CN107481289A - The precision target drone system and method for big visual field camera far field calibration - Google Patents
The precision target drone system and method for big visual field camera far field calibration Download PDFInfo
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- CN107481289A CN107481289A CN201710570014.0A CN201710570014A CN107481289A CN 107481289 A CN107481289 A CN 107481289A CN 201710570014 A CN201710570014 A CN 201710570014A CN 107481289 A CN107481289 A CN 107481289A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- 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 the precision target drone system and method for big visual field camera far field calibration.Including optical table, theodolite, base station, turntable, pitching platform, translation stage, two pawl centering chucks, plane mirror, disk level-meter and treat school camera etc.；Theodolite is relative with base station and is placed in optical table；Rotary table base is installed on base station；Pitching platform is fixed with turntable table top；Translation stage is fixed on pitching platform table top；Treat that school camera is fixed on translation stage moving component by two pawl centering chucks；Plane mirror is installed vertically on two pawl centering chuck sides.During work, theodolite pedestal and base station keep level are adjusted；Adjustment treats that the optical axis of school camera is parallel with theodolite emergent ray, system is reached zero-bit；Set according to sampled point, position and the angle of school camera are treated by the adjustment of turntable, pitching platform and translation stage, and taken pictures, it is final to realize the far field demarcation for treating school camera difference visual field.The present invention is simple in construction, compact, realizes the far field precision calibration of big visual field camera.
Description
Technical field
The present invention relates to precision optics imaging field, specially a kind of optical imagery camera calibration system, more particularly to greatly
The precision target drone system and method for visual field camera far field calibration.
Background technology
With the development of society and the progress of science and technology, increasing camera is applied to each neck of military and civilian
Domain；And according to the lifting of practical application request, the requirement also more and more higher, therefore correcting camera is imaged to camera imaging quality
The system and method for distortion is also more and more.High-precision optical target system is optical measurement, optical imagery, vision measurement and machine
Essential calibration instrument in the technical fields such as device people's vision, it is the sampled point that target system is shot by camera to be measured, and
The position of actual samples point and the image point position of shooting sampled point are contrasted, comes the intrinsic parameter or image deformation of calibration for cameras.It is right
In small field of view or the camera of close shot, can effectively be corrected using fixed small size precision target surface；It is however, right
In the calibration of larger field camera, because the area of its visual field covering is larger, it is difficult to adopt the target of fixed small size target surface
Effectively demarcated, so this problem turns into the focus studied these years.
The target system applied to big visual field camera calibration has the big target surface system based on the how small target splicing of frame structure at present
System and the point light source of single target system based on mechanical arm.Based on the big target surface system of the how small target splicing of frame structure, being will be multiple
Small size target surface, which is arranged in larger frame structure, realizes splicing, and ultimately forms larger target surface, realizes the mark of full filed
School.Point light source of single target system based on mechanical arm, it is the position that point light source of single is adjusted by mechanical arm, while utilizes tested phase
Machine shoots the spot light of each position, and the final method for synthesizing face array light source carrys out correcting camera；Because arm opens up longer machinery
Arm precision is poor, therefore this method is actually still appropriate only for the visual field correction compared with small field of view or close shot shooting camera.It is above-mentioned
Two kinds of calibration modes are primarily directed in the near field calibration of camera, and in actual use, the near field of camera and far field imaging
Effect is not fully reciprocity, it is also necessary to carries out effective calibration to the far field imaging capability of camera.The present invention uses more precision bearing systems
It is applied in combination, and combines theodolite, realizes the far field precision calibration of big visual field camera.
The content of the invention
The present invention is directed to big visual field camera far field image deformation calibration demand, there is provided a kind of big visual field camera far field calibration
Precision target drone system and method.The device relies on high-accuracy shafting system, can effectively realize big visual field camera far field imaging
The precision calibration of distortion.
The technical scheme is that：
A kind of precision target drone system of the big visual field camera far field calibration, it is characterised in that：Including optical table, longitude and latitude
Instrument and treat school camera mounting platform；
The theodolite and treat that school camera mounting platform is staggered relatively on optical table surface；
It is described treat school camera mounting platform include base station, turntable, pitching platform, translation stage, chuck for installing, plane mirror,
Level meter；
Base station is fixedly mounted on optical table surface, and level meter is arranged on base station surface；Rotary table base is fixedly mounted on
On base station surface；Pitching sewing platform base is fixedly mounted on turntable table top；Translation sewing platform base is fixedly mounted on pitching platform table top, and translates
The direction of motion of platform slide unit is parallel with the pitch plane of pitching platform；Chuck for installing pedestal is fixedly mounted on the slip of translation stage
On part；Treat that school camera can be fixedly mounted on chuck for installing table top；Plane mirror is arranged on chuck for installing away from warp
The side of latitude instrument, and plane mirror mirror normal direction is parallel with the direction of motion of translation stage slide unit, and and installation card
Dish platform face is parallel.
Further preferred scheme, a kind of precision target drone system of big visual field camera far field calibration, it is characterised in that：
The chuck for installing is two pawl centering chucks, and the contact surface of double card pawl and caught object is mutually flat in the two pawls centering chuck
Capable facet, and facet normal direction is parallel with the direction of motion of double card pawl；The direction of motion and plane mirror of double card pawl
Mirror normal direction it is vertical.
The method that big visual field camera far field calibration is carried out using above-mentioned precision target drone system, it is characterised in that：Including following
Step：
Step 1：Adjustment theodolite pedestal to horizontality and locks, then adjusts the optical axis of optic theodolite optical part and reach
Horizontality simultaneously locks；Indicated according to level meter, adjustment base station to horizontal level；
Step 2：Theodolite light source is powered, and chuck for installing is opened；Autocollimation method is used by theodolite and plane mirror
Carry out zero-bit adjustment：Turntable, pitching platform, translation stage and theodolite are adjusted, makes direction and the plane reflection of theodolite emergent light
Mirror normal parallel, system reaches dead-center position, and marks the position readings of now turntable, pitching platform and translation stage；
Step 3：Fixed by chuck for installing and treat school camera；Based on system zero-bit, adjust pitching platform and turntable reaches and treats school
The maximum angle of half field-of view position of camera, camera position to be measured is adjusted by translation stage, enables to treat school camera pair warp and weft instrument outgoing
Light blur-free imaging；
Step 4：Since the maximum angle of half field-of view position for treating school camera, school camera pair warp and weft instrument emergent light blur-free imaging is treated
And take pictures, record now pitching platform and the turntable number of degrees, and lock translation stage；Then the sampled point according to setting adjusts turntable and bowed
Platform is faced upward, school camera pair warp and weft instrument emergent light blur-free imaging is treated and takes pictures, records now pitching platform and the turntable number of degrees；
Step 5：Obtained by step 4 and treat shooting photo of the school camera in some setting positions, by all shooting photos
Merge, obtaining a web has the photo of all picture points；According to the turntable of the position of picture point and corresponding record, pitching dado number number
According to, and system zero-bit is based on, complete to treat the calibration of school camera imaging distortion.
Further preferred scheme, a kind of method of big visual field camera far field calibration, it is characterised in that：In step 2
Carry out zero-bit adjustment process be：Turntable and pitching platform are adjusted, is made from the retroeflection after plane mirror reflects of theodolite emergent light
Into theodolite, and into auto-collimation picture on theodolite graticle；Turntable and pitching platform are adjusted, is made from theodolite eyepiece
Auto-collimation picture is on the horizontal groove of theodolite graticle side；Rotating table, whether the moving rail trace of observation auto-collimation picture
Parallel to the horizontal groove of theodolite graticle；If not parallel, the levelling device of base station is adjusted, until observation auto-collimation picture moves
Dynamic movement locus line parallel to theodolite graticle horizontal groove untill；Turntable, pitching platform and theodolite are adjusted, makes autocollimatic
The straight center of picture and the center superposition of theodolite graticle, the position for marking now turntable, pitching platform and translation stage is zero-bit.
Beneficial effect
The invention aims to solve the problems, such as that big visual field camera far field tradition Calibration Method precision is low.The device uses
More precision bearing systems, effectively raise the positional precision and operability of camera motion in calibration process；With reference to high-accuracy longitude and latitude
Instrument, realize the accurate setting of camera and sampled point relative position.Structural visual, clear and definite, the difficulty of reduction calibration process.
Brief description of the drawings
Fig. 1 is the graphics of the precision target drone system of the big visual field camera far field calibration of the present invention；
Fig. 2 is the theodolite graphics that the present invention uses；
Fig. 3 is the base station schematic diagram of the present invention；Fig. 3 (a) side views, Fig. 3 (b) top views；
Fig. 4 is the two pawl centering chuck devices of the present invention；
Fig. 5 is the Zero positioning method of present system；
Wherein：1- optical tables, 2- theodolites, 3- base stations, 4- turntables, 5- pitching platforms, 6- translation stages, the pawls of 7- bis- centering card
Disk, 8- treat school camera, 9- plane mirrors, 10- disk level-meters, 11- light sources, 12- ideal planes mirror, 13- theodolite graduation
Plate, 14- auto-collimation pictures, 15- leveling bolts, 16- chain-wales.
Embodiment
The embodiment of the present invention is described in further details below in conjunction with the accompanying drawings.Fig. 1 is the big visual field of the present invention
The graphics of the precision target drone system of camera far field calibration, including optical table 1, theodolite 2, base station 3, turntable 4, pitching platform 5,
Translation stage 6, two pawl centering chucks 7, treat school camera 8, plane mirror 9, disk level-meter 10.
Wherein, system is used as body supports using optical table 1；Theodolite 2 and base station 3 are relative, and are placed in optics and put down
The surface of platform 1；The pedestal of turntable 4 is fixed on the surface of base station 2；The base of pitching platform 5 is fixed on the table top of turntable 3；Translation
The base fixed part of platform 6 is fixed on the table top of pitching platform 5, and ensures the direction of motion and pitching platform 5 of the slide unit of translation stage 6
The inswept pitching face of moving component is parallel；The floor installation of two pawl centering chucks 7 is on the slide unit of translation stage 6；Plane
Speculum 9 is fixed on the side of two pawl centering chucks 7, and parallel to the double card pawl direction of motion of two pawl centering chucks 7, plane hair
The face normal parallel of mirror 9 is penetrated in the table top of two pawl centering chucks 7；Treat double card of the fixed clamp of school camera 8 in two pawl centering chucks 7
Between pawl, and bottom surface and the table top of two pawl centering chucks 7 fit；Disk level-meter 10 is placed on the surface of base station 3.
Fig. 2 is the theodolite 2 that the present invention uses.The theodolite 2 possesses the interface for having installation light source 11.When light source 11 shines
The light sent is penetrated after theodolite 2, collimated light beam is formed, theodolite 2 can be reflected back by ideal plane mirror 12, in theodolite
Formed auto-collimation can carry out station location marker, such as cross picture as 14 on graticle 13.
Fig. 3 is the side view of base station 3 and top view of the present invention.Fig. 3 (a) is base station side view, and Fig. 3 (b) overlooks for base station
Figure.The upper surface of base station 3 has higher surface smoothness, and three leveling bolts 15 are screwed into three screwed holes of base station 3.It is logical
Overregulate the level that three leveling bolts 15 on base station 3 realize base station 3.
Fig. 4 is the two pawl centering chuck devices of the present invention.Two pawl centering chuck devices are anti-by two pawl centering chucks 7 and plane
Penetrate mirror 9 to form, the contact surface of double card pawl is the table top of chain-wales 16, and the contact surface of chain-wales 16 is perpendicular to the motion side of double card pawl
To, while it is also perpendicularly to the seating plane of two pawl centering chucks 7.Plane mirror 9 is installed on two pawls centering card towards theodolite 2
Disk 7 is relative to the relatively distal side of theodolite 2, and plane is also perpendicularly to simultaneously perpendicular to chain-wales 16 where the minute surface of plane mirror 9
The seating plane of two pawl centering chucks 7.
Such as Fig. 5, the Zero positioning method of system in the present embodiment：The base of adjustment theodolite 2 reaches horizontality and locked
Fixed, the optical axis of the adjustment optical component of theodolite 2 reach horizontality and locked；Three leveling bolts 15 on base station 3 are adjusted,
Disk level-meter 10 is set to reach horizontality；The double card pawl for adjusting two pawl centering chucks 7 is separated at utmost；Open light source
11, adjust turntable 4 and pitching platform 5, make from the emergent light of theodolite 2 after the reflection of plane mirror 9 retroeflection in theodolite 2, and
Into auto-collimation as 14 on theodolite graticle 13；Turntable 4 and pitching platform 5 are adjusted, makes the auto-collimation from the eyepiece of theodolite 2
As 14 on the horizontal groove of the side of theodolite graticle 13；Rotating table 4, observation auto-collimation as 14 moving rail trace whether
The horizontal groove of parallel theodolite graticle 13；If not parallel, the leveling nut 15 on fine adjustment base station 3, until observing autocollimatic
Straight picture 14 is untill mobile movement locus line is parallel to the horizontal groove of theodolite graticle 13；Adjust turntable 4, pitching platform 5
With theodolite 2, auto-collimation is set to mark now turntable 4, pitching platform 5 as 14 center and the center superposition of theodolite graticle 13
Position with translation stage 6 is zero-bit.
When measuring calibration, first adjust system and reach zero-bit, lock all kinematic axis on theodolite 2.Felt relieved and blocked by two pawls
Disk 7 is fixed and treats school camera 8, and makes to treat that the lower surface of school camera 8 is bonded with the table top of two pawl centering chucks 7；Open light source 11；Base
In system zero-bit, turntable 4 and pitching platform 5 are adjusted, reaches the maximum angle of half field-of view for treating school camera 8, using camera 8 to be measured to from warp
The directional light sent in latitude instrument 2 carries out imaging and taken pictures；If treating the picture sent in the image planes of school camera 8 without theodolite 2, translation stage is adjusted
The position of 6 two pawl centering chucks 7 of movement, and then the mobile position for treating school camera 8, until treating that school camera 8 can be with pair warp and weft instrument 2
The parallel photoimaging sent, lock translation stage 6.Turntable 4 and pitching platform 5 are adjusted according to sampled point, record data, and with treating school phase
Machine 8 is taken pictures；The photo that most all positions are clapped at last merges, and obtaining a web has the photo of all picture points；According to the position of picture point
And actual turntable 4, the data of pitching platform 5, and system zero-bit is based on, complete to treat the calibration that school camera 8 carries out image deformation.
Claims (4)
- A kind of 1. precision target drone system of big visual field camera far field calibration, it is characterised in that：Including optical table, theodolite and treat School camera mounting platform；The theodolite and treat that school camera mounting platform is staggered relatively on optical table surface；It is described to treat that school camera mounting platform includes base station, turntable, pitching platform, translation stage, chuck for installing, plane mirror, level Instrument；Base station is fixedly mounted on optical table surface, and level meter is arranged on base station surface；Rotary table base is fixedly mounted on base station On surface；Pitching sewing platform base is fixedly mounted on turntable table top；Translation sewing platform base is fixedly mounted on pitching platform table top, and translation stage is slided The direction of motion of dynamic component is parallel with the pitch plane of pitching platform；Chuck for installing pedestal is fixedly mounted on the slide unit of translation stage On；Treat that school camera can be fixedly mounted on chuck for installing table top；Plane mirror is arranged on chuck for installing away from theodolite Side, and plane mirror mirror normal direction is parallel with the direction of motion of translation stage slide unit, and with installation card dish platform Face is parallel.
- A kind of 2. precision target drone system of big visual field camera far field calibration according to claim 1, it is characterised in that：The peace The disk that is loaded is two pawl centering chucks, in the two pawls centering chuck contact surface of double card pawl and caught object be parallel to each other it is small Plane, and facet normal direction is parallel with the direction of motion of double card pawl；The direction of motion of double card pawl and the minute surface of plane mirror Normal direction is vertical.
- 3. the method for big visual field camera far field calibration is carried out using precision target drone system described in claim 1, it is characterised in that：Bag Include following steps：Step 1：Adjustment theodolite pedestal to horizontality and locks, then adjusts the optical axis of optic theodolite optical part and reach horizontal State simultaneously locks；Indicated according to level meter, adjustment base station to horizontal level；Step 2：Theodolite light source is powered, and chuck for installing is opened；Carried out by theodolite and plane mirror using autocollimation method Zero-bit adjusts：Turntable, pitching platform, translation stage and theodolite are adjusted, makes direction and the plane mirror method of theodolite emergent light Line is parallel, and system reaches dead-center position, and marks the position readings of now turntable, pitching platform and translation stage；Step 3：Fixed by chuck for installing and treat school camera；Based on system zero-bit, adjust pitching platform and turntable reaches and treats school camera Maximum angle of half field-of view position, camera position to be measured is adjusted by translation stage, enables to treat that school camera pair warp and weft instrument emergent light is clear Clear imaging；Step 4：Since the maximum angle of half field-of view position for treating school camera, treat school camera pair warp and weft instrument emergent light blur-free imaging and clap According to record now pitching platform and the turntable number of degrees, and lock translation stage；Then according to the sampled point adjustment turntable of setting and pitching Platform, treat school camera pair warp and weft instrument emergent light blur-free imaging and take pictures, record now pitching platform and the turntable number of degrees；Step 5：Obtained by step 4 and treat shooting photo of the school camera in some setting positions, all shooting photos are merged, Obtaining a web has the photo of all picture points；According to the turntable of the position of picture point and corresponding record, pitching dado number data, and Based on system zero-bit, complete to treat the calibration of school camera imaging distortion.
- A kind of 4. method of big visual field camera far field calibration according to claim 3, it is characterised in that：Zero is carried out in step 2 Position adjustment process be：Adjust turntable and pitching platform, make from theodolite emergent light after plane mirror reflects retroeflection to longitude and latitude In instrument, and into auto-collimation picture on theodolite graticle；Turntable and pitching platform are adjusted, makes the auto-collimation from theodolite eyepiece As on the horizontal groove of theodolite graticle side；Rotating table, observe auto-collimation picture moving rail trace whether parallel to The horizontal groove of theodolite graticle；If not parallel, the levelling device of base station is adjusted, until the fortune of observation auto-collimation picture movement Dynamic rail trace parallel to theodolite graticle horizontal groove untill；Adjust turntable, pitching platform and theodolite, make auto-collimation as Center and the center superposition of theodolite graticle, the position for marking now turntable, pitching platform and translation stage is zero-bit.
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| CN201710570014.0A CN107481289B (en) | 2017-07-13 | 2017-07-13 | Precise target system and method for far-field calibration of large-field-of-view camera |
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| CN201710570014.0A CN107481289B (en) | 2017-07-13 | 2017-07-13 | Precise target system and method for far-field calibration of large-field-of-view camera |
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| CN107481289B CN107481289B (en) | 2020-07-03 |
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| CN109489938A (en) * | 2018-11-15 | 2019-03-19 | 中国科学院光电技术研究所 | A kind of detection method based on the distortion of auto-collimation imaging method optical lens |
| CN109555943A (en) * | 2019-01-18 | 2019-04-02 | 苏州佳世达光电有限公司 | Separable lens carrier |
| CN109555943B (en) * | 2019-01-18 | 2021-06-15 | 苏州佳世达光电有限公司 | Separated lens bearing frame |
| CN110058212A (en) * | 2019-05-15 | 2019-07-26 | 上海炬佑智能科技有限公司 | Target and TOF camera demarcate integrated system |
| CN112116662A (en) * | 2019-06-20 | 2020-12-22 | 上海炬佑智能科技有限公司 | Camera is rectified and is used equipment |
| CN110766759A (en) * | 2019-10-09 | 2020-02-07 | 北京航空航天大学 | Multi-camera calibration method and device without overlapped view fields |
| CN110766759B (en) * | 2019-10-09 | 2022-08-02 | 北京航空航天大学 | Multi-camera calibration method and device without overlapped view fields |
| CN110782500B (en) * | 2019-10-31 | 2022-03-01 | 中国科学院长春光学精密机械与物理研究所 | Large-view-field infrared camera internal orientation element calibration equipment |
| CN110782500A (en) * | 2019-10-31 | 2020-02-11 | 中国科学院长春光学精密机械与物理研究所 | Large-view-field infrared camera internal orientation element calibration equipment |
| CN111830667A (en) * | 2020-07-30 | 2020-10-27 | 广东博智林机器人有限公司 | Lens focusing device |
| CN112297054A (en) * | 2020-09-24 | 2021-02-02 | 苏州玖物互通智能科技有限公司 | Zero point debugging method for cooperative robot |
| CN112964274A (en) * | 2021-02-04 | 2021-06-15 | 深圳市米勒沙容达汽车科技有限公司 | Calibration method for vehicle and ADAS sensor target and movable base |
| CN113639971A (en) * | 2021-08-20 | 2021-11-12 | 安徽创谱仪器科技有限公司 | Method for calibrating pipe shaft component |
| CN113639971B (en) * | 2021-08-20 | 2023-11-03 | 安徽创谱仪器科技有限公司 | Method for calibrating tube shaft component |
| CN114754678A (en) * | 2022-04-18 | 2022-07-15 | 中机中联工程有限公司 | Visual inspection industrial camera positioning adjusting device and using method thereof |
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