CN110009686B - Camera calibration method, device and platform and camera calibration method applied to calibration platform - Google Patents
Camera calibration method, device and platform and camera calibration method applied to calibration platform Download PDFInfo
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- CN110009686B CN110009686B CN201910189826.XA CN201910189826A CN110009686B CN 110009686 B CN110009686 B CN 110009686B CN 201910189826 A CN201910189826 A CN 201910189826A CN 110009686 B CN110009686 B CN 110009686B
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- 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
The invention discloses a camera calibration method, a camera calibration device, a camera calibration platform and a camera calibration method applied to the camera calibration platform. The calibration platform comprises at least one camera and a driving mechanism, and the method comprises the following steps: controlling a drive mechanism to drive the camera to move to at least one target position, wherein the drive mechanism has at least one translational degree of freedom and at least one rotational degree of freedom; controlling the camera to acquire an image under the condition that the camera moves to the target position; the result of camera calibration is obtained based on the image. The invention solves the technical problem of inaccurate calibration result caused by manual camera calibration in the prior art.
Description
Technical Field
The invention relates to the field of camera calibration, in particular to a camera calibration method, a camera calibration device, a camera calibration platform and a camera calibration method applied to the camera calibration platform.
Background
In image measurement processes and machine vision applications, in order to determine the correlation between the three-dimensional geometric position of a certain point on the surface of an object in space and the corresponding point in the image, a geometric model of camera imaging must be established, and the parameters of the geometric model are the parameters of the camera. Under most conditions, the parameters must be obtained through experiments and calculation, and the process of solving the parameters is called camera calibration. The aim of camera calibration is to acquire internal reference and external reference coefficients of a camera to correct images shot by the camera later, and obtain images with relatively small distortion. In image measurement or machine vision application, camera parameter calibration is a very critical link, and the accuracy of a calibration result and the stability of an algorithm directly influence the accuracy of a result generated by the operation of a camera. The traditional camera calibration usually needs to manually hold a camera to shoot a plurality of pictures at different positions and angles to a calibration target, and the precision of a calibration result is difficult to avoid the influence of manual operation factors.
Aiming at the technical problem that the calibration result is inaccurate as the camera is calibrated manually in the prior art, an effective solution is not provided at present.
Disclosure of Invention
The embodiment of the invention provides a camera calibration method, a camera calibration device, a camera calibration platform and a camera calibration method applied to the camera calibration platform, and aims to at least solve the technical problem that calibration results are inaccurate due to the fact that camera calibration is carried out manually in the prior art.
According to an aspect of the embodiments of the present invention, there is provided a camera calibration method applied to a calibration platform, where the calibration platform includes at least one camera and a driving mechanism, the method includes: controlling a drive mechanism to drive the camera to move to at least one target position, wherein the drive mechanism has at least one translational degree of freedom and at least one rotational degree of freedom; controlling the camera to acquire an image under the condition that the camera moves to the target position; the result of camera calibration is obtained based on the image.
Optionally, controlling the drive mechanism to drive the camera to move to the at least one target position comprises: controlling the driving mechanism to drive the camera to a first position, wherein the first position is a target position of the camera for translation along the axial direction; and at the first position, controlling the driving mechanism to drive the camera to a plurality of second positions, wherein the second positions are target positions for rotating the camera in the axial direction.
Optionally, the calibration platform further comprises a calibration object, the calibration object being located in the field of view of the camera, the second position being obtained based on: dividing a field of view of a camera into a plurality of regions; and moving the camera to a plurality of second positions, so that the images of the calibration object in the field of view are respectively in different areas of the plurality of areas, wherein the plurality of areas and the plurality of second positions have one-to-one correspondence.
Optionally, obtaining the result of the camera calibration based on the image comprises: inputting the image to a calibration algorithm; and obtaining a camera calibration result based on a calibration algorithm.
Optionally, after obtaining the result of the camera calibration based on the image, the method further comprises: the results are saved to the camera's memory and/or configuration file.
Optionally, the calibration platform further comprises a camera support, the camera support is composed of a mechanism rotating along a first direction and a mechanism rotating along a second direction, wherein the camera is mounted on the mechanism rotating along the first direction through the mechanism rotating along the second direction, the mechanism rotating along the first direction is mounted on a guide rail of the second direction, the guide rail of the second direction is mounted on a guide rail of a third direction, and the first direction, the second direction and the third direction together form a spatial rectangular coordinate system.
According to another aspect of the embodiments of the present invention, there is also provided a camera calibration platform, including: a drive mechanism for driving the camera to move to at least one target position, wherein the drive mechanism has at least one translational degree of freedom and at least one rotational degree of freedom; and the controller is connected with the driving mechanism and used for controlling the driving mechanism to drive the camera, controlling the camera to acquire images when the camera moves to at least one target position, and obtaining a camera calibration result based on the images.
Optionally, the drive mechanism comprises: the translation motor is connected with the translation guide rail and used for driving the camera to a first position, wherein the first position is a target position of the camera for translation along the translation guide rail; and the rotating motor is connected with the rotating mechanism and used for driving the camera to a plurality of second positions at the first position, wherein the second positions are target positions for rotating the camera on the rotating mechanism.
Optionally, the platform further comprises a calibration object, the calibration object being located in the field of view of the camera, the controller being further configured to: dividing a field of view of a camera into a plurality of regions; and controlling the camera to rotate to a plurality of second positions, so that the images of the calibration object in the field of view are respectively in different areas of the plurality of areas, wherein the plurality of areas and the plurality of second positions have one-to-one correspondence.
Optionally, the translation guide rails include a guide rail in a second direction and a guide rail in a third direction, wherein the second direction and the third direction are perpendicular to each other.
Optionally, the rotating mechanism includes a mechanism rotating in a first direction and a mechanism rotating in a second direction, wherein the first direction, the second direction and the third direction together form a spatial rectangular coordinate system.
Optionally, the calibration platform further comprises a camera support, the camera support is composed of a mechanism rotating along a first direction and a mechanism rotating along a second direction, wherein the camera is mounted on the mechanism rotating along the first direction through the mechanism rotating along the second direction, the mechanism rotating along the first direction is mounted on a guide rail of the second direction, the guide rail of the second direction is mounted on a guide rail of a third direction, and the first direction, the second direction and the third direction together form a spatial rectangular coordinate system.
Optionally, the controller is further configured to: after the results of the camera calibration are obtained based on the image, the results are saved to the memory and/or configuration file of the camera.
According to another aspect of the embodiments of the present invention, there is also provided a camera calibration method, including: controlling the camera to move to at least one target position, wherein the target position is used for representing the movement result of the camera in different dimensions, and the dimensions comprise: at least one translational degree of freedom and at least one rotational degree of freedom; controlling the camera to acquire an image under the condition that the camera moves to the target position; the result of camera calibration is obtained based on the image.
Optionally, controlling the camera to move to the at least one target position comprises: controlling the camera to move to a first position, wherein the first position is a target position of the camera for translation along the axial direction; and controlling the camera to move to a plurality of second positions at the first position, wherein the second positions are target positions of the camera in axial rotation.
Optionally, the second position is obtained based on: dividing a field of view of a camera into a plurality of regions; and moving the camera to a plurality of second positions, so that the images of the calibration object in the field of view are respectively in different areas of the plurality of areas, wherein the plurality of areas and the plurality of second positions have one-to-one correspondence.
Optionally, obtaining the result of the camera calibration based on the image comprises: inputting the image to a calibration algorithm; and obtaining a camera calibration result based on a calibration algorithm.
Optionally, after obtaining the result of the camera calibration based on the image, the method further comprises: and storing the camera calibration result.
According to another aspect of the embodiments of the present invention, there is also provided a camera calibration apparatus, including: a control module, configured to control the camera to move to at least one target position, where the target position is used to characterize a result of the movement of the camera in different dimensions, and the dimensions include: at least one translational degree of freedom and at least one rotational degree of freedom; the acquisition module is used for controlling the camera to acquire images under the condition that the camera moves to the target position; and the obtaining module is used for obtaining the camera calibration result based on the image.
According to another aspect of the embodiments of the present invention, there is also provided a storage medium, where the storage medium includes a stored program, and when the program runs, the apparatus on which the storage medium is located is controlled to execute any one of the above-mentioned camera calibration methods applied to the calibration platform.
According to another aspect of the embodiments of the present invention, there is also provided a processor, where the processor is configured to execute a program, where the program executes any one of the above-mentioned camera calibration methods applied to a calibration platform.
In the embodiment of the invention, the calibration platform comprises at least one camera and a driving mechanism, and the driving mechanism is controlled to drive the camera to move to at least one target position firstly, wherein the driving mechanism has at least one translational degree of freedom and at least one rotational degree of freedom; then controlling the camera to collect images under the condition that the camera moves to the target position; and finally, obtaining a camera calibration result based on the image. According to the camera calibration method, the camera to be calibrated is accurately controlled to be driven by the driving mechanism to move to each preset position to shoot through the calibration platform with multiple degrees of freedom, the calibration program is automatically operated after the shooting is finished to obtain the calibration result, the purpose of accurately calibrating the automatic camera is achieved, and the technical problem that the calibration result is inaccurate due to the fact that the camera is calibrated in a manual mode in the prior art is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a schematic diagram of an alternative camera calibration platform according to a first embodiment of the present invention;
FIG. 2 is an effect diagram of a driving mechanism of an alternative camera calibration platform according to a first embodiment of the present application;
fig. 3 is a schematic structural diagram of an alternative camera calibration platform according to a first embodiment of the present invention;
FIG. 4 is a flowchart of an alternative method for using a camera calibration platform according to a first embodiment of the invention;
FIG. 5 is a distribution diagram of an alternative calibration object in the field of view of a camera according to an embodiment of the invention;
FIG. 6 is a flowchart of an alternative camera calibration method applied to a calibration platform according to the second embodiment of the present invention;
FIG. 7 is a flowchart of an alternative camera calibration method according to a third embodiment of the present invention; and
fig. 8 is a schematic diagram of an alternative camera calibration apparatus according to a fourth embodiment of the present invention.
Wherein the figures include the following reference numerals:
21-Z-axis direction guide rail, 22-X-axis direction guide rail, 23-camera to be calibrated, 24-mechanism rotating along Z-axis direction, 25-mechanism rotating along Y-axis direction, 26-supporting rod, 31-supporting platform, 32-supporting column, 33-checkerboard and 34-support.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
Before describing further details of embodiments of the present application, an alternative camera calibration platform that may be used to implement the principles of the present application will be described with reference to FIG. 1. In its most basic configuration, FIG. 1 is a schematic diagram of a camera calibration platform according to an embodiment of the present invention. For descriptive purposes, the architecture portrayed is only one example of a suitable environment and is not intended to suggest any limitation as to the scope of use or functionality of the application. Neither should the platform be interpreted as having any dependency or requirement relating to any one or combination of components illustrated in FIG. 1.
As shown in fig. 1, the camera calibration platform provided in the present application includes:
a drive mechanism 102 for driving the camera to move to the at least one target position, wherein the drive mechanism has at least one translational degree of freedom and at least one rotational degree of freedom.
In an alternative, the driving mechanism may adopt an electric driving mode, and the driving motor may adopt a stepping motor; the camera can be any camera to be calibrated, such as a film camera and a digital camera.
In an alternative, the target position may be a position away from the calibration object by a preset distance and a preset lens orientation. Wherever the target location is, it is necessary to ensure that the calibration object is within the field of view of the camera.
In an alternative, the above-mentioned translational degree of freedom may be achieved by a translational movement of the drive motor, and the above-mentioned rotational degree of freedom may be achieved by a rotational movement of the drive motor.
And the controller 104 is connected with the driving mechanism 102 and used for controlling the driving mechanism 102 to drive the camera, controlling the camera to acquire images when the camera moves to at least one target position, and obtaining a camera calibration result based on the images.
In an alternative, the movement of the target position may be a rotational movement of a preset lens orientation, a parallel movement of a preset distance from the calibration object, or a parallel movement along a guide rail parallel to the calibration object.
In an alternative, the algorithm for obtaining the camera calibration result may be a traditional camera calibration method, a subjective visual camera calibration method, or a camera self-calibration method, and the calibration algorithm may be stored in the controller of the calibration platform in advance.
In an alternative, the controller may be a single chip, a DSP, an FPGA, or the like having a data processing function. When the controller controls the driving mechanism to drive the camera to move to a certain target position, the camera is controlled to collect images; when the camera is driven to move to another target position, the camera is controlled to acquire an image again. The more images are collected, the more accurate the obtained camera calibration result is. After the camera collects a plurality of images at different positions, all the collected images are input into a preset calibration algorithm, and then calibration parameters of the camera are obtained.
It should be noted that, the calibration platform may be driven by a set of driving mechanisms to drive multiple cameras simultaneously, and the motions of all the cameras are synchronized by the set of driving mechanisms. Through the mode that a set of actuating mechanism drives many cameras simultaneously, the platform of maring can be markd many cameras simultaneously, is showing improvement work efficiency.
In an alternative embodiment, the camera calibration platform is comprised of a controller and a drive mechanism. The driving mechanism comprises a horizontal guide rail and a rotating mechanism, the camera is arranged on the rotating mechanism which can rotate along the vertical direction, the rotating mechanism is arranged on the vertical support, and the vertical support is in sliding connection with the translation guide rail, namely the driving mechanism has a translation degree of freedom and a rotation degree of freedom. Firstly, a driving mechanism is controlled to drive a camera to move to a preset distance, such as 2.5 meters, away from a calibration object along a horizontal guide rail, then a lens of the camera is rotated to shoot the camera, and multiple times of shooting are carried out by changing the orientation of the lens. And finally, all the shot images are input into a preset model for calculation, so that camera calibration parameters are obtained, automatic calibration of the camera is realized, the influence of human factors is reduced, and the accuracy is high.
Based on the solution provided by the above embodiment of the present application, the camera calibration platform mainly includes a driving mechanism and a controller, wherein the driving mechanism is used for driving the camera to move to at least one target position, and the driving mechanism has at least one translational degree of freedom and at least one rotational degree of freedom; and the controller is connected with the driving mechanism and used for controlling the driving mechanism to drive the camera, controlling the camera to acquire images when the camera moves to at least one target position, and obtaining a camera calibration result based on the images. According to the camera calibration method, the camera calibration platform with multiple degrees of freedom is adopted, the driving mechanism is accurately controlled to drive the camera to be calibrated to move to each preset position for shooting, the calibration program is automatically operated after the shooting is finished to obtain the calibration result, the purpose of accurately and automatically calibrating the camera is achieved, and the technical problem that the calibration result is inaccurate due to the fact that the camera is manually calibrated in the prior art is solved.
Optionally, the drive mechanism comprises: the translation motor is connected with the translation guide rail and used for driving the camera to a first position, wherein the first position is a target position of the camera for translation along the translation guide rail; and the rotating motor is connected with the rotating mechanism and used for driving the camera to a plurality of second positions at the first position, wherein the second positions are target positions for rotating the camera on the rotating mechanism.
In one alternative, the driving mechanism comprises a translation motor, a translation guide rail, a rotating motor and a rotating mechanism, the translation motor drives the camera to perform translation motion on the translation guide rail, and the rotating motor drives the camera to perform rotating motion on the rotating mechanism; each of the target positions may include a first position and a plurality of second positions, the first position may be a target position at which the camera performs translational motion, and the second position may be a target position at which the camera performs rotational motion at the first position.
In an alternative embodiment, the calibration platform first controls the translation motor to drive the camera to perform translation operation, and when the calibration platform moves to the first position, controls the rotation motor to drive the camera to perform rotation operation so that the camera is respectively located at a plurality of second positions, that is, the orientation of the lens of the camera is changed through rotation operation so that the camera can take photos of the calibration object at different angles.
Optionally, the platform further comprises a calibration object, the calibration object being located in the field of view of the camera, the controller being further configured to: dividing a field of view of a camera into a plurality of regions; and controlling the camera to rotate to a plurality of second positions, so that the images of the calibration object in the field of view are respectively in different areas of the plurality of areas, wherein the plurality of areas and the plurality of second positions have one-to-one correspondence.
In an alternative, the calibration objects can be black and white checkerboards, and the black checks and the white checks are squares with the same size; the calibrant may be located on a calibrant support.
In an alternative, the controller may divide the field of view of the camera into a plurality of regions by equal area division. To improve the accuracy of the calibration result, the field of view of the camera may be divided into N2And (3) areas, wherein N is a natural number greater than 1, for example, divided into 4 areas, 9 areas or 16 areas. The more divided areas, the more complex the calculation process and the more accurate the calibration result.
In one alternative, the imaging of the calibration object in the field of view may be centered in different regions, respectively, and not exceed the extent of each region.
The calibration object is located in the field of view of the camera, which means that the calibration object is located entirely in the field of view of the camera, and there is no case where part of the calibration object exceeds the boundary of the field of view of the camera.
Because the calibration platform realizes full-automatic accurate calibration, the selection of the target position, especially the second position, is crucial: after the driving mechanism drives the camera to the first position, the field of view of the camera is divided into a plurality of areas at the first position, then the camera is driven to rotate to different angles, namely, at a plurality of second positions, photographing is carried out once when the camera rotates by an angle, so that the images of the calibration object in the field of view are respectively in different areas, wherein the number of the second positions is equal to the number of the areas, and each second position corresponds to one imaging area. By the mode of determining the second position, the calibration object can be shot at different angles, and the accuracy of the calculation result is improved.
Optionally, the translation guide rails include a guide rail in a second direction and a guide rail in a third direction, wherein the second direction and the third direction are perpendicular to each other.
Optionally, the rotating mechanism includes a mechanism rotating in a first direction and a mechanism rotating in a second direction, wherein the first direction, the second direction and the third direction together form a spatial rectangular coordinate system.
In an alternative, the calibration platform is a four-degree-of-freedom calibration platform, and can respectively realize translation in two directions and rotation in two directions.
Optionally, the calibration platform further comprises a camera support, the camera support is composed of a mechanism rotating along a first direction and a mechanism rotating along a second direction, wherein the camera is mounted on the mechanism rotating along the first direction through the mechanism rotating along the second direction, the mechanism rotating along the first direction is mounted on a guide rail of the second direction, the guide rail of the second direction is mounted on a guide rail of a third direction, and the first direction, the second direction and the third direction together form a spatial rectangular coordinate system.
In one alternative, the calibration platform is a four-degree-of-freedom calibration platform, and can respectively realize translation in two directions and rotation in two directions; the camera support may include a plurality of camera stations, the camera may be fixed to the camera station first, and the camera station may be fixed to the mechanism that rotates in the second direction. Through setting up the camera station, both easy to assemble can ensure the stability of motion process again.
It should be noted that the camera stations may be provided in plural, the camera stations may be fixed to the mechanisms that rotate in the second direction, and the camera stations may be fixed to the same mechanism that rotates in the first direction, that is, the same camera support is provided with the camera stations, so that the purpose of calibrating the cameras at the same time is achieved.
Fig. 2 is a diagram illustrating the effect of a driving mechanism of an alternative camera calibration platform according to an embodiment of the present application, and as shown in fig. 2, the camera support is composed of a mechanism 25 rotating along the Y-axis direction and a mechanism 24 rotating along the Z-axis direction. The camera 23 to be calibrated is fixed on a camera station, the camera station is arranged on a mechanism 25 rotating along the Y-axis direction through a mechanism 24 rotating along the Z-axis direction, the mechanism 25 rotating along the Y-axis direction is arranged on a supporting rod 26, the length of the supporting rod 26 is adjustable, the supporting rod 26 is connected on a guide rail 21 in the Z-axis direction in a sliding mode, and the guide rail 21 in the Z-axis direction is connected on two guide rails 22 in the X-axis direction in a clamping mode. A stepping motor (not shown) connected to the X-axis guide 22 and the Z-axis guide 21 drives the camera to translate on the guides, and a stepping motor (not shown) connected to the Y-axis rotating mechanism 25 and the Z-axis rotating mechanism 24 drives the camera to rotate on the rotating mechanism. The drive mechanism can make the camera realize translation in two directions and rotation in two directions.
Optionally, the controller is further configured to: after the results of the camera calibration are obtained based on the image, the results are saved to the memory and/or configuration file of the camera.
After the camera calibration result is obtained, the result is stored, so that the subsequent use is facilitated, and the operation of calibrating again when the camera is used next time is avoided.
It should be noted that, in the calibration process, calibration parameters obtained by each calibration may be different, and therefore, multiple calibration processes may be performed to obtain multiple sets of calibration results. And screening multiple groups of calibration results according to a preset screening rule to obtain the most accurate calibration result.
Based on the above description of fig. 2, fig. 3 is used as an alternative camera calibration platform according to the embodiment of the present application for explanation, as shown in the schematic structural diagram of fig. 3, the supporting platform 31 is a U-shaped structure, which can ensure the stability of the platform, and in addition, the U-shaped structure is hollow inside, which avoids affecting the view of the camera. The support platform 31 is arranged on the support column 32, and the checkerboard 33 is arranged on the upper part of the support 34 and is positioned in the field of view of the camera 23 to be calibrated. Wherein, wait to mark camera 23 and fix on camera station (not shown in the figure), the camera station is installed on the rotatory mechanism 25 of Y axle direction through the rotatory mechanism 24 of following Z axle direction, the rotatory mechanism 25 of following Y axle direction is installed on the guide rail 21 of Z axle direction, guide rail 21 along Z axle direction is installed on two spinal branch poles 26, two spinal branch poles 26 sliding joint or joint are on the guide rail 22 of X axle direction, two guide rails 22 of X axle direction set up on supporting platform 31, in the figure, corresponding distance parameter is as follows respectively: the distance between the two guide rails 22 along the X-axis direction is 1.5m, the vertical distance between the camera 23 to be calibrated and the checkerboard 33 is 2.5m, the height of the support column 32 is 1m, and the length of the support rod 26 is 0.4 m.
In the calibration platform shown in fig. 3, the camera calibration method shown in fig. 4 is implemented. Firstly, fixing a camera 23 to be calibrated on a camera station, driving two support rods 26 to slide on a guide rail 22 along the X-axis direction by a first preset distance by a stepping motor in the X-axis direction, and driving a mechanism 25 rotating along the Y-axis direction to slide on the guide rail 21 along the Z-axis direction by a second preset distance by a stepping motor in the Z-axis direction. Next, the mechanism 25 rotating along the Y-axis direction and the mechanism 24 rotating along the Z-axis direction respectively control the camera to rotate to form nine different poses, so that the checkerboard 33 is respectively located at the center of each grid in the field of view of the nine grids of the camera 23, i.e. the checkerboard 33 is ensured to respectively present the distribution shown in fig. 5 in the field of view of the camera 23. In order to further improve the accuracy of the calibration result and reduce the distortion influence of the position, multiple groups of data can be calibrated according to the test requirement. For example, the displacement in the X-axis direction is transformed twice and the displacement in the Z-axis direction is transformed three times, and at this time, 6 sets of data are obtained, each set of data including nine kinds of pose images. Finally, all the captured images are sent to a calibration algorithm for calculation to obtain a calibration result, and the calibration result is written into the memory of the camera 23 or a related file.
In the embodiment, the camera to be calibrated is driven to move to each preset position to take a picture by the accurate control driving mechanism through the calibration platform with multiple degrees of freedom, and the calibration program is automatically operated after the picture taking is finished to obtain the calibration result, so that the aim of accurately calibrating the automatic camera is fulfilled; by rotating the orientation of a lens of the camera, images of the calibration object in the field of view of the camera are respectively positioned in different areas, so that the target position is accurately and reliably determined; in addition, the calibration result is stored, so that the operation of re-calibrating when the camera is used next time is avoided, and the technical problem of inaccurate calibration result caused by manual camera calibration in the prior art is further solved.
Example 2
In the camera calibration platform provided in embodiment 1, the present embodiment provides a camera calibration method applied to a calibration platform, and it should be noted that the steps shown in the flowchart of the drawings may be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in an order different from that here.
Fig. 6 is a flowchart of a camera calibration method applied to a calibration platform including at least one camera and a driving mechanism according to an embodiment of the present invention, as shown in fig. 6, the method includes the following steps:
step S602, controlling a driving mechanism to drive the camera to move to at least one target position, wherein the driving mechanism has at least one translational degree of freedom and at least one rotational degree of freedom.
In an alternative, the camera may be any camera to be calibrated, such as a film camera or a digital camera, the driving mechanism may be electrically driven, and the driving motor may be a stepping motor.
In an alternative, the target position may be a position away from the calibration object by a preset distance and a preset lens orientation. Wherever the target location is, it is necessary to ensure that the calibration object is within the field of view of the camera.
It should be noted that at least one of the cameras is driven by a set of driving mechanisms, and the movement of all the cameras is synchronized by the driving mechanisms. Through the mode that a set of actuating mechanism drives many cameras simultaneously, the platform of maring can be markd many cameras simultaneously, is showing improvement work efficiency.
In the above steps, the controller of the calibration platform controls the motor in the driving mechanism to move, and the camera is driven by the motor in the driving mechanism to move to at least one target position in a translation or rotation mode.
And step S604, controlling the camera to collect images when the camera moves to the target position.
In an alternative, the movement of the target position may be a rotational movement of a preset lens orientation, a parallel movement of a preset distance from the calibration object, or a parallel movement along a guide rail parallel to the calibration object.
When the driving mechanism drives the camera to move to a certain target position, controlling the camera to acquire an image; when the camera is driven to move to another target position, the camera is controlled to acquire an image again. The more images are collected, the more accurate the obtained camera calibration result is.
In step S606, a result of camera calibration is obtained based on the image.
After the camera collects a plurality of images at different positions, all the collected images are input into a preset calibration algorithm, and then calibration parameters of the camera are obtained.
Based on the solution provided by the above embodiment of the present application, the calibration platform includes at least one camera and a driving mechanism, and first, the driving mechanism is controlled to drive the camera to move to at least one target position, where the driving mechanism has at least one translational degree of freedom and at least one rotational degree of freedom; then controlling the camera to collect images under the condition that the camera moves to the target position; and finally, obtaining a camera calibration result based on the image. According to the camera calibration method, the camera to be calibrated is accurately controlled to be driven by the driving mechanism to move to each preset position to shoot through the calibration platform with multiple degrees of freedom, the calibration program is automatically operated after the shooting is finished to obtain the calibration result, the purpose of accurately calibrating the automatic camera is achieved, and the technical problem that the calibration result is inaccurate due to the fact that the camera is calibrated in a manual mode in the prior art is solved.
Optionally, controlling the drive mechanism to drive the camera to move to the at least one target position comprises: controlling the driving mechanism to drive the camera to a first position, wherein the first position is a target position of the camera for translation along the axial direction; and at the first position, controlling the driving mechanism to drive the camera to a plurality of second positions, wherein the second positions are target positions for rotating the camera in the axial direction.
In an alternative, each of the target positions may include a first position and a plurality of second positions, the first position may be a target position at which the camera performs translational motion, and the second position may be a target position at which the camera performs rotational motion at the first position.
In the above steps, the calibration platform firstly controls the driving mechanism to drive the motor to perform a translation operation, and when the calibration platform moves to the first position, the driving mechanism is controlled to drive the motor to perform a rotation operation so as to enable the motor to be respectively located at a plurality of second positions, that is, the orientation of the lens of the camera is changed through the rotation operation, so that the camera can shoot photos of the calibration object at different angles.
Optionally, the calibration platform further comprises a calibration object, the calibration object being located in the field of view of the camera, the second position being obtained based on: dividing a field of view of a camera into a plurality of regions; and moving the camera to a plurality of second positions, so that the images of the calibration object in the field of view are respectively in different areas of the plurality of areas, wherein the plurality of areas and the plurality of second positions have one-to-one correspondence.
In an alternative, the calibration objects may be black and white checkerboard, and the black and white checks are squares with the same size.
In an alternative, the division into a plurality of regions may be equal-area division. To improve the accuracy of the calibration result, the field of view of the camera may be divided into N2And (3) areas, wherein N is a natural number greater than 1, for example, divided into 4 areas, 9 areas or 16 areas. The more divided areas, the more complex the calculation process and the more accurate the calibration result.
In one alternative, the imaging of the calibration object in the field of view may be centered in different regions, respectively.
The calibration object is located in the field of view of the camera, which means that the calibration object is located entirely in the field of view of the camera, and there is no case where part of the calibration object exceeds the boundary of the field of view of the camera.
Because the calibration platform realizes full-automatic accurate calibration, the selection of the target position, especially the second position, is crucial: after the driving mechanism drives the camera to the first position, the field of view of the camera is divided into a plurality of areas at the first position, then the camera is driven to rotate to different angles, namely, at a plurality of second positions, photographing is carried out once when the camera rotates by an angle, so that the images of the calibration object in the field of view are respectively in different areas, wherein the number of the second positions is equal to the number of the areas, and each second position corresponds to one imaging area. By the mode of determining the second position, the calibration object can be shot at different angles, and the accuracy of the calculation result is improved.
Optionally, obtaining the result of the camera calibration based on the image comprises: inputting the image to a calibration algorithm; and obtaining a camera calibration result based on a calibration algorithm.
In an alternative, the calibration algorithm may be a traditional camera calibration method, a subjective vision camera calibration method, or a camera self-calibration method, and the calibration algorithm may be stored in a controller of the calibration platform in advance.
It should be noted that, in the calibration process, calibration parameters obtained by each calibration may be different, and therefore, multiple calibration processes may be performed to obtain multiple sets of calibration results. And screening multiple groups of calibration results according to a preset screening rule to obtain the most accurate calibration result.
Optionally, after obtaining the result of the camera calibration based on the image, the method further comprises: the results are saved to the camera's memory and/or configuration file.
After the camera calibration result is obtained, the result is stored, so that the subsequent use is facilitated, and the operation of calibrating again when the camera is used next time is avoided.
Optionally, the calibration platform further comprises a camera support, the camera support is composed of a mechanism rotating along a first direction and a mechanism rotating along a second direction, wherein the camera is mounted on the mechanism rotating along the first direction through the mechanism rotating along the second direction, the mechanism rotating along the first direction is mounted on a guide rail of the second direction, the guide rail of the second direction is mounted on a guide rail of a third direction, and the first direction, the second direction and the third direction together form a spatial rectangular coordinate system.
In one alternative, the calibration platform is a four-degree-of-freedom calibration platform, and can respectively realize translation in two directions and rotation in two directions; the camera may be fixed to a camera station that is fixed to a mechanism that rotates in a first direction. Through setting up the camera station, both easy to assemble can ensure the stability of motion process again.
In addition, the first direction, the second direction, and the third direction are included in the above "axial direction".
It should be noted that a plurality of camera stations may be provided, the plurality of camera stations may be respectively fixed to the corresponding mechanism that rotates in the first direction, and the plurality of camera stations may also be all fixed to the same mechanism that rotates in the first direction, so as to achieve the purpose of calibrating a plurality of cameras simultaneously.
Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
Example 3
In accordance with an embodiment of the present invention, there is provided a method embodiment of a camera calibration method, it should be noted that the steps illustrated in the flowchart of the accompanying drawings may be executed in a computer system such as a set of computer executable instructions, and that although a logical order is illustrated in the flowchart, in some cases, the steps illustrated or described may be executed in an order different than that illustrated herein.
Fig. 7 is a flowchart of a camera calibration method according to an embodiment of the present invention, as shown in fig. 7, the method includes the following steps:
step S702, controlling the camera to move to at least one target position, wherein the target position is used for representing the movement result of the camera in different dimensions, and the dimensions comprise: at least one translational degree of freedom and at least one rotational degree of freedom.
And step S704, controlling the camera to collect images when the camera moves to the target position.
Step S706, a result of camera calibration is obtained based on the image.
Optionally, controlling the camera to move to the at least one target position comprises: controlling the camera to move to a first position, wherein the first position is a target position of the camera for translation along the axial direction; and controlling the camera to move to a plurality of second positions at the first position, wherein the second positions are target positions of the camera in axial rotation.
Optionally, the second position is obtained based on: dividing a field of view of a camera into a plurality of regions; and moving the camera to a plurality of second positions, so that the images of the calibration object in the field of view are respectively in different areas of the plurality of areas, wherein the plurality of areas and the plurality of second positions have one-to-one correspondence.
Optionally, obtaining the result of the camera calibration based on the image comprises: inputting the image to a calibration algorithm; and obtaining a camera calibration result based on a calibration algorithm.
Optionally, after obtaining the result of the camera calibration based on the image, the method further includes: and storing the camera calibration result.
It should be noted that, in the fourth example of the present application, the implementation process related to the preferred embodiment is the same as the implementation process of the scheme and the application scenario provided in the first example, but is not limited to the scheme provided in the first example.
Example 4
According to an embodiment of the present invention, a camera calibration apparatus is provided, and fig. 8 is a schematic diagram of a camera calibration apparatus according to an embodiment of the present application. As shown in fig. 8, the apparatus 800 includes a control module 802, an acquisition module 804, and an acquisition module 806.
A control module 802, configured to control the camera to move to at least one target position, where the target position is used to characterize a result of the movement of the camera in different dimensions, and the dimensions include: at least one translational degree of freedom and at least one rotational degree of freedom.
An acquiring module 804, configured to control the camera to acquire an image when the camera moves to the target position.
An obtaining module 806 is configured to obtain a result of the camera calibration based on the image.
Optionally, the control module comprises: the first control module is used for controlling the camera to move to a first position, wherein the first position is a target position of the camera for translation along the axial direction; and the second control module is used for controlling the camera to move to a plurality of second positions at the first position, wherein the second positions are target positions of the camera rotating in the axial direction.
Optionally, the second position is obtained based on: dividing a field of view of a camera into a plurality of regions; and moving the camera to a plurality of second positions, so that the images of the calibration object in the field of view are respectively in different areas of the plurality of areas, wherein the plurality of areas and the plurality of second positions have one-to-one correspondence.
Optionally, the obtaining module includes: the input module is used for inputting the image to a calibration algorithm; and the obtaining submodule is used for obtaining a camera calibration result based on a calibration algorithm.
Optionally, the apparatus further includes a saving module, configured to save the result of the camera calibration after obtaining the result of the camera calibration based on the image.
It should be noted that the control module 802, the acquisition module 804 and the obtaining module 806 correspond to steps S702 to S706 in embodiment 3, and the three modules are the same as the examples and application scenarios implemented by the corresponding steps, but are not limited to the disclosure in embodiment 3. It should be noted that the above modules may be implemented in the camera calibration platform provided in the first embodiment as a part of the apparatus.
Example 5
According to an embodiment of the present invention, a storage medium is provided, and the storage medium includes a stored program, wherein when the program runs, a device in which the storage medium is located is controlled to execute the camera calibration method in embodiment 3.
In an alternative, the storage medium may be located in the control unit of the camera calibration platform, or may exist independently.
Example 6
According to an embodiment of the present invention, there is provided a processor configured to execute a program, where the following steps are performed when the program is executed: controlling the camera to move to at least one target position, wherein the target position is used for representing the movement result of the camera in different dimensions, and the dimensions comprise: at least one translational degree of freedom and at least one rotational degree of freedom; controlling the camera to acquire an image under the condition that the camera moves to the target position; the result of camera calibration is obtained based on the image.
Further, the processor may also execute the instructions of other steps in embodiment 3, which is not described herein again.
In this embodiment, a processor is automatically run by a hardware platform, and the processor controls a camera to move to at least one target position, where the target position is used to characterize a movement result of the camera in different dimensions, and the dimensions include: at least one translational degree of freedom and at least one rotational degree of freedom, then controlling the camera to acquire images under the condition that the camera moves to the target position, and finally obtaining the calibration result of the camera based on the images. Therefore, in the embodiment, based on the calibration platform with multiple degrees of freedom, the driving mechanism is accurately controlled to drive the camera to be calibrated to move to each preset position for shooting, and the calibration program is automatically operated after the shooting is finished to obtain the calibration result, so that the aim of accurately calibrating the automatic camera is fulfilled; by rotating the orientation of a lens of the camera, images of the calibration object in the field of view of the camera are respectively positioned in different areas, so that the target position is accurately and reliably determined; in addition, the calibration result is stored, so that the operation of re-calibrating when the camera is used next time is avoided, and the technical problem of inaccurate calibration result caused by manual camera calibration in the prior art is further solved.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (15)
1. A camera calibration method for use with a calibration platform comprising at least one camera and a drive mechanism, the method comprising:
controlling the drive mechanism to drive the camera to move to at least one target position, wherein the drive mechanism has at least one translational degree of freedom and at least one rotational degree of freedom;
controlling the camera to capture an image if the camera moves to the target position;
obtaining a result of the camera calibration based on the image;
controlling the drive mechanism to drive the camera to move to at least one target position, including: controlling the driving mechanism to drive the camera to a first position, wherein the first position is a target position of the camera for translation along the axial direction; controlling the driving mechanism to drive the camera to a plurality of second positions at the first position, wherein the second positions are target positions for the camera to rotate in the axial direction;
the calibration platform further comprises a calibration object located in the field of view of the camera, the second position being obtained based on: dividing a field of view of the camera into a plurality of regions; moving the camera to the second positions to enable the images of the calibration object in the field of view to be respectively in different areas of the areas, wherein the areas and the second positions have one-to-one correspondence.
2. The method of claim 1, wherein obtaining the result of the camera calibration based on the image comprises:
inputting the image to a calibration algorithm;
and obtaining the camera calibration result based on the calibration algorithm.
3. The method of claim 1, after obtaining the result of the camera calibration based on the image, the method further comprising:
saving the results to a memory and/or configuration file of the camera.
4. The method of claim 1, wherein the calibration platform further comprises a camera support, the camera support is composed of a mechanism rotating in a first direction and a mechanism rotating in a second direction, wherein the camera is mounted on the mechanism rotating in the first direction by the mechanism rotating in the second direction, the mechanism rotating in the first direction is mounted on a guide rail in the second direction, and the guide rail in the second direction is mounted on a guide rail in a third direction, wherein the first direction, the second direction, and the third direction together form a rectangular spatial coordinate system.
5. A camera calibration platform, said platform comprising:
a drive mechanism for driving the camera to move to at least one target position, wherein the drive mechanism has at least one translational degree of freedom and at least one rotational degree of freedom;
the controller is connected with the driving mechanism and used for controlling the driving mechanism to drive the camera, controlling the camera to acquire images when the camera moves to the at least one target position, and obtaining a camera calibration result based on the images;
the drive mechanism includes: the translation motor is connected with the translation guide rail and used for driving the camera to a first position, wherein the first position is a target position of the camera for translation along the translation guide rail; the rotating motor is connected with the rotating mechanism and used for driving the camera to a plurality of second positions at the first position, wherein the second positions are target positions of the camera rotating on the rotating mechanism;
the platform further comprises a calibration object located in a field of view of the camera, the controller further to: dividing a field of view of the camera into a plurality of regions; and controlling the camera to rotate to the second positions, so that the images of the calibration object in the field of view are respectively in different areas of the areas, wherein the areas and the second positions have one-to-one correspondence.
6. The platform of claim 5, wherein the translation rail comprises a second direction rail and a third direction rail, wherein the second direction and the third direction are perpendicular to each other.
7. The platform of claim 6, wherein the rotation mechanism comprises a mechanism that rotates in a first direction and a mechanism that rotates in a second direction, wherein the first direction, the second direction, and the third direction collectively form a spatial rectangular coordinate system.
8. The platform of claim 7, wherein the camera further comprises a camera mount comprised of a mechanism that rotates in a first direction and a mechanism that rotates in a second direction, wherein the camera is mounted to the mechanism that rotates in the first direction via the mechanism that rotates in the second direction, wherein the mechanism that rotates in the first direction is mounted to a rail in the second direction, wherein the rail in the second direction is mounted to a rail in a third direction, and wherein the first direction, the second direction, and the third direction together form a rectangular spatial coordinate system.
9. The platform of claim 5, wherein the controller is further to: after obtaining the results of the camera calibration based on the image, saving the results to a memory and/or configuration file of the camera.
10. A camera calibration method is characterized by comprising the following steps:
controlling a camera to move to at least one target position, wherein the target position is used for characterizing the movement result of the camera in different dimensions, and the dimensions comprise: at least one translational degree of freedom and at least one rotational degree of freedom;
controlling the camera to capture an image if the camera moves to the target position;
obtaining a result of the camera calibration based on the image;
the controlling the camera to move to at least one target location, comprising: controlling the camera to move to a first position, wherein the first position is a target position of the camera for translation along an axial direction; controlling the camera to move to a plurality of second positions at the first position, wherein the second positions are target positions for the camera to rotate in the axial direction;
the second position is obtained based on: dividing a field of view of the camera into a plurality of regions; moving the camera to the second positions to enable the images of the calibration objects in the field of view to be respectively located in different areas of the areas, wherein the areas and the second positions have one-to-one correspondence.
11. The method of claim 10, wherein obtaining the result of the camera calibration based on the image comprises:
inputting the image to a calibration algorithm;
and obtaining the camera calibration result based on the calibration algorithm.
12. The method of claim 10, after obtaining the result of the camera calibration based on the image, the method further comprising: and storing the camera calibration result.
13. A camera calibration device is characterized by comprising:
a control module, configured to control a camera to move to at least one target position, where the target position is used to characterize a result of the camera moving in different dimensions, and the dimensions include: at least one translational degree of freedom and at least one rotational degree of freedom;
the acquisition module is used for controlling the camera to acquire images under the condition that the camera moves to the target position;
an obtaining module for obtaining a result of the camera calibration based on the image;
the control module includes: the first control module is used for controlling the camera to move to a first position, wherein the first position is a target position of the camera for translation along the axial direction; the second control module is used for controlling the camera to move to a plurality of second positions at the first position, wherein the second positions are target positions of the camera in axial rotation;
the second position is obtained based on: dividing a field of view of the camera into a plurality of regions; and moving the camera to a plurality of second positions to enable the images of the calibration object in the field of view to be respectively in different areas of a plurality of areas, wherein the areas and the second positions have one-to-one correspondence relationship.
14. A storage medium, characterized in that the storage medium includes a stored program, and when the program runs, the storage medium is controlled to execute the camera calibration method applied to the calibration platform according to any one of claims 1 to 4.
15. A processor, characterized in that the processor is configured to run a program, wherein the program is executed to execute the camera calibration method applied to the calibration platform according to any one of claims 1 to 4.
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| CN110458900A (en) * | 2019-08-30 | 2019-11-15 | 深圳奥比中光科技有限公司 | A kind of caliberating device of TOF camera, calibration facility and scaling method |
| CN110717944A (en) * | 2019-09-18 | 2020-01-21 | 重庆大云端科技有限公司 | Application of camera calibration in smart phone, camera and digital camera |
| CN110823276A (en) * | 2019-11-28 | 2020-02-21 | 广东博智林机器人有限公司 | Method, device and system for detecting vision sensor |
| CN111098306A (en) * | 2019-12-31 | 2020-05-05 | 广东利元亨智能装备股份有限公司 | Calibration method and device of robot, robot and storage medium |
| CN111601101A (en) * | 2020-04-30 | 2020-08-28 | 欧菲微电子技术有限公司 | Method, device and system for evaluating precision of camera and electronic equipment |
| CN111652942B (en) * | 2020-05-29 | 2024-03-22 | 维沃移动通信有限公司 | Calibration method of camera module, first electronic equipment and second electronic equipment |
| CN112419420B (en) * | 2020-09-17 | 2022-01-28 | 腾讯科技（深圳）有限公司 | Camera calibration method and device, electronic equipment and storage medium |
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