filter out one group correct (R, t)；
S24：Inside and outside ginseng optimization, with the minimum optimization aim of picture point epipolar distance error sum, uses L-M nonlinear optimization algorithms
Nonlinear optimization is carried out to demarcating gained inside and outside parameter two-by-two.
4. join scaling method inside and outside the polyphaser according to claim 3 based on 3 points of demarcation things, it is characterised in that step
S30 includes：
S31：Establish multicamera system non-directed graph；
S32：Determine that reference camera to the optimal cascade path of any camera, selects the camera that viewpoint is most altogether to refer to phase for No. 0
Machine, using Dijkstra methods calculate No. 0 camera to any kth camera institute through side right weigh sum minimum path；
S33：Assuming that the optimal cascade path of kth camera is 0 to i again to k, by demarcating the try to achieve No. 0 two-by-two to No. i-th phase
The outer parameter of machine is (R0i, t0i), the outer ginseng of No. i-th to kth camera is (Rik, tik), then the outer ginseng of No. 0 to kth number is
(RikR0i, Rikt0i+tik)；
S34：Repeat step S33, obtains the outer parameter of the relatively uniform reference camera of all cameras, and demarcation is reconstructed using trigonometry
Point, to minimize re-projection error as optimization aim, algorithm is bundled to all inside and outside ginseng global optimizations using BA.
5. join scaling method inside and outside the polyphaser according to claim 4 based on 3 points of demarcation things, it is characterised in that step
S40 includes：
S41：Determine the matching relationship that L-type rigid body is imaged in different cameral：Camera extrinsic according to trying to achieve can determine that two views
Basis matrix, constrained using Epipolar geometry, obtain matching picture point；
S42：Using least square triangulation method, coordinate of the L-type rigid body under reference camera coordinate system is reconstructed；
S43：Coordinate of the L-type rigid body in the case where specifying world coordinate system is set, world coordinates is obtained to ginseng using kneipPnP algorithms
Examine the rotation and translation of camera coordinates system；
S44：Obtain the inside and outside parameter of all cameras under world coordinate system.
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| CN108288291A (en) * | 2018-06-07 | 2018-07-17 | 北京轻威科技有限责任公司 | Polyphaser calibration based on single-point calibration object |
| CN108388341A (en) * | 2018-02-11 | 2018-08-10 | 苏州笛卡测试技术有限公司 | A kind of man-machine interactive system and device based on thermal camera-visible light projector |
| CN108762527A (en) * | 2018-05-23 | 2018-11-06 | 重庆创通联达智能技术有限公司 | A kind of recognition positioning method and device |
| CN108881898A (en) * | 2018-06-07 | 2018-11-23 | 歌尔股份有限公司 | The test method of depth of field mould group nonlinear calibration |
| CN108981690A (en) * | 2018-06-07 | 2018-12-11 | 北京轻威科技有限责任公司 | A kind of light is used to fusion and positioning method, equipment and system |
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| CN112233189A (en) * | 2020-12-14 | 2021-01-15 | 深圳普罗米修斯视觉技术有限公司 | Multi-depth camera external parameter calibration method and device and storage medium |
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| CN114283203B (en) * | 2021-12-08 | 2023-11-21 | 北京元客方舟科技有限公司 | Calibration method and system of multi-camera system |
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