CN108230401A - 3D four-wheel position finder automatic camera calibration method and system - Google Patents
3D four-wheel position finder automatic camera calibration method and system Download PDFInfo
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- CN108230401A CN108230401A CN201810029336.9A CN201810029336A CN108230401A CN 108230401 A CN108230401 A CN 108230401A CN 201810029336 A CN201810029336 A CN 201810029336A CN 108230401 A CN108230401 A CN 108230401A
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- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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Abstract
The present invention relates to a kind of 3D four-wheel position finders automatic camera calibration method and system, belong to automobile technical field.3D four-wheel position finders automatic camera calibration method and system using the present invention, it is shot after multigroup photo of calibration disk using two cameras in left and right respectively through fitting calibrating disk image, obtains the intermediate parameters between the calibration disk image and the camera for shooting the image；And then the inner parameter and external parameter of described two cameras in left and right are determined according to intermediate parameters, realize the calibration of camera, the calibration process is based on machine vision, it is automatic to obtain camera internal and external parameter, so as to simplify calibration flow, simple operation, the profession of operating personnel is required low, and calibration is accurate, it is ensured that the precision of 3D four-wheel position finders, and then ensure its application effect.And the 3D four-wheel position finder automatic camera calibration system structures of the present invention are simple, application mode is easy, and application range is also quite extensive.
Description
Technical field
The present invention relates to automobile technical field, more particularly to four-wheel aligner technical field, in particular to a kind of 3D four-wheels is determined
Position instrument automatic camera calibration method and system.
Background technology
Four-wheel position finder is all angles for measuring tire in automobile chassis, is reducing and correcting steering wheel not just, tire mill
The problems such as tire eats tire, running out the way.3D four-wheel position finders are to shoot four destination disks being stuck on tire, meter by two cameras
Calculate each angle of four tires.
In four-wheel position finder product, 3D vision measurements are had evolved to, 3D measurements are to obtain four using machine vision
Take turns location data, or so two cameras by calibration technique, using the optical center of one of camera as the original of world coordinate system
Point, makes two cameras be unified for a coordinate system, and the object photographed can obtain accurate three-dimensional coordinate.On each tire
Place a destination disk for having special pattern, by identification icon come calculate destination disk three-dimensional coordinate in a coordinate system and away from
From so as to obtain the three-dimensional perspective of four tires in space.
Before four-wheel position finder use, need, according to specific environment parameter, to demarcate four-wheel position finder, it is specific and
Speech refers to demarcate two cameras of four-wheel position finder, and the object in space is restored using the image taken by camera.Assuming that
There are a kind of following simple linear relationships between the object in image and three dimensions taken by camera：[as]=M
[object].Here, matrix M can regard the geometrical model of camera imaging as.Parameter in M is exactly camera parameter.In general, these are joined
Number will be obtained by experiment with calculating.This process for solving parameter is known as camera calibration, after each camera calibration
Inner parameter file will be generated, including optical center position, focal length and distortion parameter.The calibration disk obtained simultaneously using binocular camera
Pose, transformation obtain the external parameter between two cameras.In application later, it can use and join file and two outside one
Internal reference file forms world coordinate system to calculate the angle of tire.Calibration makes two cameras be unified for a coordinate system, demarcates it
Three-dimensional vector and the position of destination disk can be just calculated afterwards.The pattern of calibration disk is illustrated in figure 2, wherein each diameter of a circle,
Circle spacing is all fixed, and calibration process needs to obtain calibration disk information in advance.Above-mentioned calibration process technical difficulty is larger, without
The technical staff of professional training is difficult to operate.So how to realize that automatic Calibration becomes critical issue.
On the other hand, machine vision is fast-developing branch of artificial intelligence.In brief, machine vision is just
It is to replace human eye with machine to measure and judge.NI Vision Builder for Automated Inspection be by machine vision product (i.e. image-pickup device,
It is divided to two kinds of CMOS and CCD) it target will be ingested is converted into picture signal, it sends dedicated image processing system to, is shot
The shape information of target according to the information such as pixel distribution and brightness, color, is transformed into digitized signal；Picture system is to these
Signal carries out various operations to extract clarification of objective, and then controls the device action at scene according to the result of differentiation.
How the automatic Calibration based on realizing of Robot Vision 3D four-wheel position finders is asked as this field is urgently to be resolved hurrily as a result,
Topic.
Invention content
The purpose of the present invention is overcome it is above-mentioned in the prior art the shortcomings that, provide a kind of based on machine vision, obtain automatically
Camera internal and external parameter is taken, simplifies calibration flow, simple operation, the 3D four-wheel position finder automatic camera calibrations having wide range of applications
Method and system.
In order to realize above-mentioned purpose, 3D four-wheel position finder automatic camera calibration methods of the invention include the following steps：
(1) position between the camera of left and right two of setting 3D four-wheel position finders and the 3D four-wheel position finders and calibration disk
Relation Parameters；
(2) it is taken pictures respectively to the calibration disk using the camera of left and right two, obtains each photo in left and right；
(3) it identifies the calibration disk image in the photo and disk parameter will be demarcated and be fitted with the calibration disk image, obtained
Take the intermediate parameters between the calibration disk image and the camera for shooting the image；
(4) whether the quantity for judging to shoot photo reaches setting value, if reaching, enters step (5)；If not up to,
The adjustment calibration disk posture, and enter step (2)；
(5) inner parameter and external parameter of described two cameras in left and right are determined according to the intermediate parameters.
In the 3D four-wheel position finder automatic camera calibration methods, the step (1) is specially：
The distance between cameras of left and right two and angle in the setting 3D four-wheel position finders, the 3D four-wheel position finders with
The image of the distance between described calibration disk and the calibration disk.
In the 3D four-wheel position finder automatic camera calibration methods, between the calibration disk image and the camera for shooting the image
Intermediate parameters be specially：Spin matrix and translation matrix between the calibration disk image and the camera for shooting the image.
In the 3D four-wheel position finder automatic camera calibration methods, the step (5) specifically includes following steps：
(51) according to the spin matrix between multigroup calibration disk image and the camera for shooting the image and translation square
Battle array calculates the position auto―control of multigroup left and right camera；
(52) inner parameter of left and right camera is calculated respectively according to the position auto―control of multigroup left and right camera；
(53) position auto―control of side camera is projected to the coordinate system of opposite side side camera by coordinate system transformation,
External parameter is generated, spin matrix peace of the side camera relative to coordinate system where opposite side camera is included in the external parameter
Move matrix.
The present invention also provides a kind of 3D four-wheel position finder automatic camera calibration systems for realizing the above method.
The 3D four-wheel position finder automatic camera calibration method and system of the invention are employed, utilize the camera point of left and right two
It Pai She not demarcate after multigroup photo of disk through fitting calibrating disk image, obtain phase of the calibration disk image with shooting the image
Intermediate parameters between machine；And then the inner parameter and external parameter of described two cameras in left and right are determined according to intermediate parameters, it is real
The calibration of existing camera, which is based on machine vision, automatic to obtain camera internal and external parameter, so as to simplify calibration stream
Journey, simple operation, the profession of operating personnel is required it is low, and demarcate it is accurate, it is ensured that the precision of 3D four-wheel position finders, Jin Erbao
Demonstrate,prove its application effect.And the 3D four-wheel position finder automatic camera calibration system structures of the present invention are simple, application mode is easy, application
Range is also quite extensive.
Description of the drawings
Fig. 1 is the step flow chart of the 3D four-wheel position finder automatic camera calibration methods of the present invention.
Fig. 2 is calibration disk pattern.
Fig. 3 is set-up mode schematic diagram of the 3D four-wheel position finders with demarcating disk.
Fig. 4 is the flow diagram of the 3D four-wheel position finder automatic camera calibrations method of the present invention in practical applications.
Specific embodiment
In order to be more clearly understood that the technology contents of the present invention, spy lifts following embodiment and is described in detail.
Refering to Figure 1, the step flow chart of the 3D four-wheel position finder automatic camera calibration methods for the present invention.
In one embodiment, which includes the following steps：
(1) position between the camera of left and right two of setting 3D four-wheel position finders and the 3D four-wheel position finders and calibration disk
Relation Parameters；
(2) it is taken pictures respectively to the calibration disk using the camera of left and right two, obtains each photo in left and right；
(3) it identifies the calibration disk image in the photo and disk parameter will be demarcated and be fitted with the calibration disk image, obtained
Take the intermediate parameters between the calibration disk image and the camera for shooting the image；
(4) whether the quantity for judging to shoot photo reaches setting value, if reaching, enters step (5)；If not up to,
The adjustment calibration disk posture, and enter step (2)；
(5) inner parameter and external parameter of described two cameras in left and right are determined according to the intermediate parameters.
3D four-wheel position finder automatic camera calibration systems to realize the above embodiment the method are set including parameter
Cover half block, control module, identification module and computing module.
Wherein, parameter setting module to according to peripheral operation, obtain the camera of left and right two of 3D four-wheel position finders and
Position relationship parameter between the 3D four-wheel position finders and calibration disk；Control module is connected to the left and right two of 3D four-wheel position finders
Camera the camera of the left and right two to be controlled to take pictures respectively to the calibration disk, obtains each photo in left and right, and sentence
Whether the quantity of disconnected shooting photo reaches setting value, if not up to, continuing to shoot after the adjustment calibration disk posture；Know
The other module connection control module to obtain captured photo, identifies the calibration disk image in the photo, and will
It demarcates disk parameter to be fitted with the calibration disk image, in obtaining between the calibration disk image and the camera for shooting the image
Between parameter；Computing module is determining the inner parameter of two cameras in left and right according to the intermediate parameters and external join
Number.
In more preferably embodiment, the step (1) is specially：Left and right in the setting 3D four-wheel position finders
The figure of the distance between the distance between two cameras and angle, the 3D four-wheel position finders and described calibration disk and the calibration disk
Picture.
Realizing the 3D four-wheel position finder automatic camera calibration systems of above-mentioned more preferably embodiment the method
In, the parameter that the parameter setting module obtains specifically includes：In the 3D four-wheel position finders between two cameras in left and right
Distance and angle, the 3D four-wheel position finders and described calibration the distance between disk and the image of the calibration disk.
In further preferred embodiment, the intermediate ginseng between the calibration disk image and the camera for shooting the image
Number is specially：Spin matrix and translation matrix between the calibration disk image and the camera for shooting the image.
Realizing the 3D four-wheel position finder automatic camera calibrations of above-mentioned further preferred embodiment the method
In system, the intermediate parameters between the calibration disk image and the camera for shooting the image are specially：It is described calibration disk image with
Shoot the spin matrix and translation matrix between the camera of the image.
In preferred embodiment, the step (5) specifically includes following steps：
(51) according to the spin matrix between multigroup calibration disk image and the camera for shooting the image and translation square
Battle array calculates the position auto―control of multigroup left and right camera；
(52) inner parameter of left and right camera is calculated respectively according to the position auto―control of multigroup left and right camera；
(53) position auto―control of side camera is projected to the coordinate system of opposite side side camera by coordinate system transformation,
External parameter is generated, spin matrix peace of the side camera relative to coordinate system where opposite side camera is included in the external parameter
Move matrix.
Realizing the 3D four-wheel position finder automatic camera calibration systems of above-mentioned preferred embodiment the method
In, the computing module specifically to：
According to the spin matrix and translation matrix between multigroup calibration disk image and the camera for shooting the image, meter
Calculate the position auto―control of multigroup left and right camera；
Calculate the inner parameter of left and right camera respectively according to the position auto―control of multigroup left and right camera；
The position auto―control of side camera by coordinate system transformation is projected to the coordinate system of opposite side side camera, is generated
External parameter, the external parameter is interior relative to the spin matrix of coordinate system where opposite side camera and to translate square comprising side camera
Battle array.
In practical applications, the hardware of 3D four-wheel position finders is made of two cameras, and setting form is as shown in figure 3, two
A camera is connected with intermediate aluminium crossbeam and fixed, and cannot have mobile dismounting etc. after fixed, and two camera distances are 2.42 meters, phase
Mutually form 8 degree of angle.
It is assumed here that stencil plane is in the plane of world coordinate system Z=0.Then have：
Wherein, Intrinsic Matrixes of the K for camera, [X Y 1]TFor the homogeneous coordinates put on stencil plane, [u v 1]TFor mould
Plate Plane-point projects to the homogeneous coordinates of corresponding points on image plane, [r1 r2 r3] and t be camera coordinates system respectively relative to
The spin matrix and translation vector of world coordinate system.
H=[h1h2h3]=λ K [r1r2t]
According to the property of spin matrix, i.e. r1 Tr2=0 He | | r1 | |=| | r2 | |=1, it can be obtained per images following
Two basic constraints to Intrinsic Matrix：
Since camera has 4 unknown intrinsic parameters, so when the picture number absorbed is more than or equal to 3, it is possible to line
Property uniquely solves K.
The calibration algorithm of 3D four-wheel aligners：Using algorithm principle, calibration disk can be obtained relative in single camera coordinate system
Spin matrix and translational movement, obtain position auto―control, after two cameras all obtain matrix, the matrix of right camera passes through coordinate system
Transformation projects to the coordinate system of left camera, using the optical center of left camera as the origin of world coordinate system, generates and joins text outside one
Part, outer ginseng file is interior to include spin matrix and translation matrix of the right camera relative to left side coordinate system.Obtain two phases simultaneously
The internal reference file of machine.
In brief, after demarcating flow as shown in figure 4, the 3D four-wheel position finders of camera are put well there are two dresses, in front of it
Calibration disk is placed at general 8 meters, then calibration disk, which divides 15 times, rotates and move variation, shoots each 15 photos in left and right, then
Photo is done algorithm operation, obtains ginseng file outside 2 internal reference files and 1.
Specifically, the practical calibration process of method using the present invention is as follows：
1st, calibration software and spotting disk
All proving operations are all completed by operating calibration software.
Spotting disk is the pattern that a size for having 7 × 7 dots as shown in Figure 2 is 1 square metre, in a plane
On, it be free to rotational transform direction and position.
2nd, it takes pictures
Two cameras number are inputted, to distinguish left and right camera.Then starting to take pictures, spotting disk converts 30 angles, and
And different location in the picture, it is desirable that the position of whole image can be paved with, the size of each photo in the picture is small
It is most suitable to be more than 1/8th in a quarter, is all taken a picture after changing every time, clicks and preserve, completes the first step.
3rd, turn off camera, calculate internal reference
Click internal reference button, the output in the lower right corner, which is shown, is calculating internal reference, if having in 30 photos it is underproof,
It can be automatically deleted, and recalculate, after the completion of calculating, prompt to calculate internal reference completion.
4th, outer join is calculated
Calibration button is clicked, prompts calculating the outer ginseng of two cameras, because having deleted in previous step unqualified
Photo, so waiting for a little while, the step for just completion, prompting after the completion calculates outer ginseng and completes.
5th, three demarcating files are preserved
Three filenames be respectively HomMatTwo2One.tup, CameraOneParam.tup,
CameraTwoParam.tup。
The 3D four-wheel position finder automatic camera calibration method and system of the invention are employed, utilize the camera point of left and right two
It Pai She not demarcate after multigroup photo of disk through fitting calibrating disk image, obtain phase of the calibration disk image with shooting the image
Intermediate parameters between machine；And then the inner parameter and external parameter of described two cameras in left and right are determined according to intermediate parameters, it is real
The calibration of existing camera, which is based on machine vision, automatic to obtain camera internal and external parameter, so as to simplify calibration stream
Journey, simple operation, the profession of operating personnel is required it is low, and demarcate it is accurate, it is ensured that the precision of 3D four-wheel position finders, Jin Erbao
Demonstrate,prove its application effect.And the 3D four-wheel position finder automatic camera calibration system structures of the present invention are simple, application mode is easy, application
Range is also quite extensive.
In this description, the present invention is described with reference to its specific embodiment.But it is clear that it can still make
Various modifications and alterations are without departing from the spirit and scope of the invention.Therefore, the description and the appended drawings should be considered as illustrative
And not restrictive.
Claims (8)
- A kind of 1. 3D four-wheel position finders automatic camera calibration method, which is characterized in that this method includes the following steps：(1) position relationship between the camera of left and right two of setting 3D four-wheel position finders and the 3D four-wheel position finders and calibration disk Parameter；(2) it is taken pictures respectively to the calibration disk using the camera of left and right two, obtains each photo in left and right；(3) it identifies the calibration disk image in the photo and disk parameter will be demarcated and be fitted with the calibration disk image, obtain institute State the intermediate parameters between calibration disk image and the camera for shooting the image；(4) whether the quantity for judging to shoot photo reaches setting value, if reaching, enters step (5)；If it not up to, adjusts The calibration disk posture, and enter step (2)；(5) inner parameter and external parameter of described two cameras in left and right are determined according to the intermediate parameters.
- 2. 3D four-wheel position finders automatic camera calibration method according to claim 1, which is characterized in that the step (1) it is specially：The distance between cameras of left and right two and angle in the setting 3D four-wheel position finders, the 3D four-wheel position finders with it is described Demarcate the distance between disk and the image of the calibration disk.
- 3. 3D four-wheel position finders automatic camera calibration method according to claim 1, which is characterized in that the calibration disk figure As the intermediate parameters between the camera with shooting the image are specially：Between the calibration disk image and the camera for shooting the image Spin matrix and translation matrix.
- 4. 3D four-wheel position finders automatic camera calibration method according to claim 3, which is characterized in that the step (5) following steps are specifically included：(51) according to the spin matrix and translation matrix between multigroup calibration disk image and the camera for shooting the image, meter Calculate the position auto―control of multigroup left and right camera；(52) inner parameter of left and right camera is calculated respectively according to the position auto―control of multigroup left and right camera；(53) position auto―control of side camera by coordinate system transformation is projected to the coordinate system of opposite side side camera, is generated External parameter, the external parameter is interior relative to the spin matrix of coordinate system where opposite side camera and to translate square comprising side camera Battle array.
- 5. a kind of 3D four-wheel position finders automatic camera calibration system, which is characterized in that the system includes：Parameter setting module, according to peripheral operation, to obtain the camera of left and right two and the 3D four-wheels of 3D four-wheel position finders Position relationship parameter between position indicator and calibration disk；Control module is connected to the camera of left and right two of 3D four-wheel position finders, to control the camera difference of the left and right two It takes pictures to the calibration disk, obtains each photo in left and right, and whether the quantity for judging to shoot photo reaches setting value, if not Reach, then continue to shoot after the adjustment calibration disk posture；Identification module connects the control module, to obtain captured photo, identifies the calibration disk figure in the photo Picture, and disk parameter will be demarcated and be fitted with the calibration disk image, obtain camera of the calibration disk image with shooting the image Between intermediate parameters；Computing module, to determine the inner parameter and external parameter of described two cameras in left and right according to the intermediate parameters.
- 6. 3D four-wheel position finders automatic camera calibration system according to claim 5, which is characterized in that the parameter is set The parameter that cover half block obtains specifically includes：The distance between two cameras and angle are controlled in the 3D four-wheel position finders, is somebody's turn to do The image of the distance between 3D four-wheel position finders and the calibration disk and the calibration disk.
- 7. 3D four-wheel position finders automatic camera calibration system according to claim 5, which is characterized in that the calibration disk figure As the intermediate parameters between the camera with shooting the image are specially：Between the calibration disk image and the camera for shooting the image Spin matrix and translation matrix.
- 8. 3D four-wheel position finders automatic camera calibration system according to claim 7, which is characterized in that the calculating mould Block specifically to：According to the spin matrix and translation matrix between multigroup calibration disk image and the camera for shooting the image, calculate more The position auto―control of group or so camera；Calculate the inner parameter of left and right camera respectively according to the position auto―control of multigroup left and right camera；The position auto―control of side camera by coordinate system transformation is projected to the coordinate system of opposite side side camera, is generated external Parameter, the external parameter is interior to include spin matrix and translation matrix of the side camera relative to coordinate system where opposite side camera.
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| CN109872365A (en) * | 2019-02-20 | 2019-06-11 | 上海鼎盛汽车检测设备有限公司 | 3D four-wheel position finder destination disk image-recognizing method |
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| CN110542376B (en) * | 2019-06-12 | 2024-03-08 | 烟台大学 | Device and method for positioning ADAS (advanced automatic analysis and design) calibration target plate placement position |
| CN110503691A (en) * | 2019-07-01 | 2019-11-26 | 广州超音速自动化科技股份有限公司 | Pole piece laminating scaling method, terminal device and the storage device of lithium battery |
| CN110503691B (en) * | 2019-07-01 | 2024-02-20 | 广州超音速自动化科技股份有限公司 | Pole piece lamination calibration method of lithium battery, terminal equipment and storage device |
| CN111024003A (en) * | 2020-01-02 | 2020-04-17 | 安徽工业大学 | 3D four-wheel positioning detection method based on homography matrix optimization |
| CN111024003B (en) * | 2020-01-02 | 2021-12-21 | 安徽工业大学 | 3D four-wheel positioning detection method based on homography matrix optimization |
| CN112801966A (en) * | 2021-01-21 | 2021-05-14 | 北京科技大学设计研究院有限公司 | Online detection method for hot-rolled strip steel deviation |
| CN112801966B (en) * | 2021-01-21 | 2024-03-15 | 北京科技大学设计研究院有限公司 | Online detection method for deviation of hot rolled strip steel |
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