CN109345594A - Global coordinate system building and application method, device, equipment and storage medium - Google Patents
Global coordinate system building and application method, device, equipment and storage medium Download PDFInfo
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- CN109345594A CN109345594A CN201811028687.4A CN201811028687A CN109345594A CN 109345594 A CN109345594 A CN 109345594A CN 201811028687 A CN201811028687 A CN 201811028687A CN 109345594 A CN109345594 A CN 109345594A
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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
- G06T7/85—Stereo camera calibration
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30244—Camera pose
Abstract
This application discloses global coordinate system construction method, device, equipment and storage mediums.This method comprises: the first outer parameter in intrinsic parameter and camera array based on each camera in the first image data calculating camera array between two cameras, obtain the first outer parameter sets, wherein, first image data is the image data of the first calibration object of each camera acquisition in camera array, for first calibration object along projected route according to predetermined speed uniform motion, camera array includes at least two cameras；Second outer parameter of each camera relative to the second calibration object is calculated based on the second image data, obtain the second outer parameter sets, wherein, second image data is the image data of the second calibration object of each camera acquisition in camera array, second calibration object is arranged on ground, and the position relative to each camera is fixed；Based on the first outer parameter sets and the second outer parameter sets, the global coordinate system of camera array is calculated.It realizes the unification of different cameral coordinate.
Description
Technical field
Present application relates generally to technical field of visual measurement, and in particular to global coordinate system building and application method, device,
Equipment and storage medium.
Background technique
Computer vision obtains the data and information for the target object that is taken with camera and computer, it is expected that meter
Calculation machine can perceive environment.The research object of computer vision is mainly the three-dimensional scenic being mapped on single width or multiple image,
Such as the reconstruction of three-dimensional scenic.With the development of computer vision technique, for scene understanding, demand is increasingly increasing
Add, but scene understanding there are problems that a variety of being difficult to solve in actual application.
For example, arranging seamless camera supervised system in airport, airport each position video flowing is transferred based on monitoring system,
And recall the video recording within the scope of certain time, still, current monitoring system can only record, and not understand the generation of these scenes
Content, understands or analysis work still needs manually to participate in.
Secondly, the understanding for scene first positions the object in scene, to determine whether object suitably occurs
In the position of the appearance, if appear in the position that should not occur, and give corresponding real-time alert.
In the seamless camera supervised system on above-mentioned airport, the camera array for the camera composition laid is to airport
The overall situation is positioned, and at least has how the relationship in difficult point, such as camera array between camera characterizes, how by entire camera
Camera in array is all explained with unified coordinate system etc..
Summary of the invention
In view of drawbacks described above in the prior art or deficiency, it is intended to provide a kind of technical solution of global coordinate system building,
And the global coordinate system of application build determines the technical solution of the position of object in image data.
In a first aspect, the embodiment of the present application provides a kind of global coordinate system construction method, this method comprises:
Two cameras in intrinsic parameter and camera array based on each camera in the first image data calculating camera array
Between the first outer parameter, obtain the first outer parameter sets, wherein the first image data is each camera acquisition in camera array
First calibration object image data, first calibration object along projected route according to predetermined speed uniform motion, camera array packet
Include at least two cameras；
Second outer parameter of each camera relative to the second calibration object is calculated based on the second image data, obtains joining outside second
Manifold is closed, wherein the second image data is the image data of the second calibration object of each camera acquisition in camera array, the second mark
Earnest is arranged on ground, and the position relative to each camera is fixed；
Based on the first outer parameter sets and the second outer parameter sets, the global coordinate system of camera array is calculated.
Second aspect, the embodiment of the present application provide a kind of method for determining object based on global coordinate system, this method
Include:
Obtain the two-dimensional coordinate of object in the third image data acquired in real time；
Two-dimensional coordinate is transformed into the global coordinate system as described in such as the embodiment of the present application, is obtained corresponding with two-dimensional coordinate
World coordinates.
The third aspect, the embodiment of the present application provide a kind of global coordinate system construction device, which includes:
First computing module, for calculating the intrinsic parameter and phase of each camera in camera array based on the first image data
The first outer parameter in machine array between two cameras, obtains the first outer parameter sets, wherein the first image data is camera battle array
The image data of first calibration object of each camera acquisition in column, the first calibration object along projected route according to predetermined speed at the uniform velocity
Movement, camera array include at least two cameras；
Second computing module, for based on the second image data calculate each camera relative to second calibration object second outside
Parameter obtains the second outer parameter sets, wherein the second image data is the second calibration object of each camera acquisition in camera array
Image data, the second calibration object is arranged on ground, and the position relative to each camera is fixed；
Third computing module calculates the complete of camera array for being based on the first outer parameter sets and the second outer parameter sets
Office's coordinate system.
Fourth aspect, the embodiment of the present application provide a kind of device that object is determined based on global coordinate system, the device
Include:
Coordinate obtaining module, for obtaining the two-dimensional coordinate of object in the third image data acquired in real time；
Two-dimensional coordinate is transformed into the global coordinate system as described in the embodiment of the present application by coordinate transferring, obtain with
The corresponding world coordinates of two-dimensional coordinate.
5th aspect, the embodiment of the present application provide a kind of computer equipment, including memory, processor and are stored in
On memory and the computer program that can run on a processor, the processor realize such as the embodiment of the present application when executing the program
The method of description.
6th aspect, the embodiment of the present application provide a kind of computer readable storage medium, are stored thereon with computer journey
Sequence, the computer program are used for:
The method as described in the embodiment of the present application is realized when the computer program is executed by processor.
The technical solution provided by the embodiments of the present application for establishing camera array global coordinate system, the technical solution is by the uniform velocity
First calibration object of movement establishes relationship of each camera relative to other cameras in camera array, and by camera coordinates system with
The coordinate transformation relation of coordinate system, establishes global coordinate system where second calibration object.By global coordinate system by all cameras
It is unified to arrive identical coordinate system, so that the scene that different cameras is shot is unified into a scene.
Further, outer parameter of the embodiment of the present application by different cameras relative to the first calibration object calculates, and simplifies
Demarcation flow.
Further, miscalculating for the outer parameter that the embodiment of the present application also demarcates object relative to second by each camera, builds
The camera in camera array has been found relative to ground relation of plane, has realized the coordinate unification of camera；
Further, the embodiment of the present application is solved between camera by the judgement of public domain, because public domain is excessively narrow
It is small to lead to not the problem of solving outer parameter；
Further, the embodiment of the present application passes through the correspondence solution relationship of the first outer parameter and the second outer parameter sets, builds
The global coordinate system of vertical camera array, reduces coordinate system computation complexity
Detailed description of the invention
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, the application's is other
Feature, objects and advantages will become more apparent upon:
Fig. 1 shows the flow diagram of global coordinate system construction method provided by the embodiments of the present application；
Fig. 2 shows the relationships between the earth axes of multiple cameras in the embodiment of the present application；
Fig. 3 shows the embodiment of the present application and provides the two neighboring camera not no public domain of predetermined condition on the image
Schematic diagram of a scenario；
Fig. 4 shows the flow diagram of another global coordinate system construction method provided by the embodiments of the present application；
Fig. 5 shows the process signal of the method provided by the embodiments of the present application that object is determined based on global coordinate system
Figure；
Fig. 6 shows the exemplary block diagram of the global coordinate system construction device 600 according to the embodiment of the present application；
Fig. 7 shows the exemplary block diagram of another global coordinate system construction device provided by the embodiments of the present application；
Fig. 8 shows the exemplary structure of the device provided by the embodiments of the present application that object is determined based on global coordinate system
Block diagram；
Fig. 9 shows the structural schematic diagram for being suitable for the computer system 900 for being used to realize the embodiment of the present application.
Specific embodiment
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that in order to
Convenient for description, part relevant to invention is illustrated only in attached drawing.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Referring to FIG. 1, Fig. 1 shows the flow diagram of global coordinate system construction method provided by the embodiments of the present application.
As shown in Figure 1, this method comprises:
Step 110, in the intrinsic parameter and camera array based on each camera in the first image data calculating camera array
The first outer parameter between two cameras, obtains the first outer parameter sets, wherein the first image data is each in camera array
The image data of first calibration object of camera acquisition, the first calibration object is along projected route according to predetermined speed uniform motion, phase
Machine array includes at least two cameras；
Step 120, second outer parameter of each camera relative to the second calibration object is calculated based on the second image data, obtained
Second outer parameter sets, wherein the second image data is the picture number of the second calibration object of each camera acquisition in camera array
According to the second calibration object is arranged on ground, and the position relative to each camera is fixed；
Step 130, the first outer parameter sets and the second outer parameter sets are based on, the global coordinate system of camera array is calculated.
In step 110, the embodiment of the present application, each camera carries out coordinate turn relative to calibration object in camera array
It changes, thus the conversion of coordinate system where completing camera coordinates system and demarcating object.Object is demarcated, such as can be and set according to predetermined size
The chessboard table images set, such as the scheduled width of each grid are 3cm, 5cm or other sizes.
The embodiment of the present application assists the picture number for completing each camera in camera array using the calibration object of uniform motion
According to acquisition.Wherein, the image data of the calibration object of each camera acquisition uniform motion, the image data for being then based on acquisition are come
Calculate in camera array the parameters relationship between camera two-by-two.
The calibration object of uniform motion, such as the first calibration object is according to projected route uniform motion.First calibration object for example may be used
Be chessboard table images or other may be implemented calibration image.Such as the first calibration object can be placed on and be towed the head on vehicle,
Or the first calibration object can be placed using mobile devices such as remote-control cars.
In uniform motion on the mobile device airfield runway that object is demarcated in setting first, the first image data is obtained, this
One image data includes imaging results of each camera to the first calibration object of uniform motion.For example, the first phase in camera array
Machine acquisition the first image data, based on the first image data calculate first camera intrinsic parameter and first camera relative to
The outer parameter of first calibration object, and respective first image data successively based on the acquisition of each camera, it is each for calculating separately
The intrinsic parameter of a camera and each camera are respectively relative to the outer parameter of the first calibration object.
The embodiment of the present application can be triggered and be set at the time of two neighboring camera can collect simultaneously the first calibration object
The mobile device of the first calibration object is set from the moment, after stopping preset time, is further continued for driving at a constant speed.Preset time for example may be used
Be 1s or other be greater than 1s the operable period.
Using with the image data in the period, the two neighboring camera for collecting the first calibration object simultaneously may be implemented
Between outer parameter, such as the first outer parameter.The first outer parameter between any two camera is obtained, is joined outside available first
Manifold is closed.If camera array includes n camera, n camera may sequentially be distributed in airport predetermined position.Wherein, outside first
Parameter sets for example may include the outer parameter { R between first camera and second camera12And T12, second camera and third phase
Outer parameter { R between machine23And T23, the outer parameter { R between the (n-1)th camera and n-th machineN-1, nAnd TN-1, n}.The application is implemented
In example, two cameras in camera array for example can be two cameras with enough public domains.If there is public
Region, then can be by directly calculating the first outer parameter between two cameras.
As shown in Fig. 2, Fig. 2 shows the relationships between the earth axes of multiple cameras in the embodiment of the present application.Wherein,
Calculating the first outer parameter in camera array between two cameras for example may include:
Calculate outer parameter R of the first camera relative to coordinate system where the first calibration object in two cameras1And T1；
Calculate outer parameter R of the second camera relative to coordinate system where the first calibration object in two cameras2And T2；
Calculate the first outer parameter R of first camera and second camera12And T12, it can be calculated by following formula:
Similarly, the outer parameter { R in camera array between other two cameras is successively calculated23With
T23}...{RN-1, nAnd TN-1, n}.Two cameras for example can be two adjacent cameras.
Wherein, outer parameter R of the first camera relative to coordinate system where the first calibration object in two cameras is calculated1And T1, root
It is calculated according to formula (1):
Xcamer1=R1Xboard1+T1 (1)
Calculate outer parameter R of the second camera relative to coordinate system where the first calibration object in two cameras2And T2, according to public affairs
Formula (2) is calculated:
Xcamer2=R2Xboard1+T2 (2)
Calculate the first outer parameter R of first camera and second camera12And T12, it is calculated according to formula (3):
Wherein,
In the step 120, the embodiment of the present application also realizes camera coordinates system to ground using the calibration object for being fixed on ground
The conversion of coordinate system.It is fixed on the calibration object on ground, the e.g. second calibration object.Each camera is demarcated to second in camera array
Object is acquired to obtain the second image data, can calculate each camera relative to the second calibration object institute based on the second image data
Coordinate system outer parameter, coordinate system where the second calibration object, such as earth axes.
Based on the second image data calculate each camera relative to second calibration object the second outer parameter, available second
Outer parameter sets.Second outer parameter sets for example may include outer parameter of the first camera relative to the second calibration article coordinate system
{Rf1And Tf1, outer parameter { R of the second camera relative to the second calibration article coordinate systemf2And Tf2, n-th machine is relative to the second mark
Outer parameter { the R of earnest coordinate systemfnAnd Tfn}。
Second outer parameter of each camera relative to the second calibration object is calculated based on the second image data, for example,
Calculate outer parameter R of the origin camera relative to coordinate system where the second calibration object in camera arrayf1And Tf1；
It calculates with other adjacent cameras of origin camera in camera array relative to the outer of coordinate system where the second calibration object
Parameter Rf2And Tf2；
Second outer parameter R of datum point camera and other camerasf12And Tf12, it is calculated according to following formula:
In the embodiment of the present application, origin camera is the camera for being located at first position in the camera array of arranged in sequence.
Wherein, outer parameter R of the origin camera relative to coordinate system where the second calibration object in camera array is calculatedf1And Tf1,
It is calculated according to formula (1):
Xc1→b=Rf1Xc1+Tf1 (1)
It calculates with other adjacent cameras of origin camera in camera array relative to the outer of coordinate system where the second calibration object
Parameter Rf2And Tf2, it is calculated according to formula (2):
Xc2→b=Rf2Xc2+Tf2 (2)
Second outer parameter R of origin camera and other camerasf12And Tf12, it is calculated according to formula (3):
Wherein,
In step 130, the embodiment of the present application is based on the first outer parameter sets and the second outer parameter sets, calculates camera
The global coordinate system of array, such as may include:
Sequentially select the first outer parameter in the first outer parameter sets；
Sequentially select two corresponding second outer parameters in the second outer parameter sets relevant with the first outer parameter；
Based on the corresponding second outer parameter of the first outer parameter and two, two cameras turn relevant with the first outer parameter are calculated
The outer parameter of coordinate system where changing to the second calibration object；
The step of returning to the first outer parameter sequentially selected in the first outer parameter sets, successively calculates and the first outer parameter set
The outer parameter of coordinate system where relevant two cameras of the outer parameter of each in conjunction first are transformed into the second calibration object, to complete
The global coordinate system of camera array calculates.
The embodiment of the present application, the first outer parameter sets as the aforementioned include { { R12And T12, { R23And T23..., { RN-1, n
And TN-1, n, wherein (n-1)th outer parameter { R in the first outer parameter setsN-1, nAnd TN-1, nDescribe (n-1)th camera with
Outer parameter between n-th of camera.The second outer parameter in the second outer parameter sets relevant to this (n-1)th outer parameter is distinguished
The outer parameter of earth axes is transformed into for (n-1)th camera and n-th of camera is transformed into the outer parameters of earth axes.
(n-1)th outer parameter and (n-1)th camera in the first outer parameter sets of acquisition are transformed into earth axes
Outer parameter and n-th of camera are transformed into the outer parameter of earth axes, that is, calculate opposite with this (n-1)th the first outer parameter
The two camera relationships in earth axes answered, n are the sum of all cameras in camera array.Repeatedly operate it
Afterwards, relationship of multiple cameras between earth axes is obtained, that is, the global coordinate system of camera array is calculated.
The application is additionally contemplates that when not having the public domain of predetermined condition between two neighboring camera, is mended by ball machine
Repay the method for calculating the outer parameter between two cameras.
Referring to FIG. 3, Fig. 3, which shows the embodiment of the present application, provides two neighboring camera not no predetermined condition on the image
The schematic diagram of a scenario of public domain.
As shown in figure 3, there is no the public domain L of predetermined condition between two neighboring camera caml and camr.This is predetermined
The public domain L of condition refers to the small Mr. Yu's threshold value of public domain L, then it represents that does not have between two neighboring camera caml and camr
Enough public domains for the value of threshold value, such as can be calculated according to camera relative to the distance and angle of scaling board.
In actual application, can be judged in conjunction with the actual conditions for being directly observed the shooting of two cameras, if by scaling board
It is placed in the public intersection of two cameras, two cameras can completely shoot scaling board simultaneously, then it is assumed that have public enough
Region altogether, otherwise it is assumed that not enough.
The public domain can be extended by a ball machine in the embodiment of the present application.Public area thresholding camera and camera it
Between image pickup scope intersection.Ball machine, full name are ball-shaped camera, and focal length and position are adjustable, for example, fixed, can be rotated
Type, PTZ functional form ball machine or high-speed ball camera etc..Wherein, high-speed ball camera is real using " accurate differential stepper motor "
Fast and accurately positioning, the rotation of existing clipping the ball.All is all to send the commands to realize by CPU.
In the embodiment of the present application, the position of ball machine cam_c is fixed, mobile device is allowed slowly to travel, when traveling is in caml
With the intersection area L of cam_c1When, instruction mobile device stops traveling predetermined time, such as 2s, 5-10s.Then, movement is allowed to fill
It sets and continues to drive at a constant speed, the intersection area L until driving to cam_c and camr2When, allow mobile device to stop the pre- timing of traveling
Between, for example, 2s, 5-10s.
Image data based on mobile device acquisition can complete the calibration of cam_c, and be calculated outside caml and cam_c
Parameter.
Based on the scene of Fig. 3 description, the embodiment of the present application also provides a kind of global coordinate system construction method, this method energy
Enough when two neighboring camera does not have the public domain of predetermined condition, the calculating of the outer parameter between camera is completed.
Referring to FIG. 4, Fig. 4 shows the process signal of another global coordinate system construction method provided by the embodiments of the present application
Figure.
As shown in figure 4, this method comprises:
Step 410, the public domain that whether there is predetermined condition in camera array between any two camera is determined.
Step 420, it if there is no the public domain of predetermined condition, is then calculated by ball machine auxiliary and predetermined condition is not present
Public domain two cameras the first outer parameter.
Step 430, if there is public domain, then the first outer parameter of two cameras is directly calculated.
Step 440-460 is identical as step 110-130, the description as described in step 440-460 may refer to step 110-130
To understand.
In the embodiment of the present application, about two cameras for calculating the public domain there is no predetermined condition by ball machine auxiliary
The first outer parameter, can also include:
Step 410a, calculates the outer parameter in two cameras between first camera and ball machine, ball machine and in two cameras the
Outer parameter between two cameras；
Step 410b, the outer parameter based on the outer parameter between first camera and ball machine and between ball machine and second camera,
Calculate the first outer parameter of first camera and second camera.
After the embodiment of the present application establishes the global coordinate system of camera array, the difference of every camera shooting in camera array
Scene can be unified into an identical coordinate system, to solve the problems, such as that existing all scenes can not be unified.
Referring to FIG. 5, Fig. 5 shows the method provided by the embodiments of the present application for determining object based on global coordinate system
Flow diagram.
This method comprises:
Step 510, the two-dimensional coordinate of object in the third image data acquired in real time is obtained；
Step 520, which is transformed into the global coordinate system as described in above-described embodiment, is obtained and the two dimension
The corresponding world coordinates of coordinate.
In the embodiment of the present application, by camera real-time image acquisition data, in order to by the two dimension of object in image data
Coordinate is mapped to global coordinate system of the camera having built up relative to ground.Wherein, two-dimensional coordinate is transformed into world coordinates
System includes:
Step 520a determines the mark of third image data；
Step 520b obtains the intrinsic parameter of camera corresponding with mark based on mark；
Step 520c, parameter outside the third based on intrinsic parameter and camera corresponding with mark solve object in camera
The three-dimensional coordinate of coordinate system；
Step 520d solves the three-dimensional of the object according to the relationship between camera corresponding with mark and origin camera
Coordinate is converted into corresponding coordinate in global coordinate system.
The embodiment of the present application, in based on each camera acquisition image data determining in the global coordinate system having built up
Object, can be by being converted into three-dimensional coordinate for two-dimensional coordinate of the object in camera imaging result, then again will be three-dimensional
Coordinate carries out coordinate system conversion, that is, completes the coordinate solution procedure by object in global coordinate system.
In view of the multiple cameras of camera array, each camera, unique encodings can be identified according to the unique number of camera
Such as can be specific sequence code, perhaps with the associated position code in position or bar code, two dimensional code etc., the application implement
Example is not defined the concrete form of unique encodings.
By the two-dimensional coordinate of the object in the image data of camera acquisition, intrinsic parameter and global coordinates system using camera
Relationship between determining camera and camera can solve coordinate of the object under global coordinate system.
The application does not need to carry out physical measurement, and the calibration between Different Ground only may be implemented by transformation matrices, from
And simplify demarcation flow.
It should be noted that although describing the operation of the method for the present invention in the accompanying drawings with particular order, this is not required that
Or hint must execute these operations in this particular order, or have to carry out operation shown in whole and be just able to achieve the phase
The result of prestige.On the contrary, the step of describing in flow chart can change and execute sequence.Additionally or alternatively, it is convenient to omit certain
Multiple steps are merged into a step and executed, and/or a step is decomposed into execution of multiple steps by step.
The example of the global coordinate system construction device 600 according to the embodiment of the present application is shown with further reference to Fig. 6, Fig. 6
Property structural block diagram.
The device 600 includes:
First computing module 610, for based on the first image data calculate camera array in each camera intrinsic parameter with
And the first outer parameter in camera array between two cameras, obtain the first outer parameter sets, wherein the first image data is phase
The image data of first calibration object of each camera acquisition in machine array, the first calibration object is along projected route according to predetermined speed
Uniform motion, camera array include at least two cameras；
Second computing module 620, for calculating the of each camera relative to the second calibration object based on the second image data
Two outer parameters obtain the second outer parameter sets, wherein the second image data is the second mark of each camera acquisition in camera array
The image data of earnest, the second calibration object is arranged on ground, and the position relative to each camera is fixed；
Third computing module 630 calculates camera array for being based on the first outer parameter sets and the second outer parameter sets
Global coordinate system.
In the first computing module 610, the embodiment of the present application, each camera is carried out relative to calibration object in camera array
Coordinate conversion, thus the conversion of coordinate system where completing camera coordinates system and demarcating object.Object is demarcated, such as can be according to predetermined
The chessboard table images of size setting, such as the scheduled width of each grid are 3cm, 5cm or other sizes.
The embodiment of the present application assists the picture number for completing each camera in camera array using the calibration object of uniform motion
According to acquisition.Wherein, the image data of the calibration object of each camera acquisition uniform motion, the image data for being then based on acquisition are come
Calculate in camera array the parameters relationship between camera two-by-two.
The calibration object of uniform motion, such as the first calibration object is according to projected route uniform motion.First calibration object for example may be used
Be chessboard table images or other may be implemented calibration image.Such as the first calibration object can be placed on and be towed the head on vehicle,
Or the first calibration object can be placed using mobile devices such as remote-control cars.
In uniform motion on the mobile device airfield runway that object is demarcated in setting first, the first image data is obtained, this
One image data includes imaging results of each camera to the first calibration object of uniform motion.For example, the first phase in camera array
Machine acquisition the first image data, based on the first image data calculate first camera intrinsic parameter and first camera relative to
The outer parameter of first calibration object, and respective first image data successively based on the acquisition of each camera, it is each for calculating separately
The intrinsic parameter of a camera and each camera are respectively relative to the outer parameter of the first calibration object.
The embodiment of the present application can be triggered and be set at the time of two neighboring camera can collect simultaneously the first calibration object
The mobile device of the first calibration object is set from the moment, after stopping preset time, is further continued for driving at a constant speed.Preset time for example may be used
Be 1s or other be greater than 1s the operable period.
Using with the image data in the period, the two neighboring camera for collecting the first calibration object simultaneously may be implemented
Between outer parameter, such as the first outer parameter.The first outer parameter between any two camera is obtained, is joined outside available first
Manifold is closed.If camera array includes n camera, n camera may sequentially be distributed in airport predetermined position.Wherein, outside first
Parameter sets for example may include the outer parameter { R between first camera and second camera12And T12, second camera and third phase
Outer parameter { R between machine23And T23, the outer parameter { R between the (n-1)th camera and n-th machineN-1, nAnd TN-1, n}.The application is implemented
In example, two cameras in camera array for example can be two cameras with enough public domains.If there is public
Region, then can be by directly calculating the first outer parameter between two cameras.
As shown in Fig. 2, Fig. 2 shows the relationships between the earth axes of multiple cameras.Wherein, it calculates in camera array
The first outer parameter between two cameras for example may include:
Calculate outer parameter R of the first camera relative to coordinate system where the first calibration object in two cameras1And T1；
Calculate outer parameter R of the second camera relative to coordinate system where the first calibration object in two cameras2And T2；
Calculate the first outer parameter R of first camera and second camera12And T12, it can be calculated by following formula:
Similarly, the outer parameter { R in camera array between other two cameras is successively calculated23With
T23}...{RN-1, nAnd TN-1, n}.Two cameras for example can be two adjacent cameras.
Wherein, outer parameter R of the first camera relative to coordinate system where the first calibration object in two cameras is calculated1And T1, root
It is calculated according to formula (1):
Xcamer1=R1Xboard1+T1 (1)
Calculate outer parameter R of the second camera relative to coordinate system where the first calibration object in two cameras2And T2, according to public affairs
Formula (2) is calculated:
Xcamer2=RxXboard1+T2 (2)
Calculate the first outer parameter R of first camera and second camera12And T12, it is calculated according to formula (3):
Wherein,
In the second computing module 620, the embodiment of the present application also realizes camera coordinates using the calibration object for being fixed on ground
It is the conversion to earth axes.It is fixed on the calibration object on ground, the e.g. second calibration object.Each camera pair in camera array
Second calibration object is acquired to obtain the second image data, can calculate each camera relative to second based on the second image data
Demarcate the outer parameter of the coordinate system where object, the coordinate system where the second calibration object, such as earth axes.
Based on the second image data calculate each camera relative to second calibration object the second outer parameter, available second
Outer parameter sets.Second outer parameter sets for example may include outer parameter of the first camera relative to the second calibration article coordinate system
{Rf1And Tf1, outer parameter { R of the second camera relative to the second calibration article coordinate systemf2And Tf2, n-th machine is relative to the second mark
Outer parameter { the R of earnest coordinate systemfnAnd Tfn}。
Second outer parameter of each camera relative to the second calibration object is calculated based on the second image data, for example,
Calculate outer parameter R of the origin camera relative to coordinate system where the second calibration object in camera arrayf1And Tf1；
It calculates with other adjacent cameras of origin camera in camera array relative to the outer of coordinate system where the second calibration object
Parameter Rf2And Tf2；
Second outer parameter R of datum point camera and other camerasf12And Tf12, it is calculated according to following formula:
In the embodiment of the present application, origin camera is the camera for being located at first position in the camera array of arranged in sequence.
Wherein, outer parameter R of the origin camera relative to coordinate system where the second calibration object in camera array is calculatedf1And Tf1,
It is calculated according to formula (1):
Xc1→b=Rf1Xc1+Tf1 (1)
It calculates with other adjacent cameras of origin camera in camera array relative to the outer of coordinate system where the second calibration object
Parameter Rf2And Tf2, it is calculated according to formula (2):
Xc2→b=Rf2Xc2+Tf2 (2)
Second outer parameter R of origin camera and other camerasf12And Tf12, it is calculated according to formula (3):
Wherein,
In third computing module 630, the embodiment of the present application is based on the first outer parameter sets and the second outer parameter sets,
The global coordinate system of camera array is calculated, such as may include:
Sequentially select the first outer parameter in the first outer parameter sets；
Sequentially select two corresponding second outer parameters in the second outer parameter sets relevant with the first outer parameter；
Based on the corresponding second outer parameter of the first outer parameter and two, two cameras turn relevant with the first outer parameter are calculated
The outer parameter of coordinate system where changing to the second calibration object；
The step of returning to the first outer parameter sequentially selected in the first outer parameter sets, successively calculates and the first outer parameter set
The outer parameter of coordinate system where relevant two cameras of the outer parameter of each in conjunction first are transformed into the second calibration object, to complete
The global coordinate system of camera array calculates.
The embodiment of the present application, the first outer parameter sets as the aforementioned include { { R12And T12, { R23And T23..., { RN-1, n
And TN-1, n, wherein (n-1)th outer parameter { R in the first outer parameter setsN-1, nAnd TN-1, nDescribe (n-1)th camera with
Outer parameter between n-th of camera.The second outer parameter in the second outer parameter sets relevant to this (n-1)th outer parameter is distinguished
The outer parameter of earth axes is transformed into for (n-1)th camera, n-th of camera is transformed into the outer parameter of earth axes.
(n-1)th outer parameter and (n-1)th camera in the first outer parameter sets of acquisition are transformed into earth axes
The outer parameter that outer parameter and n-th of camera are transformed into earth axes calculates corresponding with this (n-1)th the first outer parameter
Two camera relationships in earth axes, n be camera array in all cameras sum.After repeatedly operating, obtain
To relationship of multiple cameras between earth axes, that is, the global coordinate system of camera array is calculated.
The application is additionally contemplates that when not having the public domain of predetermined condition between two neighboring camera, is mended by ball machine
Repay the method for calculating the outer parameter between two cameras.
Referring to FIG. 3, Fig. 3, which shows the embodiment of the present application, provides two neighboring camera not no predetermined condition on the image
The schematic diagram of a scenario of public domain.
As shown in figure 3, there is no the public domain L of predetermined condition between two neighboring camera caml and camr.This is predetermined
The public domain L of condition refers to the small Mr. Yu's threshold value of public domain L, then it represents that does not have between two neighboring camera caml and camr
Enough public domains for the value of threshold value, such as can be calculated according to camera relative to the distance and angle of scaling board.
In actual application, can be judged in conjunction with the actual conditions for being directly observed the shooting of two cameras, if by scaling board
It is placed in the public intersection of two cameras, two cameras can completely shoot scaling board simultaneously, then it is assumed that have public enough
Region altogether, otherwise it is assumed that not enough.
The public domain can be extended by a ball machine in the embodiment of the present application.Public area thresholding camera and camera it
Between image pickup scope intersection.Ball machine, full name are ball-shaped camera, and focal length and position are adjustable, for example, fixed, can be rotated
Type, PTZ functional form ball machine or high-speed ball camera etc..Wherein, high-speed ball camera is real using " accurate differential stepper motor "
Fast and accurately positioning, the rotation of existing clipping the ball.All is all to send the commands to realize by CPU.
In the embodiment of the present application, the position of ball machine cam_c is fixed, mobile device is allowed slowly to travel, when traveling is in caml
With the intersection area L of cam_c1When, instruction mobile device stops traveling predetermined time, such as 2s, 5-10s.Then, movement is allowed to fill
It sets and continues to drive at a constant speed, the intersection area L until driving to cam_c and camr2When, allow mobile device to stop the pre- timing of traveling
Between, for example, 2s, 5-10s.
Image data based on mobile device acquisition can complete the calibration of cam_c, and be calculated outside caml and cam_c
Parameter.
Based on the scene of Fig. 3 description, the embodiment of the present application also provides a kind of global coordinate system construction method, this method energy
Enough when two neighboring camera does not have the public domain of predetermined condition, the calculating of the outer parameter between camera is completed.
Referring to FIG. 7, Fig. 7 shows the exemplary knot of another global coordinate system construction device provided by the embodiments of the present application
Structure block diagram.
As shown in fig. 7, device 700 includes:
Determining module 710 whether there is the public of predetermined condition for determining between any two camera in camera array
Region；
First auxiliary computing module 720 then assists counting for the public domain if there is no predetermined condition by ball machine
Calculate the first outer parameter of two cameras of the public domain there is no predetermined condition.
Second auxiliary computing module 730, for if there is public domain, then directly calculating and joining outside the first of two cameras
Number.
First computing module 740, the second computing module 750, third computing module 760 is identical as step 110-130, about
First computing module 740, the second computing module 750, third computing module 760 may refer to the description of step 110-130 to manage
Solution.
In the embodiment of the present application, about the first auxiliary computing module 720, can also include:
First auxiliary computational submodule 720a, for calculating the outer parameter in two cameras between first camera and ball machine,
Outer parameter in ball machine and two cameras between second camera；
Second auxiliary computational submodule 720b, for based on the outer parameter and ball machine and second between first camera and ball machine
Outer parameter between camera calculates the first outer parameter of first camera and second camera.
After the embodiment of the present application establishes the global coordinate system of camera array, the difference of every camera shooting in camera array
Scene can be unified into an identical coordinate system, to solve the problems, such as that existing all scenes can not be unified.
Referring to FIG. 8, Fig. 8 shows the device provided by the embodiments of the present application for determining object based on global coordinate system
Exemplary block diagram.
This method comprises:
Coordinate obtaining module 810, for obtaining the two-dimensional coordinate of object in the third image data acquired in real time；
The two-dimensional coordinate is transformed into the global coordinate system as described in above-described embodiment, obtains by coordinate transferring 820
World coordinates corresponding with the two-dimensional coordinate.
In the embodiment of the present application, by camera real-time image acquisition data, in order to by the two dimension of object in image data
Coordinate is mapped to global coordinate system of the camera having built up relative to ground.Wherein, coordinate transferring can also include:
Submodule 820a is determined, for determining the mark of third image data；
Acquisition submodule 820b, for obtaining the intrinsic parameter of camera corresponding with mark based on mark；
Three-dimensional coordinate computational submodule 820c, for joining outside the third based on intrinsic parameter and camera corresponding with mark
Number solves object in the three-dimensional coordinate of camera coordinates system；
World coordinates computational submodule 820d, for according to the relationship between camera corresponding with mark and origin camera,
The three-dimensional coordinate for solving the object is converted into corresponding coordinate in global coordinate system.
The embodiment of the present application, in based on each camera acquisition image data determining in the global coordinate system having built up
Object, can be by being converted into three-dimensional coordinate for two-dimensional coordinate of the object in camera imaging result, then again will be three-dimensional
Coordinate carries out coordinate system conversion, that is, completes the coordinate solution procedure by object in global coordinate system.
In view of the multiple cameras of camera array, each camera, unique encodings can be identified according to the unique number of camera
Such as can be specific sequence code, perhaps with the associated position code in position or bar code, two dimensional code etc., the application implement
Example is not defined the concrete form of unique encodings.
By the two-dimensional coordinate of the object in the image data of camera acquisition, intrinsic parameter and global coordinates system using camera
Relationship between determining camera and camera can solve coordinate of the object under global coordinate system.
The application does not need to carry out physical measurement, and the calibration between Different Ground only may be implemented by transformation matrices, from
And simplify demarcation flow.
It should be appreciated that each in the method that all units or module recorded in device 600 or 800 are described with reference Fig. 1 or 4
A step is corresponding.Device 600 or 800 is equally applicable to above with respect to the operation and feature of method description as a result, and is wherein wrapped
The unit contained, details are not described herein.Device 600 or 800 can be realized in advance and be answered in the browser of electronic equipment or other safety
In, it can also be loaded into the browser or its security application of electronic equipment by modes such as downloadings.Phase in device 600
Answer unit that can cooperate with the unit in electronic equipment to realize the scheme of the embodiment of the present application.
Show below with reference to Fig. 9, Fig. 9 structure shown suitable for being used to realize the computer system 900 of the embodiment of the present application
It is intended to.
As shown in figure 9, computer system 900 includes central processing unit (CPU) 901, it can be read-only according to being stored in
Program in memory (ROM) 902 or be loaded into the program in random access storage device (RAM) 903 from storage section 908 and
Execute various movements appropriate and processing.In RAM 903, also it is stored with system 800 and operates required various programs and data.
CPU901, ROM902 and RAM 903 is connected with each other by bus 904.Input/output (I/O) interface 905 is also connected to bus
804。
I/O interface 905 is connected to lower component: the importation 906 including keyboard, mouse etc.；It is penetrated including such as cathode
The output par, c 907 of spool (CRT), liquid crystal display (LCD) etc. and loudspeaker etc.；Storage section 908 including hard disk etc.；
And the communications portion 909 of the network interface card including LAN card, modem etc..Communications portion 509 via such as because
The network of spy's net executes communication process.Driver 910 is also connected to I/O interface 805 as needed.Detachable media 911, such as
Disk, CD, magneto-optic disk, semiconductor memory etc. are mounted on as needed on driver 910, in order to read from thereon
Computer program be mounted into storage section 908 as needed.
Particularly, in accordance with an embodiment of the present disclosure, it may be implemented as computer software above with reference to the process of Fig. 1 description
Program.For example, embodiment of the disclosure includes a kind of computer program product comprising be tangibly embodied in machine readable media
On computer program, computer program includes program code for executing the method for Fig. 1.In such embodiments, should
Computer program can be downloaded and installed from network by communications portion 909, and/or be mounted from detachable media 811.
Flow chart and block diagram in attached drawing are illustrated according to the system of various embodiments of the invention, method and computer journey
The architecture, function and operation in the cards of sequence product.In this regard, each box in flowchart or block diagram can generation
A part of one module, program segment or code of table, a part of aforementioned modules, program segment or code include one or more
Executable instruction for implementing the specified logical function.It should also be noted that in some implementations as replacements, institute in box
The function of mark can also occur in a different order than that indicated in the drawings.For example, two boxes succeedingly indicated are practical
On can be basically executed in parallel, they can also be executed in the opposite order sometimes, and this depends on the function involved.Also it wants
It is noted that the combination of each box in block diagram and or flow chart and the box in block diagram and or flow chart, Ke Yiyong
The dedicated hardware based system of defined functions or operations is executed to realize, or can be referred to specialized hardware and computer
The combination of order is realized.
Being described in the embodiment of the present application involved unit or module can be realized by way of software, can also be with
It is realized by way of hardware.Described unit or module also can be set in the processor, for example, can be described as:
A kind of processor includes the first computing module, the second computing module and third computing module.Wherein, these units or module
Title does not constitute the restriction to the unit or module itself under certain conditions, for example, the first computing module can also be retouched
State for " for based on the first image data calculate camera array in each camera intrinsic parameter and camera array in two cameras
Between the first outer parameter module ".
As on the other hand, present invention also provides a kind of computer readable storage medium, the computer-readable storage mediums
Matter can be computer readable storage medium included in aforementioned device in above-described embodiment；It is also possible to individualism, not
The computer readable storage medium being fitted into equipment.Computer-readable recording medium storage has one or more than one journey
Sequence, foregoing routine are used to execute the global coordinate system building side for being described in the application by one or more than one processor
Method.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.Those skilled in the art
Member is it should be appreciated that invention scope involved in the application, however it is not limited to technology made of the specific combination of above-mentioned technical characteristic
Scheme, while should also cover in the case where not departing from aforementioned invention design, it is carried out by above-mentioned technical characteristic or its equivalent feature
Any combination and the other technical solutions formed.Such as features described above has similar function with (but being not limited to) disclosed herein
Can technical characteristic replaced mutually and the technical solution that is formed.
Claims (19)
1. a kind of global coordinate system construction method, which is characterized in that this method comprises:
Two cameras in intrinsic parameter and the camera array based on each camera in the first image data calculating camera array
Between the first outer parameter, obtain the first outer parameter sets, wherein the first image data are each in the camera array
The image data of first calibration object of camera acquisition, the first calibration object are at the uniform velocity transported along projected route according to predetermined speed
Dynamic, the camera array includes at least two cameras；
Second outer parameter of each camera relative to the second calibration object is calculated based on the second image data, obtains second
Outer parameter sets, wherein second image data is the picture number of the second calibration object of each camera acquisition in camera array
According to the second calibration object is arranged on ground, and the position relative to each camera is fixed；
Based on the described first outer parameter sets and the second outer parameter sets, the global coordinate system of the camera array is calculated.
2. global coordinate system construction method according to claim 1, which is characterized in that calculate in the camera array two
The first outer parameter between camera includes:
Calculate outer parameter R of the first camera relative to coordinate system where the first calibration object in described two cameras1And T1；
Calculate outer parameter R of the second camera relative to coordinate system where the first calibration object in described two cameras2And T2；
Calculate the first outer parameter R of the first camera Yu the second camera12And T12, wherein
3. global coordinate system construction method according to claim 1, which is characterized in that described to be based on second picture number
The the second outer parameter for demarcating object relative to described second according to each camera is calculated, comprising:
Calculate outer parameter R of the origin camera relative to coordinate system where the second calibration object in the camera arrayf1And Tf1；
It calculates with other adjacent cameras of origin camera described in the camera array relative to coordinate system where the second calibration object
Outer parameter Rf2And Tf2；
Calculate the second outer parameter R of the origin camera Yu other camerasf12And Tf12, wherein
The origin camera is the camera for being located at first position in the camera array of arranged in sequence.
4. global coordinate system construction method according to claim 1, which is characterized in that every in the acquisition camera array
Before first image data of the first calibration object of a camera shooting, this method further include:
Determine the public domain that whether there is predetermined condition in camera array between any two camera；
If there is no the public domain of predetermined condition, then the public area that predetermined condition is not present is calculated by ball machine auxiliary
First outer parameter of two cameras in domain.
5. global coordinate system construction method according to claim 4, which is characterized in that described to be calculated not by ball machine auxiliary
There are the first outer parameters of two cameras of the public domain of predetermined condition, comprising:
The outer parameter in described two cameras between first camera and the ball machine is calculated, in the ball machine and described two cameras
Outer parameter between second camera；
Based on the outer ginseng between the outer parameter and the ball machine and the second camera between the first camera and the ball machine
Number, calculates the first outer parameter of the first camera Yu the second camera.
6. global coordinate system construction method according to claim 1, which is characterized in that this method further include: based on described
First outer parameter sets and the second outer parameter sets, calculate the global coordinate system of the camera array, comprising:
Sequentially select the first outer parameter in the described first outer parameter sets；
Sequentially select two corresponding second outer parameters in the second outer parameter sets relevant with the described first outer parameter；
Based on the described first outer parameter and described two corresponding second outer parameters, calculate and the described first outer parameter relevant two
The outer parameter of coordinate system where a camera is transformed into the second calibration object；
The step of return sequentially selects the first outer parameter in the described first outer parameter sets successively calculates and joins outside with described first
Manifold close in each relevant two camera of the first outer parameter be transformed into the outer parameter of the second calibration object place coordinate system,
To complete the calculating of the global coordinate system of the camera array.
7. a kind of method for determining object based on global coordinate system, which is characterized in that this method comprises:
Obtain the two-dimensional coordinate of object in the third image data acquired in real time；
The two-dimensional coordinate is transformed into as in global coordinate system of any of claims 1-7, obtained and described two
Tie up the corresponding world coordinates of coordinate.
8. the method according to claim 7 for determining object based on global coordinate system, which is characterized in that it is described will be described
Two-dimensional coordinate is transformed into the global coordinate system
Determine the mark of the third image data；
The intrinsic parameter of camera corresponding with the mark is obtained based on the mark；
Parameter outside third based on the intrinsic parameter and camera corresponding with the mark, solves the object in the phase
The three-dimensional coordinate of machine coordinate system；
According to the relationship between camera corresponding with the mark and origin camera, the three-dimensional coordinate for solving the object is converted into
Corresponding coordinate in the global coordinate system.
9. the method according to claim 8 for determining object based on global coordinate system, which is characterized in that the mark is
The unique number of each camera in the camera array.
10. a kind of global coordinate system construction device, which is characterized in that the device includes:
First computing module, for calculating the intrinsic parameter of each camera and the phase in camera array based on the first image data
The first outer parameter in machine array between two cameras, obtains the first outer parameter sets, wherein the first image data are institutes
State the image data of the first calibration object of each camera acquisition in camera array, the first calibration object along projected route according to
Predetermined speed uniform motion, the camera array include at least two cameras；
Second computing module, for calculating the of each camera relative to the second calibration object based on the second image data
Two outer parameters obtain the second outer parameter sets, wherein second image data is the of each camera acquisition in camera array
The image data of two calibration objects, the second calibration object is arranged on ground, and the position relative to each camera is fixed
's；
Third computing module calculates the camera for being based on the described first outer parameter sets and the second outer parameter sets
The global coordinate system of array.
11. global coordinate system construction device according to claim 10, which is characterized in that the first computing module packet
It includes:
First computational submodule, for calculating first camera in described two cameras relative to coordinate system where the first calibration object
Outer parameter R1And T1；
Second computational submodule, for calculating second camera in described two cameras relative to coordinate system where the first calibration object
Outer parameter R2And T2；
Third computational submodule, for calculating the first outer parameter R of the first camera Yu the second camera12And T12, wherein
12. global coordinate system construction device according to claim 10, which is characterized in that second computing module, packet
It includes:
4th computational submodule, for calculating origin camera in the camera array relative to coordinate system where the second calibration object
Outer parameter Rf1And Tf1；
5th computational submodule, for calculating with other adjacent cameras of origin camera described in the camera array relative to the
The outer parameter R of coordinate system where two calibration objectsf2And Tf2；
6th computational submodule, for calculating the second outer parameter R of the origin camera Yu other camerasf12And Tf12,
In,
The origin camera is the camera for being located at first position in the camera array of arranged in sequence.
13. global coordinate system construction device according to claim 10, which is characterized in that before the first computing module,
The device further include:
Determining module, for determining the public domain that whether there is predetermined condition in camera array between any two camera；
First auxiliary computing module then assists calculating for the public domain if there is no the predetermined condition by ball machine
There is no the first outer parameters of two cameras of the public domain of predetermined condition.
14. global coordinate system construction device according to claim 10, which is characterized in that first auxiliary calculates mould
Block, comprising:
First auxiliary computational submodule, for calculating the outer parameter in described two cameras between first camera and the ball machine,
Outer parameter in the ball machine and described two cameras between second camera；
Second auxiliary computational submodule, for based between the first camera and the ball machine outer parameter and the ball machine with
Outer parameter between the second camera calculates the first outer parameter of the first camera Yu the second camera.
15. global coordinate system construction device according to claim 14, which is characterized in that the device further include:
Second auxiliary computational submodule, for if there is the public domain, then directly calculating the first of described two cameras
Outer parameter.
16. a kind of device for determining object based on global coordinate system, which is characterized in that the device includes:
Coordinate obtaining module, for obtaining the two-dimensional coordinate of object in the third image data acquired in real time；
The two-dimensional coordinate is transformed into the global coordinate system as described in any one of claim 10-15 by coordinate transferring
In, obtain world coordinates corresponding with the two-dimensional coordinate.
17. the device according to claim 16 for determining object based on global coordinate system, which is characterized in that the coordinate
Conversion module includes:
Submodule is determined, for determining the mark of the third image data；
Acquisition submodule, for obtaining the intrinsic parameter of camera corresponding with the mark based on the mark；
Three-dimensional coordinate computational submodule, the outer parameter based on the intrinsic parameter and camera corresponding with the mark calculate institute
Object is stated in the three-dimensional coordinate of the camera coordinates system；
World coordinates computational submodule, for calculating according to the relationship between camera corresponding with the mark and origin camera
The three-dimensional coordinate of the object is converted into corresponding coordinate in the global coordinate system.
18. a kind of computer equipment, can run on a memory and on a processor including memory, processor and storage
Computer program, which is characterized in that the processor realizes the side as described in any in claim 1-9 when executing described program
Method.
19. a kind of computer readable storage medium is stored thereon with computer program, the computer program is used for:
The method as described in any in claim 1-9 is realized when the computer program is executed by processor.
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