CN108961344A - A kind of depth camera and customized plane calibration equipment - Google Patents
A kind of depth camera and customized plane calibration equipment Download PDFInfo
- Publication number
- CN108961344A CN108961344A CN201811098172.1A CN201811098172A CN108961344A CN 108961344 A CN108961344 A CN 108961344A CN 201811098172 A CN201811098172 A CN 201811098172A CN 108961344 A CN108961344 A CN 108961344A
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- plane
- depth camera
- infrared
- customized
- processor
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- 238000005259 measurement Methods 0.000 claims description 17
- 238000002347 injection Methods 0.000 claims description 2
- 239000007924 injection Substances 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
Classifications
-
- 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
- G06T7/85—Stereo camera calibration
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- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of depth cameras and customized plane calibration equipment, including plane infrared receiving device；Further include plane fixing, wants customized index plane for plane reception device to be fixed on；Further include hand-held spherical infrared launcher, held before plane infrared receiving device for user, transmitting infrared signal gives plane infrared receiving device；Further include processor, for connecting depth camera, customized index plane, and handles data and obtain bias contribution；Further include display device, connect processor, inform how user adjusts depth camera, eliminates error；A kind of depth camera provided by the invention and customized plane calibration equipment only need to simply install the error of i.e. adjustable depth camera and customized plane, very convenient.
Description
Technical field
The present invention relates to human bioequivalence, robot, depth transducer fields, and furtherly more particularly to a kind of depth is taken the photograph
As head and customized plane calibration equipment.
Background technique
Depth camera is opposite when camera is installed to need to position in the high-precision some scenes of some needs
Point have error, which is rotation error and horizontal error, and wherein rotation error accounts for leading factor.Application scheme
A kind of depth camera and customized plane calibration equipment are provided, can help and calibrate these errors.
Summary of the invention
The present invention to solve above-mentioned technical problem and the technical solution adopted is that provide a kind of depth camera with it is customized
Plane calibration equipment, wherein the specific technical proposal is:
Including plane infrared receiving device；It further include plane fixing, it will be certainly for plane reception device to be fixed on
It defines on index plane；Further include hand-held spherical infrared launcher, holds before plane infrared receiving device, emit for user
Infrared signal gives plane infrared receiving device；Further include processor, for connecting depth camera, customized index plane, and locates
Reason data obtain bias contribution；Further include display device, connect processor, inform how user adjusts depth camera, eliminates
Error.
Above-mentioned a kind of depth camera and customized plane calibration equipment, in which:
1) depth camera is first installed with customized index plane；
2) plane infrared receiving device is mounted on customized index plane by plane fixing；
3) plane infrared receiving device is connected to processor, depth camera is connected to processor, holds spherical infrared
Emitter power supply opening；
4) infrared facility is held, front faces plane infrared receiving device, any one depth camera can in space
With the position effectively measured, while the also place in plane infrared receiving device measurement range, press hand-held spherical infrared hair
The measurement button of injection device；
5) it after measurement button is pressed, holds spherical shape infrared launcher and emits infrared signal, letter is obtained by reception device
The distance of number source transmitting obtains the spatial position of the hand-held spherical infrared launcher by processor；
6) depth camera receives measurement instruction, is existed by identifying that spherical sensors special shape body obtains spherical sensors
Spatial position in depth camera head system；
7) processor compares 5 and 6 and obtains the error amount of depth camera and be transferred to display, is shown to user, guides
User's correction.
Above-mentioned a kind of depth camera and customized plane calibration equipment, in which:
Correction mode has manual, mechanical 2 kinds, and 2 kinds of machinery point, a kind of additional Configuration Control Unit of machinery, user, which exports, to be corrected
Degree is adjusted, another then be directly integrated into processor, is directly adjusted by processor, and under such mode, display device can be with
It saves.
Above-mentioned a kind of depth camera and customized plane calibration equipment, in which:
Plane infrared receiving device is an at least receiving plane of 0.6x 0.6m, and includes at least 3 infrared receivers
Point.
Above-mentioned a kind of depth camera and customized plane calibration equipment, in which:
The fixed feet of plane fixing at least 3, and adjustable length, adjust foot precision at least in 0.05mm, together
When enclose at least four measurement foot, precision is also at least in 0.05mm.
The present invention has the following beneficial effects with respect to the prior art: only need simply installation i.e. adjustable depth camera and
The error of customized plane, it is very convenient.
Detailed description of the invention
Fig. 1 is a kind of depth camera and customized plane calibration device structure schematic diagram.
Fig. 2 is plane fixing structural schematic diagram.
In figure:
14 plane infrared receiving device of hand-held spherical infrared launcher 2 processor, 3 depth camera, 5 plane is fixed
Customized 7 fixed feet 8 of index plane of device 6 measures foot
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples.
The present invention provides a kind of depth cameras and customized plane calibration equipment, can calibrate depth camera and one
The error of a datum plane.
Depth camera 3 includes: with customized plane calibration equipment
Plane infrared receiving device 4: being an at least receiving plane of 0.6x 0.6m, and includes at least 3 infrared connect
Sink, receiving point is more, and precision is higher.
Plane fixing 5: for plane reception device to be fixed on the plane to be calibrated, which can be screen
The plane that curtain, operating surface of the structural plane of constant depth camera, manipulator etc. are formulated according to user demand.The device is according to solid
The structure for allocating face has a little adjustment.Fixed point at least 3, and foot precision is adjusted at least in 0.05mm.Simultaneously enclose to
Few 4 measurement feet, precision is also at least in 0.05mm.
Hand-held spherical shape infrared launcher 1: holding before plane infrared receiving device for user, and transmitting infrared signal is given
Plane infrared receiving device.The depth camera for needing to calibrate simultaneously identifies the device, has at the further device launch point
Unique shape provides apparent depth information.
Processor 2: for connecting depth camera 3, calibration plane, and data is handled and obtain the machine of bias contribution.
Display device: connection processor informs how user adjusts depth camera 3, eliminates error.
Invention features and advantages: a kind of depth camera 3 of feature and customized plane calibration equipment only need to simply be installed i.e.
The error of adjustable depth camera and customized plane, it is very convenient.
Depth camera 3 and customized plane calibration equipment packet specific embodiment are as follows:
1) a kind of depth camera 3 needs first to install with customized plane calibration equipment.
2) plane infrared receiving device is mounted on customized datum level by plane fixing.With slippery walls
Citing: being fixed using the fixed device of air pressure, and is adjusted with the level meter carried on fixed device to horizontal with metope, is guaranteed simultaneously
It is consistent that 4 measurement feet 8 touch plane institute reading value.
3) plane infrared receiving device is connected to processor, depth camera is connected to processor, holds spherical infrared
1 power supply opening of emitter.
4) hold hand-held spherical infrared launcher 1, front faces plane infrared receiving device, in space any one
The position that depth camera 3 can be measured effectively, while the also place in 4 measurement range of plane infrared receiving device, are pressed
The measurement button of hand-held spherical shape infrared launcher 1.
5) it after measurement button is pressed, holds spherical shape infrared launcher 1 and emits infrared signal, letter is obtained by reception device
The distance of number source transmitting obtains the spatial position of the hand-held spherical infrared launcher 1 by processor.
6) depth camera 3 receives measurement instruction, by identifying that spherical sensors special shape body obtains spherical sensors
Spatial position in depth camera head system
7) processor compare 5) and) 6 obtain the error amount of depth camera and be transferred to display, be shown to user, draw
Lead user's correction.
8) correction mode has manual, mechanical 2 kinds.It does not repeat manually, 2 kinds of machinery point, a kind of additional Configuration Control Unit of machinery,
User exports correction degree and adjusts, another then be directly integrated into processor, is directly adjusted by processor, under such mode,
Display device can be saved.
Although the present invention is disclosed as above with preferred embodiment, however, it is not to limit the invention, any this field skill
Art personnel, without departing from the spirit and scope of the present invention, when can make a little modification and perfect therefore of the invention protection model
It encloses to work as and subject to the definition of the claims.
Claims (5)
1. a kind of depth camera and customized plane calibration equipment, it is characterised in that: including plane infrared receiving device；Also wrap
Plane fixing is included, wants customized index plane for plane reception device to be fixed on；It further include hand-held spherical infrared hair
Injection device is held before plane infrared receiving device for user, and transmitting infrared signal gives plane infrared receiving device；Further include
Processor for connecting depth camera, customized index plane, and handles data and obtains bias contribution；It further include display device,
Processor is connected, informs how user adjusts depth camera, eliminates error.
2. a kind of depth camera as described in claim 1 and customized plane calibration equipment, it is characterised in that:
1) depth camera is first installed with customized index plane；
2) plane infrared receiving device is mounted on customized index plane by plane fixing；
3) plane infrared receiving device is connected to processor, depth camera is connected to processor, holds spherical shape infrared emission
Installation's power source is opened；
4) infrared facility is held, front faces plane infrared receiving device, any one depth camera can have in space
The position of measurement, while the also place in plane infrared receiving device measurement range are imitated, hand-held spherical infrared emission dress is pressed
The measurement button set；
5) it after measurement button is pressed, holds spherical shape infrared launcher and emits infrared signal, signal source is obtained by reception device
The distance of transmitting obtains the spatial position of the hand-held spherical infrared launcher by processor；
6) depth camera receives measurement instruction, by identifying that spherical sensors special shape body obtains spherical sensors in depth
Spatial position in camera system；
7) processor compares 5 and 6 and obtains the error amount of depth camera and be transferred to display, is shown to user, guides user
Correction.
3. a kind of depth camera as claimed in claim 2 and customized plane calibration equipment, it is characterised in that: correction mode
There are manual, mechanical 2 kinds, 2 kinds of machinery point, one is mechanical additional Configuration Control Unit, user exports correction degree and adjusts, another
It is then directly integrated into processor, is directly adjusted by processor.
4. a kind of depth camera as claimed in claim 3 and customized plane calibration equipment, it is characterised in that: plane is infrared
Reception device is an at least receiving plane of 0.6x 0.6m, and includes at least 3 infrared receiver points.
5. a kind of depth camera as claimed in claim 4 and customized plane calibration equipment, it is characterised in that: plane is fixed
The fixed feet of device at least 3, and adjustable length, foot precision is adjusted at least in 0.05mm, while enclosing at least four measurement
Foot, precision is also at least in 0.05mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811098172.1A CN108961344A (en) | 2018-09-20 | 2018-09-20 | A kind of depth camera and customized plane calibration equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811098172.1A CN108961344A (en) | 2018-09-20 | 2018-09-20 | A kind of depth camera and customized plane calibration equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108961344A true CN108961344A (en) | 2018-12-07 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811098172.1A Pending CN108961344A (en) | 2018-09-20 | 2018-09-20 | A kind of depth camera and customized plane calibration equipment |
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| CN (1) | CN108961344A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102027434A (en) * | 2008-03-17 | 2011-04-20 | 索尼计算机娱乐美国有限责任公司 | Controller with an integrated camera and methods for interfacing with an interactive application |
| US20110254923A1 (en) * | 2010-04-19 | 2011-10-20 | Samsung Electronics Co., Ltd. | Image processing apparatus, method and computer-readable medium |
| US20120105585A1 (en) * | 2010-11-03 | 2012-05-03 | Microsoft Corporation | In-home depth camera calibration |
| US20130010079A1 (en) * | 2011-07-08 | 2013-01-10 | Microsoft Corporation | Calibration between depth and color sensors for depth cameras |
| US20130329012A1 (en) * | 2012-06-07 | 2013-12-12 | Liberty Reach Inc. | 3-d imaging and processing system including at least one 3-d or depth sensor which is continually calibrated during use |
| US20160349918A1 (en) * | 2015-05-29 | 2016-12-01 | Intel Corporation | Calibration for touch detection on projected display surfaces |
| CN107291221A (en) * | 2017-05-04 | 2017-10-24 | 浙江大学 | Across screen self-adaption accuracy method of adjustment and device based on natural gesture |
| CN208752681U (en) * | 2018-09-20 | 2019-04-16 | 鎏玥（上海）科技有限公司 | A kind of depth camera and customized plane calibration equipment |
-
2018
- 2018-09-20 CN CN201811098172.1A patent/CN108961344A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102027434A (en) * | 2008-03-17 | 2011-04-20 | 索尼计算机娱乐美国有限责任公司 | Controller with an integrated camera and methods for interfacing with an interactive application |
| US20110254923A1 (en) * | 2010-04-19 | 2011-10-20 | Samsung Electronics Co., Ltd. | Image processing apparatus, method and computer-readable medium |
| US20120105585A1 (en) * | 2010-11-03 | 2012-05-03 | Microsoft Corporation | In-home depth camera calibration |
| US20130010079A1 (en) * | 2011-07-08 | 2013-01-10 | Microsoft Corporation | Calibration between depth and color sensors for depth cameras |
| US20130329012A1 (en) * | 2012-06-07 | 2013-12-12 | Liberty Reach Inc. | 3-d imaging and processing system including at least one 3-d or depth sensor which is continually calibrated during use |
| US20160349918A1 (en) * | 2015-05-29 | 2016-12-01 | Intel Corporation | Calibration for touch detection on projected display surfaces |
| CN107291221A (en) * | 2017-05-04 | 2017-10-24 | 浙江大学 | Across screen self-adaption accuracy method of adjustment and device based on natural gesture |
| CN208752681U (en) * | 2018-09-20 | 2019-04-16 | 鎏玥（上海）科技有限公司 | A kind of depth camera and customized plane calibration equipment |
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