CN109408856A - Ground scaling method, device, equipment and the storage medium of polyphaser - Google Patents
Ground scaling method, device, equipment and the storage medium of polyphaser Download PDFInfo
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- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims abstract description 20
- 235000003140 Panax quinquefolius Nutrition 0.000 claims abstract description 20
- 235000008434 ginseng Nutrition 0.000 claims abstract description 20
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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
Abstract
This application discloses ground scaling method, device, equipment and the storage mediums of a kind of polyphaser.The ground scaling method of the polyphaser includes: that each camera is configured with earth axes correspondingly, and using the earth axes of first camera as reference frame；Determine the calibration information of each camera, calibration information include external parameter between the camera coordinates system of each camera, each camera, each camera with respect to corresponding ground coordinate external parameter；The relationship between the corresponding ground coordinate system and reference frame of n-th camera is calculated by the calibration information of preceding N-1 camera according to the relationship between each camera.According to technical solution provided by the embodiments of the present application, by the relationship between camera and camera, the problem of calculating the outer ginseng between the earth axes of camera, be able to solve same earth axes with this.
Description
Technical field
The present disclosure relates generally to the calibration of the ground of field of image processing and technical field of visual measurement more particularly to polyphaser
Method, apparatus, equipment and storage medium.
Background technique
Airport is disposed with the camera supervised system in no dead angle, checks airport each position video by monitoring system calling
Stream, can also recall the video recording within the scope of certain time.And system can only record, and not understand the content of these scenes generation,
Understand or analysis work is usually by manually participating in.The understanding of scene is positioned firstly the need of to the object in scene, with true
Whether earnest body suitably appears in the position of the appearance, if appears in the position that should not occur, and gives corresponding real-time
Alarm.
Different independent cameras can respectively demarcate ground, be sat with calculating object corresponding ground under corresponding camera
Position under mark system.For the large scene on airport, the object on entire airport can not be monitored only by when a camera,
Therefore it needs to be monitored airport ground using polyphaser.Airport scene domain is very big, directly result in camera distribution it is wide, point
Cloth is sparse, and each camera has certain otherness.Polyphaser or sparse camera array for sparse distribution, need
All cameras are unified into a coordinate system.
Summary of the invention
In view of drawbacks described above in the prior art or deficiency, it is intended to provide a kind of polyphaser that can unify earth axes
Ground scaling method, device, equipment and storage medium.
In a first aspect, a kind of ground scaling method of polyphaser includes:
Each camera is configured with earth axes correspondingly, and using the earth axes of first camera as reference coordinate
System；
Determine that the calibration information of each camera, calibration information include the outside between the camera coordinates system of each camera, each camera
Parameter, each camera with respect to corresponding ground coordinate external parameter；
N-th camera is calculated accordingly by the calibration information of preceding N-1 camera according to the relationship between each camera
Relationship between areal coordinate system and reference frame.
Second aspect, a kind of ground caliberating device of polyphaser, device include:
Configuration unit: being configured to each camera and be configured with earth axes correspondingly, and by the ground of first camera
Coordinate system is as reference frame；
Calibration information determination unit: it is configured to determine that the calibration information of each camera, calibration information include the phase of each camera
The external parameter of external parameter, each camera between machine coordinate system, each camera with respect to corresponding ground coordinate；
Computing unit: it is configured to, by the calibration information of preceding N-1 camera, be calculated according to the relationship between each camera
Relationship between the corresponding ground coordinate system and reference frame of n-th camera.
The third aspect, provides a kind of equipment, and equipment includes:
One or more processors；
Memory, for storing one or more programs,
When one or more programs are executed by one or more processors, so that one or more processors execute this hair
The ground scaling method of polyphaser provided by each embodiment in bright.
Fourth aspect provides a kind of computer readable storage medium for being stored with computer program, and the program is by processor
The ground scaling method of polyphaser provided by each embodiment in the present invention is realized when execution.
The ground of camera is calculated by the relationship between camera and camera according to technical solution provided by the embodiments of the present application
Outer ginseng between areal coordinate system, the problem of same earth axes are able to solve with this.
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 exemplary process diagram of the ground scaling method according to the polyphaser of the embodiment of the present application；
Fig. 2 shows the earth axes exemplary relationship schematic diagrames according to multiple cameras of the embodiment of the present application；
Fig. 3 shows the exemplary process diagram of the step S30 according to the embodiment of the present application；
Fig. 4 shows the exemplary block diagram of the ground caliberating device according to the polyphaser of the embodiment of the present application；
Fig. 5 shows a kind of exemplary block diagram of equipment according to 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.
In order to better illustrate the present invention, using airport as application scenarios.N number of camera is sparsely arranged on airport, respectively
The distance between camera, the distance of each camera from the ground are all not quite similar.In order to which all cameras are unified to a ground coordinate
In system, it is thus necessary to determine that position and posture between each camera, the pose can pass through the spin matrix and translation matrix between camera
It embodies.The calculation method of pose discloses in another patent between each camera, and which is not described herein again.
Referring to FIG. 1, showing the exemplary process diagram of the ground scaling method according to the polyphaser of the embodiment of the present application.
As shown, the ground scaling method of polyphaser includes:
Step S10: each camera is configured with earth axes correspondingly, and using the earth axes of first camera as
Reference frame；
Step S20: determining the calibration information of each camera, calibration information include the camera coordinates system of each camera, each camera it
Between external parameter, each camera with respect to corresponding ground coordinate external parameter；
Step S30: n-th camera is calculated by the calibration information of preceding N-1 camera according to the relationship between each camera
Corresponding ground coordinate system and reference frame between relationship.
The content of the present embodiment will be illustrated in combination with fig. 2, and Fig. 2 shows the ground according to the multiple cameras of the embodiment of the present application
The illustrative diagram of coordinate system relationship.As shown in Fig. 2, being provided with N number of camera cam1, cam2 ... camN, camera in airport
Coordinate is represented sequentially as [Xc1 Yc1 Zc1]T、[Xc2 Yc2 Zc2]T、…[Xcn Ycn Zcn]T.External parameter between camera uses
Following representation, the external parameter such as first camera cam1 with respect to second camera cam2 are spin matrix R12, translation matrix
T12；External parameter of the second camera cam2 with respect to third camera cam3 (not marking in figure) is spin matrix R23, translation matrix
T23；External parameter of the N-1 camera camN-1 (not marking in figure) with respect to third camera camN is spin matrix R(n-1)n, translation
Matrix T(n-1)n.And each camera corresponds and is configured with earth axes f1, f2 ... fN, each earth axes are represented sequentially as [Xc1
Yc1 Zc1]T、[Xc2 Yc2 Zc2]T、…[Xcn Ycn Zcn]T.Earth axes and camera coordinates system are associated, such as the first phase
The earth axes of machine cam1 are f1, and the earth axes of second camera cam2 are f2.Each camera is with respect to corresponding ground coordinate system
External parameter use following representation, such as first camera cam1 with respect to earth axes f1 external parameter be spin matrix
Rf1, translation matrix Tf1；External parameter of the second camera cam2 with respect to earth axes f2 is spin matrix Rf2, translation matrix Tf2。
The present invention on the basis of relationship, solves the relationship between each earth axes, such as R between each camera knownf12、
Tf12、Rf23、Tf23…Rf1n、Tf1n, to realize the ground calibration of polyphaser.
Referring to FIG. 3, showing the exemplary process diagram of the step S30 according to the embodiment of the present application；As shown, step
30 include:
Step S31: according to the relationship between first camera and second camera, the earth axes and ginseng of second camera are calculated
Examine the relationship between coordinate system；
Step S32: according to Relay Method, the earth axes of third camera being added in calculating, calculates third camera
Earth axes and second camera earth axes between relationship；
Step S33: pass through the ground of relationship, third camera between the earth axes and reference frame of second camera
Relationship between coordinate system and the earth axes of second camera, calculate third camera earth axes and reference frame it
Between relationship, and so on, determine the relationship between the earth axes of n-th camera and reference ground coordinate system.
Following relational expression can be obtained in conjunction with Fig. 2 according to the transformational relation of camera and ground coordinate in step S31:
The relationship between first camera and second camera is indicated with such as following formula:
Formula 1 and 2 is substituted into the relational expression between the acquisition of formula 3 earth axes f1 and earth axes f2:
External parameter spin matrix R of the earth axes with respect to earth axes f2 is obtained from formula 4f12With translation square
Battle array Tf12:
Rf12=(R12Rf1)-1Rf2
Tf12=(R12Rf1)-1(Tf2-R12Tf1-T12)
Similarly, external parameter spin matrix R of the earth axes f2 with respect to earth axes f3 can be calculatedf23And translation
Matrix Tf23.And the relationship of the ground coordinate of first camera, second camera, third camera is arranged as follows:
Formula 7 is substituted into formula 6 and obtains relational expression of the earth axes f3 with respect to earth axes f1:
More than, by the earth axes of second camera with respect to reference frame spin matrix Rf12With translation matrix Tf12、
External parameter spin matrix R of the earth axes of third camera with respect to the earth axes of second cameraf23And translation matrix
Tf23, calculate and obtain external parameter spin matrix R of the earth axes of third camera with respect to reference framef13And translation matrix
Tf13:
Rf13=Rf12Rf23
Tf13=Rf12Tf23+Tf12
The Relay Method refers to the relationship successively calculated between each camera earth axes according to the relationship between camera.Example
Such as calculate the relationship of first camera earth axes and second camera earth axes；Then by the earth axes of third camera
It is added and calculates, calculate the relationship of first camera earth axes and third camera earth axes；Again the ground of the 4th camera
Coordinate system, which is added, to be calculated, and calculates the relationship of first camera earth axes and the 4th camera earth axes；Successively calculate
The relationship of one camera earth axes and N camera earth axes.It is understood that the sequence of the calculating will be by camera
Between be associated with when camera sequence influence.
And so on, the case where for multiple cameras, between the earth axes and reference ground coordinate system of n-th camera
Meet following relational expression:
Wherein Rf*i*(i+1)、Tf*i*(i+1)Indicate i-th of camera coordinates system corresponding ground coordinate system and i+1 camera calibration
Ground coordinate system between outer ginseng, specific expression way be formula 10:
To obtain the outer ginseng between the earth axes of n-th camera and reference ground coordinate system from formula 9
Rf*i*(i+1)、Tf*i*(i+1):
By the above method, the ground calibration of multiple cameras is realized, that is, has unified earth axes.
Invention additionally discloses a kind of ground caliberating devices of polyphaser.
Fig. 4 shows the exemplary block diagram of the ground caliberating device according to the polyphaser of the embodiment of the present application.Such as figure
A kind of ground caliberating device 300 of shown polyphaser includes:
Configuration unit 310: being configured to each camera and be configured with earth axes correspondingly, and by the ground of first camera
Areal coordinate system is as reference frame；
Calibration information determination unit 320: it is configured to determine that the calibration information of each camera, calibration information include each camera
The external parameter of external parameter, each camera between camera coordinates system, each camera with respect to corresponding ground coordinate；
Computing unit 330: it is configured to pass through the calibration information of preceding N-1 camera, meter according to the relationship between each camera
Calculate the relationship between the corresponding ground coordinate system and reference frame of n-th camera.
In some embodiments, computing unit 330 includes:
First computing unit 331: it is configured to calculate second camera according to the relationship between first camera and second camera
Earth axes and reference frame between relationship；
Second computing unit 332: being configured to according to Relay Method, and the earth axes of third camera are added to calculating
In, calculate the relationship between the earth axes of third camera and the earth axes of second camera；
Computing unit is also configured to relationship between the earth axes and reference frame by second camera,
Relationship between the earth axes of three cameras and the earth axes of second camera, calculate the earth axes of third camera with
Relationship between reference frame, and so on, it determines between the earth axes of n-th camera and reference ground coordinate system
Relationship.
In some embodiments, the first computing unit includes:
First computation subunit 335: it is configured to calculate the second phase according to the relationship between first camera and second camera
Relationship between the earth axes and reference frame of machine, i.e. calculating spin matrix Rf12And translation matrix Tf12:
Rf12=(R12Rf1)-1Rf2
Tf12=(R12Rf1)-1(Tf2-R12Tf1-T12)
Wherein, R12、T12Respectively spin matrix of the first camera with respect to second camera, translation matrix, Rf1、Tf1Respectively
Spin matrix of the first camera with respect to its corresponding ground coordinate system, translation matrix, Rf2、Tf2Respectively second camera is right with respect to its
Answer spin matrix, the translation matrix of earth axes.
In some embodiments, computing unit further include:
Third computing unit 333: it is configured to outer between the earth axes of second camera and reference frame
Join Rf12、Tf12, outer ginseng R between the earth axes of third camera and the earth axes of second cameraf23、Tf23, calculate the
Outer ginseng, that is, spin matrix R between the earth axes and reference frame of three camerasf13And translation matrix Tf13:
Rf13=Rf12Rf23
Tf13=Rf12Tf23+Tf12
Computing unit is also configured to outer between the earth axes and reference ground coordinate system that determine n-th camera
Ginseng:
Wherein, Rf*i*(i+1)、Tf*i*(i+1)Indicate the seat of the earth axes of i-th of camera and the ground of i+1 camera
Outer ginseng matrix between mark system.
Below with reference to Fig. 5, it illustrates the exemplary block diagrams according to a kind of equipment of the embodiment of the present application.
As shown in figure 5, present invention also provides a kind of equipment 400, including one or more centres as on the other hand
Unit (CPU) 401 is managed, can be added according to the program being stored in read-only memory (ROM) 402 or from storage section 408
The program that is downloaded in random access storage device (RAM) 403 and execute various movements appropriate and processing.In RAM 403, also deposit
It contains system 400 and operates required various programs and data.CPU 401, ROM 402 and RAM 403 pass through bus 404 each other
It is connected.Input/output (I/O) interface 405 is also connected to bus 404.
I/O interface 1005 is connected to lower component: the importation 406 including keyboard, mouse etc.；It is penetrated including such as cathode
The output par, c 407 of spool (CRT), liquid crystal display (LCD) etc. and loudspeaker etc.；Storage section 408 including hard disk etc.；
And the communications portion 409 of the network interface card including LAN card, modem etc..Communications portion 409 via such as because
The network of spy's net executes communication process.Driver 410 is also connected to I/O interface 405 as needed.Detachable media 411, such as
Disk, CD, magneto-optic disk, semiconductor memory etc. are mounted on as needed on driver 410, in order to read from thereon
Computer program be mounted into storage section 408 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 figure X 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 ground scaling method of polyphaser.Such
In embodiment, which can be downloaded and installed from network by communications portion 409, and/or is situated between from detachable
Matter 411 is mounted.
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 the module, 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.
As another aspect, 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 device described 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, described program are used to execute the ground calibration side for being described in the polyphaser of the application by one or more than one processor
Method.
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 the module, program segment or code include one or more use
The executable instruction of the logic function as defined in realizing.It should also be noted that in some implementations as replacements, being marked in box
The function of note can also occur in a different order than that indicated in the drawings.For example, two boxes succeedingly indicated are actually
It can be basically executed in parallel, they can also be executed in the opposite order sometimes, this is depending on related function.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 Yitong
The dedicated hardware based system of functions or operations as defined in executing is crossed to realize, or by specialized hardware and can be calculated
The combination of machine instruction 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, each unit can
To be the software program being arranged in computer or intelligent movable equipment, it is also possible to the hardware device being separately configured.Wherein, this
The title of a little units or module does not constitute the restriction to the unit or module itself under certain conditions.
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 the inventive concept, 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 (10)
1. a kind of ground scaling method of polyphaser, which is characterized in that the described method includes:
Each camera is configured with earth axes correspondingly, and using the earth axes of first camera as reference coordinate
System；
Determine that the calibration information of each camera, the calibration information include the outside between the camera coordinates system of each camera, each camera
Parameter, each camera with respect to corresponding ground coordinate external parameter；
N-th camera is calculated accordingly by the calibration information of preceding N-1 camera according to the relationship between each camera
Relationship between areal coordinate system and the reference frame.
2. the ground scaling method of polyphaser according to claim 1, which is characterized in that the correspondence for calculating n-th camera
Relationship between earth axes and the reference frame includes:
According to the relationship between the first camera and second camera, calculate the second camera earth axes and the ginseng
Examine the relationship between coordinate system；
According to Relay Method, the earth axes of third camera are added in calculating, the ground for calculating the third camera is sat
Relationship between mark system and the earth axes of the second camera；
Pass through the ground of relationship, the third camera between the earth axes and the reference frame of the second camera
Relationship between coordinate system and the earth axes of the second camera, calculate the earth axes of the third camera with it is described
Relationship between reference frame, and so on, determine n-th camera earth axes and the reference ground coordinate system it
Between relationship.
3. the ground scaling method of polyphaser according to claim 2, which is characterized in that the ground for calculating the second camera
Relationship between areal coordinate system and the reference frame includes:
According to the relationship between first camera and second camera, the earth axes and the reference for calculating the second camera are sat
Relationship between mark system, i.e. calculating spin matrix Rf12And translation matrix Tf12:
Rf12=(R12Rf1)-1Rf2
Tf12=(R12Rf1)-1(Tf2-R12Tf1-T12)
Wherein, R12、T12Respectively spin matrix of the first camera with respect to second camera, translation matrix, Rf1、Tf1Respectively first
Spin matrix of the camera with respect to its corresponding ground coordinate system, translation matrix, Rf2、Tf2Respectively second camera is accordingly with respect to it
The spin matrix of areal coordinate system, translation matrix.
4. the ground scaling method of polyphaser according to claim 3, which is characterized in that the ground for calculating the third camera
Relationship between areal coordinate system and the reference frame, and so on, determine n-th camera earth axes and the ginseng
The relationship examined between earth axes includes:
Pass through the outer ginseng R between the earth axes and the reference frame of the second cameraf12、Tf12, the third phase
Outer ginseng R between the earth axes of machine and the earth axes of the second cameraf23、Tf23, calculate the third camera
Outer ginseng, that is, spin matrix R between earth axes and the reference framef13And translation matrix Tf13:
Rf13=Rf12Rf23
Tf13=Rf12Tf23+Tf12
And so on, determine the outer ginseng between the earth axes of n-th camera and the reference ground coordinate system:
Wherein, Rf*i*(i+1)、Tf*i*(i+1)Indicate the coordinate system of the earth axes of i-th of camera and the ground of i+1 camera
Between outer ginseng matrix.
5. a kind of ground caliberating device of polyphaser, which is characterized in that described device includes:
Configuration unit: being configured to each camera and be configured with earth axes correspondingly, and by the ground of first camera
Coordinate system is as reference frame；
Calibration information determination unit: it is configured to determine that the calibration information of each camera, the calibration information include the phase of each camera
The external parameter of external parameter, each camera between machine coordinate system, each camera with respect to corresponding ground coordinate；
Computing unit: it is configured to, by the calibration information of preceding N-1 camera, be calculated according to the relationship between each camera
Relationship between the corresponding ground coordinate system and the reference frame of n-th camera.
6. the ground caliberating device of polyphaser according to claim 5, which is characterized in that the computing unit includes:
First computing unit: it is configured to calculate second phase according to the relationship between the first camera and second camera
Relationship between the earth axes of machine and the reference frame；
Second computing unit: being configured to that the earth axes of third camera are added in calculating according to Relay Method, calculates
Relationship between the earth axes of the third camera and the earth axes of the second camera；
The computing unit is also configured between earth axes and the reference frame by the second camera
Relationship between relationship, the earth axes of the third camera and the earth axes of the second camera calculates described the
Relationship between the earth axes of three cameras and the reference frame, and so on, determine the ground coordinate of n-th camera
Relationship between system and the reference ground coordinate system.
7. the ground caliberating device of polyphaser according to claim 6, which is characterized in that first computing unit includes:
First computation subunit: it is configured to calculate the second camera according to the relationship between first camera and second camera
Earth axes and the reference frame between relationship, i.e., calculating spin matrix Rf12And translation matrix Tf12:
Rf12=(R12Rf1)-1Rf2
Tf12=(R12Rf1)-1(Tf2-R12Tf1-T12)
Wherein, R12、T12Respectively spin matrix of the first camera with respect to second camera, translation matrix, Rf1、Tf1Respectively first
Spin matrix of the camera with respect to its corresponding ground coordinate system, translation matrix, Rf2、Tf2Respectively second camera is accordingly with respect to it
The spin matrix of areal coordinate system, translation matrix.
8. the ground caliberating device of polyphaser according to claim 7, which is characterized in that the computing unit further include:
Third computing unit: it is configured to outer between the earth axes of the second camera and the reference frame
Join Rf12、Tf12, outer ginseng R between the earth axes of the third camera and the earth axes of the second cameraf23、
Tf23, calculate the outer ginseng i.e. spin matrix R between the earth axes of the third camera and the reference framef13And translation
Matrix Tf13:
Rf13=Rf12Rf23
Tf13=Rf12Tf23+Tf12
The computing unit is also configured between the earth axes and the reference ground coordinate system that determine n-th camera
Outer ginseng:
Wherein, Rf*i*(i+1)、Tf*i*(i+1)Indicate the coordinate system of the earth axes of i-th of camera and the ground of i+1 camera
Between outer ginseng matrix.
9. a kind of equipment, which is characterized in that the equipment includes:
One or more processors；
Memory, for storing one or more programs,
When one or more of programs are executed by one or more of processors, so that one or more of processors
Execute the ground scaling method of the polyphaser as described in any one of claim 1-4.
10. a kind of computer readable storage medium for being stored with computer program, which is characterized in that the program is executed by processor
The ground scaling method of Shi Shixian polyphaser as described in any one of claim 1-4.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112102417A (en) * | 2020-09-15 | 2020-12-18 | 北京百度网讯科技有限公司 | Method and device for determining world coordinates and external reference calibration method for vehicle-road cooperative roadside camera |
| CN113034613A (en) * | 2021-03-25 | 2021-06-25 | 中国银联股份有限公司 | External parameter calibration method of camera and related device |
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| CN112102417A (en) * | 2020-09-15 | 2020-12-18 | 北京百度网讯科技有限公司 | Method and device for determining world coordinates and external reference calibration method for vehicle-road cooperative roadside camera |
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| CN113034613A (en) * | 2021-03-25 | 2021-06-25 | 中国银联股份有限公司 | External parameter calibration method of camera and related device |
| CN113034613B (en) * | 2021-03-25 | 2023-09-19 | 中国银联股份有限公司 | External parameter calibration method and related device for camera |
| CN114299157A (en) * | 2021-12-15 | 2022-04-08 | 苏州大学 | Method and system for continuation relay calibration of stereo camera in tokamak cabin |
| CN114299157B (en) * | 2021-12-15 | 2022-11-08 | 苏州大学 | Method and system for continuation relay calibration of stereo camera in tokamak cabin |
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