CN108257187A - A kind of camera-projecting apparatus system scaling method - Google Patents
A kind of camera-projecting apparatus system scaling method Download PDFInfo
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- CN108257187A CN108257187A CN201810118945.1A CN201810118945A CN108257187A CN 108257187 A CN108257187 A CN 108257187A CN 201810118945 A CN201810118945 A CN 201810118945A CN 108257187 A CN108257187 A CN 108257187A
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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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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/11—Region-based segmentation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/194—Segmentation; Edge detection involving foreground-background segmentation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/90—Determination of colour characteristics
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/97—Determining parameters from multiple pictures
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20112—Image segmentation details
- G06T2207/20164—Salient point detection; Corner detection
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Abstract
The invention discloses a kind of camera projecting apparatus system scaling methods, make full use of all constraints, pass through the camera internal reference demarcated in advance and distortion, with the minimum target of world coordinates error of X-comers, combined optimization is carried out to the outer ginseng of projecting apparatus internal reference and distortion, projecting apparatus and camera.It avoids in existing scaling method, internal reference, outer ginseng are demarcated alone, and multiple calibration poses are mutual indepedent, the problem of obtained outer ginseng is inconsistent, can obtain consistent high-precision calibration result.
Description
Technical field
The present invention relates to computer vision, detection field of measuring technique more particularly to a kind of camera-projecting apparatus system calibration
Method.
Background technology
Camera-projecting apparatus system is common high-precision three-dimensional imaging method, is had extensively in fields such as three-dimensional measurement, robots
General application, the stated accuracy of system directly influence final performance, are the key points and difficulties of the system, fail to be managed always
The effect thought.The scaling method of mainstream is at present：Under same pose, camera shooting printing gridiron pattern and projection chessboard trrellis diagram
Picture by printing the homography matrix of gridiron pattern sizecalculation camera and chessboard plane, is projected further according to homography matrix
Tessellated world coordinates is inversely demarcated with reference to tessellated arrange parameter is projected, obtains internal reference and the projection of projecting apparatus
Instrument and a series of relative pose of gridiron pattern planes.This method to all pose independent process, have ignored one it is critically important
Constraints：The relative pose of projecting apparatus and camera is fixed.It is generated as a result, calibration can generate a series of projections
The pose parameter of instrument and chessboard plane, the projecting apparatus and the relative pose of camera obtained according to this series of parameters not fully one
It causes, may be there are large error, and the mean value of one group of parameter or this series of parameters can only be selected as final result, though
So it is possible that obtain smaller re-projection error, but this is the result is that insecure.
Another difficult point of calibration is how under similary pose, obtains printing gridiron pattern and projects tessellated figure
Picture obtains projecting tessellated world coordinates by the transmission of homography matrix.For ease of operation, usually shooting printing gridiron pattern
With the tessellated superimposed image of projection, two kinds of gridiron patterns are detached, then extract X-comers using image processing algorithm.Separation
Projection gridiron pattern is carried out binaryzation, then extract angle point by tessellated algorithm, usually given threshold.Binaryzation gridiron pattern carries
The angle point taken can there are bigger errors.
ZL201410164584.6 is carried out to detaching printing gridiron pattern and projection gridiron pattern and lifting the method for angle point
Optimization, by projecting several reverse phases, rotation gridiron pattern, extracts angle point and is averaged after difference, reverse phase, filtering operation
Participate in calibration.The extraction accuracy of angle point is improved to a certain extent, but to being superimposed tessellated separation still using setting threshold
The method of value can not well remove printing gridiron pattern from background.
Invention content
To solve the problems, such as that existing scaling method exists, the present invention provides a kind of camera-projecting apparatus system scaling method, fills
Divide and utilize all constraints, by the camera internal reference demarcated in advance and distortion, missed with the world coordinates of X-comers
The minimum target of difference carries out combined optimization to the outer ginseng of projecting apparatus internal reference and distortion, projecting apparatus and camera.Avoid existing calibration
In method, internal reference, outer ginseng are demarcated alone, and multiple calibration poses are mutual indepedent, the problem of obtained outer ginseng is inconsistent, can obtain
To consistent high-precision calibration result.
The technical proposal for solving the technical problem of the invention is as follows：A kind of camera-projecting apparatus system scaling method, should
Method includes the following steps：
Step 1：Using existing camera calibration technology to camera internal reference IcWith distortion dcIt is demarcated；
Step 2：In printing gridiron pattern background, projecting apparatus projects all light, complete dark, projection chessboard grid pattern, camera successively
With same exposure parameter shooting respective image Ibright、IdarkAnd Icomb；
Step 3：To image IbrightExtraction printing X-comers, according to camera internal reference IcWith the d that distortscCalculate camera and chess
Disk lattice plane relative pose Ri,Ti；
Step 4：From three width image Ibright、IdarkAnd IcombIn isolate projection chessboard table images, and extract projection chessboard
Lattice angle point, according to Ri,TiCalculate angle point world coordinates；
Step 5：The outer ginseng R and T of initial projection instrument and camera, according to R, T and Ri,TiCalculate projecting apparatus and gridiron pattern
Relative pose [the R ' of planei,T’i]=f (R, T, Ri,Ti)；
Step 6：Initial projection instrument internal reference IpWith distortion dp, according to Ip、dpAnd R 'i,T’iCalculate projection chessboard angle point generation
Boundary's coordinate；
Step 7：The pose of gridiron pattern plane is replaced, step 2-6 is repeated, obtains enough nominal datas, nominal data group number
It can be previously set, general no less than 5 groups, preferably 10 groups；
Step 8：The minimum target of world coordinates error obtained with step 4 and step 6, to unknown parameter Ip、dp, R and T
Combined optimization is carried out, obtains calibration result.
Further, in the step 4, the method for isolating projection chessboard table images is：
To nth pixel, reflectance factor ρ is calculatedn=(In comb-In dark)/(In bright-In dark), then project gridiron pattern n-th
The value I of a pixelnFor：
First condition and third condition ensure the contrast inside projection gridiron pattern, and second condition ensures projection chess
Disk lattice original boundaries, ρt1、ρt2Reflectance factor upper threshold and lower limit, 0.75≤ρ are represented respectivelyt1≤1,0≤ρt2≤0.25；
It1、It2Intensity threshold upper and lower bound is represented respectively, according to the exposure of image with IcombHistogram setting；Separation projection chess
Gaussian filtering is carried out after disk lattice and reduces the error that respective pixel calculates error tape.
Further, the preferred Zhang Zhengyou methods of the camera calibration technology.
Further, it is more accurately separation printing gridiron pattern and projection gridiron pattern from superposition pattern, improves gridiron pattern
The extraction accuracy of angle point, printing gridiron pattern is monochrome, preferably green, because Three Channel Color image Green channel information is most
More, blue and red channel are shared for surrounding pixel.Particularly, projection gridiron pattern is identical with printing gridiron pattern color, Ke Yijin
One step reduces the tessellated influence of background.Monochrome printing gridiron pattern is calculated each using the single channel colour information of superposition pattern
The reflectance factor of pixel by background printing gridiron pattern separation, obtains accurately projecting chessboard table images, avoids existing use
The problem of threshold method extraction projection gridiron pattern is inaccurate, improves the precision for obtaining X-comers.
Further, in the step 4, three width image Ibright、IdarkAnd IcombIt only uses with printing gridiron pattern color phase
There are three channels for the single-channel data of corresponding color, i.e. coloured image, are green checkerboards, and just with green channel, other two
A is red, blue.
Further, it in the step 5, calculates projecting apparatus and the relative pose of gridiron pattern plane is：
Further, the combined optimization in the step 8 uses nonlinear optimization method.
Beneficial effects of the present invention are as follows：1. in advance with ripe technical calibration camera internal reference, it is ensured that given data
Accuracy, while reduce the influence of other errors, improve integral calibrating precision；2. the unknown parameter of pair projecting apparatus is combined
Calibration can make full use of all constraints, obtain consistent calibrating parameters, improve stated accuracy and reliability；It is 3. monochromatic
Gridiron pattern is approximately white, can very easily detach under corresponding single channel image, without influencing printing gridiron pattern and throwing
The tessellated angle point of shadow, green effect are best.Projection gridiron pattern can further promote effect using consistent color；4. it adopts
With all light, complete dark, three width figure of superimposed image, can projection gridiron pattern be isolated with high-fidelity according to the method for reflectance factor, carried
Lift angle point extraction accuracy.
Description of the drawings
Fig. 1 is the flow chart of scaling method of the present invention；
Fig. 2 is the tessellated single channel image schematic diagram of superposition；
Fig. 3 is the projection gridiron pattern schematic diagram of separating background extraction.
Specific embodiment
The present invention is described further with reference to the accompanying drawings and examples.
As shown in Figure 1, the present invention provides a kind of camera-projecting apparatus system scaling method, specifically include：
1st, using Zhang Zhengyou standardization calibration for cameras internal references IcWith distortion dc；
2nd, printing green and the chessboard grid pattern of white spaces, gridiron pattern quantity are 9 × 6, per lattice 40 × 40mm of size, patch
In white plane, surfacing is needed, it is reflective without minute surface；
3rd, on the tessellated plane of printing is posted, projecting apparatus projects all light, complete dark, the tessellated pattern of projection successively,
It is 24 × 19 to project gridiron pattern quantity, per lattice pixel 38 × 30；
4th, camera acquires three width image I successively using identical exposure parameterbright, Idark, Icomb；
5th, using opencv built-in functions extraction image IbrightAngle point, and according to camera internal reference IcWith distortion dcAnd it beats
It prints gridiron pattern parameter and calculates camera and gridiron pattern plane pose Ri,Ti；
6th, three width image I are takenbright, Idark, IcombGreen channel, following calculating is done to each pixel：
Wherein, n is image nth pixel,ρt1=0.9, ρt2=
0.1, it is set by the exposure of camera, It1=120, It2=10.Obtained image is the throwing for removing printing gridiron pattern background
Shadow chessboard table images, then carry out gaussian filtering.Projection chessboard table images comprising printing gridiron pattern background are as shown in Fig. 2, removal
The projection chessboard table images of background are as shown in Figure 3.
7th, the image zooming-out angle point obtained using opencv built-in functions to step 6, and the I obtained using step 5c、dc、
Ri、TiCalculate the world coordinates of angle point；
8th, outer ginseng R, the T of initialization, calculates projecting apparatus and gridiron pattern plane pose：
9th, initial projection instrument internal reference IpWith distortion dp, with reference to R 'iT′iAngle is calculated with the projection gridiron pattern parameter in step 3
The world coordinates of point；
10th, the pose of gridiron pattern plane is converted, repeats step 3-9, acquires the data of 10 width images；
11st, using nonlinear optimization method, to unknown parameter Ip、dp, R, T optimize, make step 7 and step 9 obtain
World coordinates error is minimum, completes calibration.
Claims (9)
1. a kind of camera-projecting apparatus system scaling method, which is characterized in that this method comprises the following steps：
Step 1：Using existing camera calibration technology to camera internal reference IcWith distortion dcIt is demarcated；
Step 2：In printing gridiron pattern background, projecting apparatus projects all light, complete dark, projection chessboard grid pattern successively, and camera is with same
The exposure parameter shooting respective image I of samplebright、IdarkAnd Icomb；
Step 3：To image IbrightExtraction printing X-comers, according to camera internal reference IcWith the d that distortscCalculate camera and gridiron pattern
Plane relative pose Ri,Ti；
Step 4：From three width image Ibright、IdarkAnd IcombIn isolate projection chessboard table images, and extract projection gridiron pattern angle
Point, according to Ri,TiCalculate angle point world coordinates；
Step 5：The outer ginseng R and T of initial projection instrument and camera, according to R, T and Ri,TiCalculate projecting apparatus and gridiron pattern plane
Relative pose [R 'i,T’i]=f (R, T, Ri,Ti)；
Step 6：Initial projection instrument internal reference IpWith distortion dp, according to Ip、dpAnd R 'i,T’iThe projection chessboard angle point world is calculated to sit
Mark；
Step 7：The pose of gridiron pattern plane is replaced, repeats step 2-6, obtains and is no less than 5 groups of nominal datas.
Step 8：The minimum target of world coordinates error obtained with step 4 and step 6, to unknown parameter Ip、dp, R and T carry out
Combined optimization obtains calibration result.
2. a kind of camera-projecting apparatus system scaling method according to claim 1, which is characterized in that in the step 4,
Isolating the method for projecting chessboard table images is：
To nth pixel, reflectance factor ρ is calculatedn=(In comb-In dark)/(In bright-In dark), then project n-th of picture of gridiron pattern
The value I of elementnFor：
First condition and third condition ensure the contrast inside projection gridiron pattern, and second condition ensures projection gridiron pattern
Original boundaries, ρt1、ρt2Reflectance factor upper threshold and lower limit are represented respectively；It1、It2Represent the intensity threshold upper limit under respectively
Limit, according to the exposure of image with IcombHistogram setting；Gaussian filtering, which is carried out, after separation projection gridiron pattern reduces indivedual pictures
Element calculates the error of error tape.
A kind of 3. camera-projecting apparatus system scaling method according to claim 1, which is characterized in that the camera calibration
The preferred Zhang Zhengyou methods of technology.
4. a kind of camera-projecting apparatus system scaling method according to claim 1, which is characterized in that in the step 2,
Gridiron pattern is printed as monochrome.
5. a kind of camera-projecting apparatus system scaling method according to claim 4, which is characterized in that in the step 2,
It is preferably green to print gridiron pattern.
6. a kind of camera-projecting apparatus system scaling method according to claim 1, which is characterized in that projection gridiron pattern with
It is identical to print gridiron pattern color.
7. a kind of camera-projecting apparatus system scaling method according to claim 1, which is characterized in that in the step 4,
Three width image Ibright、IdarkAnd IcombOnly use the single-channel data of color corresponding with printing gridiron pattern color.
8. a kind of camera-projecting apparatus system scaling method according to claim 1, which is characterized in that in the step 5,
It calculates projecting apparatus and the relative pose of gridiron pattern plane is：
9. a kind of camera-projecting apparatus system scaling method according to claim 1, which is characterized in that in the step 8
Combined optimization uses nonlinear optimization method.
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Cited By (5)
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| CN110189380A (en) * | 2019-05-30 | 2019-08-30 | Oppo广东移动通信有限公司 | Optimization method, structure optical mode group and the storage medium of nominal data |
| CN112862895A (en) * | 2019-11-27 | 2021-05-28 | 杭州海康威视数字技术股份有限公司 | Fisheye camera calibration method, device and system |
| CN112991457A (en) * | 2021-02-22 | 2021-06-18 | 北京理工大学 | Method and device for calibrating spatial position and internal and external parameters of projector in surgical navigation |
| CN113554709A (en) * | 2020-04-23 | 2021-10-26 | 华东交通大学 | Camera-projector system calibration method based on polarization information |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112862895A (en) * | 2019-11-27 | 2021-05-28 | 杭州海康威视数字技术股份有限公司 | Fisheye camera calibration method, device and system |
| CN112862895B (en) * | 2019-11-27 | 2023-10-10 | 杭州海康威视数字技术股份有限公司 | Fisheye camera calibration method, device and system |
| CN113554709A (en) * | 2020-04-23 | 2021-10-26 | 华东交通大学 | Camera-projector system calibration method based on polarization information |
| CN112991457A (en) * | 2021-02-22 | 2021-06-18 | 北京理工大学 | Method and device for calibrating spatial position and internal and external parameters of projector in surgical navigation |
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Denomination of invention: A calibration method for camera projector system Granted publication date: 20200904 Pledgee: Hangzhou High-tech Financing Guarantee Co.,Ltd. Pledgor: HANGZHOU LANXIN TECHNOLOGY CO.,LTD. Registration number: Y2024980003977 |