CN109215084A - A method of for distortion correction location of the core - Google Patents
A method of for distortion correction location of the core Download PDFInfo
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Abstract
Disclosed by the invention is a kind of method for distortion correction location of the core, including the image input module successively communicated to connect, detection information extraction module, center of distortion computing module, image input module obtains the fault image content containing detection information by distortion camera lens, fault image content includes location information amount, location information amount is any plane comprising at least two parallel lines or the anchor point information that can represent two parallel lines, plane and distortion lens imaging face are at an angle, detection information extraction module extracts the location information amount in fault image content, and location information amount is transferred to center of distortion computing module, center of distortion computing module carries out the location information amount received to calculate conversion acquisition binding occurrence, and optimizes and obtain best center of distortion, halation phenomenon tolerance in boundary of the present invention is high, positioning Scene and illumination limit less, and adaptation range is bigger, and calculating process is simple, registration.
Description
Technical field
The present invention relates to a kind of methods of location of the core, more specifically say, are related to a kind of for distortion correction center
The method of point location.
Background technique
The big visual angle imaging device such as wide-angle lens or fish eye lens is while providing broad areas imaging, all more or less
Along with nonlinear distortion, and the general bigger distortion degree in visual angle is bigger.In general, lens distortion can be mainly divided into pass
In the radius vector of center of distortion and two kinds of tangent vector.Regardless of how to design distortion correction algorithm, such as common perspective projection
Transformation correction, spherical correction, oval correction or multinomial model correction, finding center of distortion all is its most basic and most critical
A step.
Due to the installation deviation between camera lens and imaging sensor, lens distortion center is with center sensor generally not same
One position.Center of distortion localization method common at present can be summarized as contour detecting method, camera parameters standardization two major classes.More
Furtherly, contour detecting method is common in calibration detection again and three classes, the core concept such as scan line detection and circle fitting are
It identifies the effective imaging area of image, corresponding center of distortion is further mainly obtained by effective coverage profile, it is clear that this method
Sensor imaging surface is only applicable to greater than lens imaging face, there are invalid borders for image, and most of profiles are regular shape
Situation applies generally to fish eye lens.For example, patent document CN103679166A be disclosed under complete white scene to fish eye lens at
Picture obtains the i.e. complete white imaging district center in lens distortion center by identifying complete white effective coverage；Patent document CN
It is most upper to obtain effective district by row, column scanning element gray scale for the scan line detection contour extraction method that 106910173A is proposed
Row, most downlink, left column and right column, then obtain center of distortion, such method light outside image boundary dark space or camera lens
Error is larger when dizzy；And patent document CN107633489A is then that round fitting is carried out using the sharp point detected
Obtain center of distortion.And the common monocular calibration of camera parameters standardization or multiple target are fixed, obtain camera by calibration process
Inside and outside ginseng, such method was generally designated range request complexity and calculation amount is larger, was unfavorable for practical realization.
Summary of the invention
In order to solve above-mentioned prior art problem, the present invention carries out center of distortion positioning for fault image, passes through plane
Parallel lines information proposes constraint function, obtains best center, with accuracy height, limits less positioning scene and illumination, fits
Answer the big equal technical characterstics of range.
To achieve the goals above, the present invention is achieved by the following technical solutions:
A method of for distortion correction location of the core, including successively communicate to connect image input module, detection
Information extraction modules, center of distortion computing module, wherein described image input module is obtained by distortion camera lens containing detection letter
The fault image content of breath, the fault image content include location information amount, the location information amount be include at least two
Parallel lines or can represent two parallel lines anchor point information any plane, the plane and distortion lens imaging face are in one
Determine angle, the detection information extraction module extracts the location information amount in fault image content, and by location information
Amount is transferred to center of distortion computing module, and the center of distortion computing module carries out calculating conversion to the location information amount received
Binding occurrence is obtained, and optimizes and obtains best center of distortion.
As an improvement the distortion camera lens obtains the imaging acquisition scene of the fault image content containing detection information
Including special calibration scene, normal scene, the distortion camera lens includes fish eye lens, wide-angle lens.
As an improvement the anchor point information content includes common uncalibrated image, special uncalibrated image and normal field
Extractible in scape in conplane parallel lines or to represent the anchor point information of parallel lines, the common uncalibrated image includes chess
Disk table images.
As an improvement the distortion camera lens communication link is connected to camera sensor, at least two parallel lines or can generation
The anchor point information of two parallel lines of table is distributed in the center two sides of camera sensor.
As an improvement the detection information extraction module includes automatic detection sub-module, user interaction sub module, institute
Stating automatic detection sub-module includes automatic linear detection unit, automatic Corner Detection unit, the automatic linear detection unit packet
It includes lines detection subelement, determine subelement, parallel lines screening subelement, the nonlinear distortion characteristic based on distortion camera lens in parallel
The lines detection subelement detects curve or bent arc, and curve of output or bent arc information, the parallel judgement subelement pair
Distortion of camera model carries out parallel lines Characteristics Detection and obtains parallel lines determinating reference, based on parallel described in parallel lines determinating reference
Line screens the curve that subelement export lines detection subelement or bent arc information progress in parallel to screening.
As an improvement the curve detection includes based on the Randon curve detection converted and based on Hough transform
Curve detection, the parallel lines determinating reference include altogether circular arc.
As an improvement the automatic Corner Detection unit includes angle point grid subelement, the judgement of parallel lines anchor point
Subelement, parallel lines anchor point screen subelement, and the angle point grid subelement is detected for angle point grid, and export angle point letter
Breath, the parallel lines anchor point determine that subelement carries out parallel lines anchor point Characteristics Detection to distortion of camera model and obtains in parallel
Anchor point determines determinating reference, determines that parallel lines anchor point described in determinating reference screens subelement angle steel joint based on positioned parallel point
The angle point information for extracting subelement output carries out the screening of parallel lines anchor point, and the angle point grid detection includes that Harris is detected.
As an improvement the user interactive module carries out parallel lines to selected or parallel to fault image for user
Line location information is selected manually.
As an improvement the center of distortion computing module include distortion correction submodule, constraint computational submodule and
Optimizing submodule, the distortion correction submodule carry out distortion correction to location information amount and export distortion information feeding constraint meter
Operator module, it is described constraint computing module using parallel lines pair distortion information amount progress intersection point fitting, and with mutual intersection point away from
Majorized function is established from minimum, and majorized function model is sent into optimizing unit and carries out least square method fitting, or letter will be optimized
Exponential model is sent into optimizing unit and carries out the fixed ginseng of Levenberg-Marquardt fitting.
As an improvement the distortion correction submodule be multinomial correcting unit, lens imaging model correcting unit,
Any unit in the direct correcting unit of lens parameters.
The utility model has the advantages that the present invention can be used for wide-angle distortion compared to the method that common contour detecting determines center of distortion,
It is high to the boundary halation phenomenon tolerance in camera lens manufacturing process, positioning scene and illumination are limited less, adaptation range is bigger；Phase
Method than determining center of distortion in camera calibration internal reference, calculating process is simple, as distortion correction algorithm preprocessing module
Expense is reasonable, and location information amount and constraint function will be rectified not only in common distortion correction occasion registration for certain
Positive result carries out perspective transform to realize the scene of view angle switch, and as a result accuracy is also significantly better than other and only considers to distort
The method of characteristic.
Detailed description of the invention
Fig. 1 is overall work principle flow chart of the present invention.
Fig. 2 is automatic linear detection working principle flow chart of the present invention.
Fig. 3 is automatic Corner Detection working principle flow chart of the invention.
Fig. 4 is computing module working principle flow chart in center of distortion of the present invention.
Fig. 5 is vehicle calibration cloth and its corresponding location information schematic diagram in the embodiment of the present invention 2.
Specific embodiment
Below in conjunction with Figure of description, the invention will be further described, but the invention is not limited to following embodiments.
Embodiment 1
It is as shown in Figs. 1-5 a kind of specific embodiment of method for distortion correction location of the core, the embodiment one
The method that kind is used for distortion correction location of the core, including image input module, the detection information extraction mould successively communicated to connect
Block, center of distortion computing module, image input module obtains the fault image content containing detection information by distortion camera lens, abnormal
Becoming picture material includes location information amount, and the location information amount is comprising at least two parallel lines or can represent determining for two parallel lines
At an angle, detection information extraction module is to fault image for any plane of site information, plane and distortion lens imaging face
Location information amount in content extracts, and location information amount is transferred to center of distortion computing module, and center of distortion calculates
Module carries out the location information amount received to calculate conversion acquisition binding occurrence, and optimizes and obtain best center of distortion；
As an improvement embodiment, distortion camera lens obtain the fault image content containing detection information imaging acquisition
Scene includes special calibration scene, normal scene, special calibration scene such as gridiron pattern scaling board, vehicle calibration cloth, normal scene
As (with the angled shooting of high building, then location information can directly extract tall building wall parallel lines or angle to outdoor high building scene
Point etc.), it is indoor common comprising regular furniture (such as wardrobe), can directly extract its vertical boundary etc. as location information, distortion
Camera lens includes fish eye lens, wide-angle lens head etc..
As an improvement embodiment, anchor point information content includes common uncalibrated image, special uncalibrated image and just
It is extractible in normal scene in conplane parallel lines or to represent the anchor point information of parallel lines, wherein common uncalibrated image
Including chessboard table images.
As an improvement embodiment, distortion camera lens communication link is connected to camera sensor, in anchor point information content
At least two parallel lines or the anchor point information that can represent two parallel lines are distributed in the center two sides of camera sensor, positioning
It is to more accurately detect center of distortion, anchor point that point information, which is distributed in image scene (camera sensor) the center two sides of estimating,
The information that information not instead of camera lens itself includes, image scene or the information for demarcating environment.
As an improvement embodiment, detection information extraction module is by automatic detection sub-module, user interaction sub module
Composition, automatic detection sub-module includes automatic linear detection unit, automatic Corner Detection unit, is illustrated in figure 2 automatic linear
Detect working principle flow chart, wherein automatic linear detection unit includes lines detection subelement, determines subelement in parallel, is flat
Line screens subelement, wherein lines detection subelement described in the nonlinear distortion characteristic based on distortion camera lens is to curve or song
Arc detection, and curve of output or bent arc information, it is parallel to determine that subelement carries out parallel lines Characteristics Detection to distortion of camera model
Parallel lines determinating reference is obtained, lines detection subelement is exported based on the screening subelement of parallel lines described in parallel lines determinating reference
Curve or bent arc information carry out in parallel to screening.
As an improvement embodiment, curve detection includes curve detection based on Randon transformation and based on Hough
The curve detection of transformation, parallel lines determinating reference include total circular arc.
As an improvement embodiment, be illustrated in figure 3 automatic Corner Detection working principle flow chart, automatic angle point inspection
Surveying unit includes angle point grid subelement, parallel lines anchor point judgement subelement, parallel lines anchor point screening subelement, and angle point mentions
It takes subelement to detect for angle point grid, and exports angle point information, parallel lines anchor point determines subelement to distortion of camera mould
Type carries out parallel lines anchor point Characteristics Detection and obtains positioned parallel point judgement determinating reference, determines base based on positioned parallel point
Standard, parallel lines anchor point screen the angle point information progress parallel lines anchor point screening that subelement angle steel joint extracts subelement output,
Wherein, angle point grid detection includes that Harris is detected.
As an improvement embodiment, user interactive module of the present invention for user to fault image carry out parallel lines pair
Selected or parallel lines location information is selected, is convenient for human-computer interaction.
As an improvement embodiment, as shown in figure 4, center of distortion computing module includes distortion correction submodule, about
Beam computational submodule and optimizing submodule, distortion correction submodule carry out distortion correction output distortion information to location information amount and send
Enter and constrain computational submodule, constraint computing module carries out intersection point fitting using the distortion information amount of parallel lines pair, and mutually to hand over
Point establishes majorized function apart from minimum, and majorized function model is sent into optimizing unit and carries out least square method fitting, or will be excellent
Change function model and is sent into the fixed ginseng of optimizing unit progress Levenberg-Marquardt fitting.
As an improvement embodiment, distortion correction submodule be multinomial correcting unit, lens imaging model correct
Any unit in the direct correcting unit of unit, lens parameters.
Embodiment 2
Illustrate by taking vehicle-mounted 360 vertical view system as an example, vehicle-mounted 360 overlook system by vehicle body all around 4 tunnel 180 degree flake mirror
Head is input information source, and vehicle-mounted 360 system can generally extract as shown in Figure 5 in calibration process using vehicle calibration cloth
8 anchor points, therefore image input module can directly using its extract information as location information amount, that is, be not necessarily to additionally specially mark
It is fixed.
Illustrating present invention implementation 2 by taking the vehicle-mounted flake distortion positioning of single channel 180 degree as an example, steps are as follows:
Image input module demarcates cloth as input picture (such as Fig. 5 institute using the ground of traditional onboard system calibration process
Show), using calibration cloth as input picture, it is equivalent to image input module and is obtained by distortion camera lens containing detection information
Fault image content, the calibration cloth of selection and distortion lens imaging face are in a certain angle, and demarcate cloth itself black patch or gridiron pattern
Information is positioned parallel amount, and location information amount is that comprising at least two parallel lines or can represent the anchor point letter of two parallel lines
Any plane of breath；
Detection information extraction module: it is directly positioned using the angle point information of onboard system calibration process input as parallel lines
The coordinate is input to center of distortion computing module by point, for inputting information in Fig. 5, from left to right, is successively remembered from top to bottom
Recording 8 angle point is respectively p1 (x1, y1), p2 (x2, y2), p3 (x3, y3), p4 (x4, y4), p5 (x5, y5), p6 (x6, y6), p7
(x7, y7), p8 (x8, y8)；
Center of distortion computing module: distortion correction is carried out to location information amount by distortion correction submodule, is corrected
Correspondence distortion information afterwards is sent into constraint computing module, obtains best center of distortion eventually by optimizing submodule, specific to walk
It is rapid as follows:
Distortion correction submodule: by taking equidistant projection module declaration as an example, imaging model formula is expressed as follows:
Wherein,For incidence angle is imaged, f is lens focus, and r indicates flake radius.
If lens distortion center required by the present invention is identical as imaging device center, and is expressed as (xc, yc), then distortion is rectified
Syndrome generation module is specific as follows to the distortion correction process of location information amount: 1) successively asking itself and center of distortion to location information amount
The distance of (xc, yc), i.e., the r value of above-mentioned publicity obtain the corresponding incidence angle letter of location information amount then by lens parameters f
Breath
2) radius after asking it to correspond to correction according to incidence angle information, calculation formula are as follows:
Wherein, f is ibid lens focus, and tan indicates tangent function, rdcFor the radius after correction；It is obtained according to correction radius
Correction information content is corresponded to after distortion correction to location information amount, i.e. coordinate information, calculation formula is as follows:
Wherein, mdciIndicate the x or y of corresponding i-th of correction information content, miRespectively indicate i-th of location information amount x or
Y, mcIndicate the x or y of the central point assumed, rdciAnd riRespectively indicate i-th of location information amount and its radius for correcting information content
Value.
Constrain computational submodule: constraint computational submodule input quantity is that the location information amount of distortion correction submodule input is corresponding
Correction information content, can correspond to and be expressed as pdc1 (xdc1, ydc1), pdc2 (xdc2, ydc2), pdc3 (xdc3, ydc3), pdc4
(xdc4, ydc4), pdc5 (xdc5, ydc5), pdc6 (xdc6, ydc6), pdc7 (xdc7, ydc7), pdc8 (xdc8, ydc8),
Its constraint function model foundation process is as follows:
1) straight line information point is grouped: being grouped to the correction information content of input by line, i.e., will be indicated collinear coordinate points
Integration indicates that collinear coordinate points number is much larger than 2 for parallel lines location information, and the parallel lines of the present embodiment are fixed
The location information of site class determines straight line by 2 points；
2) straight line parameter is fitted:
Bj=ydc1-xdc1*kj
Obviously, the above-mentioned straight line parameter calculation formula for two o'clock, directly seeks multi-point fitting straight line with least square method
Minimum Mean Square Error.
3) two straight-line intersections are sought, formula is as follows:
yp=xp*k1+b1
(with 1 straight line parameter for 1 location information amount, such as 8 points indicate 4 to location information amount of the coordinate points number much larger than 2
Vertical line is then 4 location information amounts), to acquire intersection point two-by-two respectively, then intersection point number required by the embodiment should be 6, successively table
Show that intersection point is pp1 (xp1, yp1), pp2 (xp2, yp2), pp3 (xp3, yp3), pp4 (xp4, yp4), pp5 (xp5, yp5), pp6
(xp6, yp6)；
2) constraint function is sought, is averaged to finding intersection, and asks each intersection point to the distance of center intersection point, formula expression
It is as follows:
Wherein, xpcAnd ypcIt is expressed as the HCCI combustion of intersection point, d is final optimization pass constraint function, can be successively by above-mentioned
Calculating process iteration obtains the finally constraint function expression formula about center of distortion.
Optimizing submodule: it according to the function expression for only containing center of distortion (x, y) of constraint computing module output, utilizes
Common least square method or Levenberg-Marquardt fit procedure seeks optimal solution, generally can be according to application scenarios to abnormal
Change center is limited relative to the offset at camera sensor center to improve robustness.
Finally it should be noted that present invention is not limited to the above embodiments, there can also be many variations.This field it is general
All deformations that logical technical staff directly can export or associate from present disclosure, are considered as of the invention
Protection scope.
Claims (10)
1. a kind of method for distortion correction location of the core, it is characterised in that: including the image input successively communicated to connect
Module, detection information extraction module, center of distortion computing module, wherein described image input module is obtained by distortion camera lens
Fault image content containing detection information, the fault image content include location information amount, and the location information amount includes
At least two parallel lines or can represent two parallel lines anchor point information any plane, the plane and distortion lens imaging
At an angle, the detection information extraction module extracts the location information amount in fault image content, and will determine in face
Position information content is transferred to center of distortion computing module, and the center of distortion computing module counts the location information amount received
It calculates conversion and obtains binding occurrence, and optimize and obtain best center of distortion.
2. a kind of method for distortion correction location of the core according to claim 1, it is characterised in that: the distortion
The imaging acquisition scene that camera lens obtains the fault image content containing detection information includes special calibration scene, normal scene, institute
Stating distortion camera lens includes fish eye lens, wide-angle lens.
3. a kind of method for distortion correction location of the core according to claim 1 or 2, it is characterised in that: described
Anchor point information content includes extractible conplane flat in common uncalibrated image, special uncalibrated image and normal scene
Line or the anchor point information for representing parallel lines, the common uncalibrated image includes chessboard table images.
4. a kind of method for distortion correction location of the core according to claim 1, it is characterised in that: the distortion
Camera lens communication link is connected to camera sensor, and at least two parallel lines or the anchor point information that can represent two parallel lines are distributed in
The center two sides of camera sensor.
5. a kind of method for distortion correction location of the core according to claim 1, it is characterised in that: the detection
Information extraction modules include automatic detection sub-module, user interaction sub module, and the automatic detection sub-module includes automatic linear
Detection unit, automatic Corner Detection unit, the automatic linear detection unit include lines detection subelement, parallel judgement list
Member, parallel lines screen subelement, and lines detection subelement described in the nonlinear distortion characteristic based on distortion camera lens is to curve or song
Arc detection, and curve of output or bent arc information, the parallel judgement subelement carry out parallel lines characteristic to distortion of camera model
Detection obtains parallel lines determinating reference, based on the screening subelement of parallel lines described in parallel lines determinating reference to lines detection subelement
The curve of output or bent arc information carry out in parallel to screening.
6. a kind of method for distortion correction location of the core according to claim 5, it is characterised in that: the curve
Detection includes curve detection based on Randon transformation and based on the curve detection of Hough transform, the parallel determinating reference of the line
Including total circular arc.
7. a kind of method for distortion correction location of the core according to claim 5 or 6, it is characterised in that: described
Automatic Corner Detection unit includes angle point grid subelement, parallel lines anchor point judgement subelement, parallel lines anchor point screening
Unit, the angle point grid subelement is detected for angle point grid, and exports angle point information, and the parallel lines anchor point determines son
Unit carries out parallel lines anchor point Characteristics Detection to distortion of camera model and obtains positioned parallel point judgement determinating reference, based on flat
Row anchor point determines that the screening subelement angle steel joint of parallel lines anchor point described in determinating reference extracts the angle point information of subelement output
The screening of parallel lines anchor point is carried out, the angle point grid detection includes that Harris is detected.
8. a kind of method for distortion correction location of the core according to claim 5, it is characterised in that: the user
Interactive module carries out parallel lines to fault image for user and selectes manually to selected or parallel lines location information.
9. a kind of method for distortion correction location of the core according to claim 1, it is characterised in that: the distortion
Center calculation module includes distortion correction submodule, constraint computational submodule and optimizing submodule, the distortion correction submodule
Distortion correction output distortion information is carried out to location information amount and is sent into constraint computational submodule, the constraint computing module utilizes flat
The distortion information amount of line pair carries out intersection point fitting, and establishes majorized function apart from minimum with mutual intersection point, and by majorized function
Model is sent into optimizing unit and carries out least square method fitting, or majorized function model is sent into optimizing unit and carries out Levenberg-
The fixed ginseng of Marquardt fitting.
10. a kind of method for distortion correction location of the core according to claim 9, it is characterised in that: described abnormal
Become correction submodule as appointing in multinomial correcting unit, lens imaging model correcting unit, the direct correcting unit of lens parameters
A kind of unit.
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| CN110927965A (en) * | 2019-12-20 | 2020-03-27 | 易思维（杭州）科技有限公司 | Design method of compensation lens for compensating error caused by light deflection |
| CN111931575A (en) * | 2020-07-01 | 2020-11-13 | 南京工业大学 | Method for detecting and tracking steering of mixing drum of concrete mixer truck based on classifier integration |
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| US20140085469A1 (en) * | 2012-09-24 | 2014-03-27 | Clarion Co., Ltd. | Calibration Method and Apparatus for In-Vehicle Camera |
| CN104077768A (en) * | 2014-06-04 | 2014-10-01 | 华为技术有限公司 | Method and device for calibrating fish-eye lens radial distortion |
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| US20140085469A1 (en) * | 2012-09-24 | 2014-03-27 | Clarion Co., Ltd. | Calibration Method and Apparatus for In-Vehicle Camera |
| CN103617615A (en) * | 2013-11-27 | 2014-03-05 | 华为技术有限公司 | Radial distortion parameter obtaining method and obtaining device |
| CN104077768A (en) * | 2014-06-04 | 2014-10-01 | 华为技术有限公司 | Method and device for calibrating fish-eye lens radial distortion |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110927965A (en) * | 2019-12-20 | 2020-03-27 | 易思维（杭州）科技有限公司 | Design method of compensation lens for compensating error caused by light deflection |
| CN111931575A (en) * | 2020-07-01 | 2020-11-13 | 南京工业大学 | Method for detecting and tracking steering of mixing drum of concrete mixer truck based on classifier integration |
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