CN110298888A - Camera calibration method based on uniaxial high precision displacement platform - Google Patents
Camera calibration method based on uniaxial high precision displacement platform Download PDFInfo
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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
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Abstract
The present invention provides a kind of camera calibration methods based on uniaxial high precision displacement platform, it include: that uniaxial displacement platform drives plane reference plate to do multiple translational motion along its axis direction, camera camera plane scaling board image, then the plane reference plate image being located in camera field depth is chosen by focusing evaluation operator, extract coordinate value of the index point under image coordinate system in plane reference plate, utilize the index point coordinate value under plane reference plate world coordinate system, coordinate value under corresponding image coordinate system, the moving distance of corresponding single shaft displacement platform constructs constraint equation, linearly to find out the closing solution of camera internal reference；Then the distortion factor for considering camera lens, establishes camera calibration nonlinear model, with above-mentioned internal reference closing solution for primary iteration value, finally uses nonlinear optimization algorithm, solves the inside and outside parameter of camera.Calibration process of the present invention simply and readily realizes that calibration is full-automatic, and calibration result is stable and accurate, improves calibration efficiency.
Description
Technical field
The present invention relates to technical field of machine vision, and in particular, to the camera mark based on uniaxial high precision displacement platform
Determine method.
Background technique
Camera calibration technology is quite extensive in the application of field of machine vision.Such as the dimensional measurement in manufacturing industry, position
The operating conditions such as appearance tracking, defects detection, it is often necessary to which the then image that testee is obtained using camera is carried out at corresponding algorithm
Reason.Camera calibration determines the inside and outside parameter of camera, is that camera carries out the indispensable committed step of reliable efficient operation.
Traditional camera calibration generally uses following three kinds of modes:
(1) Heikkila is in meeting paper A four-step camera calibration procedure with
implicit image correction(IEEE Computer Society Conference on Computer
Vision&Pattern Recognition, 1997,1106-1112) camera calibration is carried out using three-dimensional scaling plate in, but three
Dimension high-precision calibrating board manufacturing process is complicated, at high cost and be difficult to obtain the high quality mark of three-dimensional scaling plate Different Plane simultaneously
Determine image.
(2) Zhang Zhengyou is in paper A Flexible New Technique for Camera Calibration (IEEE
Transactions on Pattern Analysis&Machine Intelligence, 2000,22 (1): 1330-1334) in
Using two-dimensional surface scaling board, a kind of flexible calibrating method for moving freely plane reference plate and completing camera calibration is proposed, it should
Method is used widely once proposition.But this method will artificially demarcate the multiple positions of board placing in calibration process needs, grasp
It is not easy to realize automatic operation, while influence of the calibration structure vulnerable to calibration board placing pose as complexity, to the special of operator
Industry requested knowledge is high.
(3) Chen is in paper Accurate calibration for a camera-projector measurement
System based on structured light projection (Optics&Lasers in Engineering,
2009,47 (3-4): 310-319) the mobile calibration point formation high-precision spatial three for being pasted onto end of middle use high accuracy three coordinate
Grid point is tieed up, this method is able to achieve the high-precision automatic calibration of camera.But this method needs high-precision three-shaft displacement platform
Strongly limit the application of this method.
Summary of the invention
For the defects in the prior art, the object of the present invention is to provide a kind of phases based on uniaxial high precision displacement platform
Machine scaling method.
A kind of camera calibration method based on uniaxial high precision displacement platform provided according to the present invention, it is including single for applying
Axial displacement platform, plane reference plate calibration system in；The described method includes:
Step 1: initializing the calibration system, and plane reference plate is controlled along axis side by the uniaxial displacement platform
To the translation motion for doing pre-determined distance；
Step 2: the initial pose between adjustment calibration for cameras and the plane reference plate；
Step 3: according to the fog-level of the imaging of the calibration for cameras, determining the initial of the calibration for cameras field depth
Moving range；
Step 4: according to the initial moving range of the calibration for cameras field depth, determining the shifting of the uniaxial displacement platform
Dynamic range；
Step 5: the world coordinate system of the plane reference plate is established, according on the plane reference plate between Dapple
Distance obtains coordinate value of the Dapple under world coordinate system；
Step 6: obtaining coordinate value of the Dapple under the image coordinate system that calibration for cameras is shot, and uniaxial displacement
The coordinate value of platform；
Step 7: the screen scaling board being controlled by the uniaxial displacement platform and is moved to next position；
Step 8: judging whether the uniaxial displacement platform removes the moving range of the uniaxial displacement platform, if it is not, then
Return to step 5；If so, thening follow the steps 9；
Step 9: being shot by coordinate value of the Dapple under world coordinate system, the Dapple in calibration for cameras
Coordinate value under image coordinate system, and the coordinate value of uniaxial displacement platform construct constraint equation, solve calibration for cameras intrinsic parameter
Closing solution；
Step 10: considering that calibration for cameras distortion coefficients of camera lens constructs the nonlinear model of the calibration for cameras, and with described
The closing solution of calibration for cameras intrinsic parameter solves the inside and outside parameter of the calibration for cameras as primary iteration value.
Optionally, described one and only one freedom degree of uniaxial displacement platform；Displacement accuracy reaches 0.01mm.
Optionally, the step 2 includes:
It is being demarcated according to the center of plane reference plate two equidistant Dapples on length and width direction
Distance ratio under the image coordinate system of camera shooting, adjusts the pose of the calibration for cameras, so that the distance ratio exists
Between 0.95~1.05.
Optionally, the step 4 includes:
The moving step length of 0.5mm is set, is determined by focusing evaluation function corresponding in the calibration for cameras field depth
Uniaxial displacement platform moving range.
Optionally, the step 5 includes:
2 times of area of the Dapple that Dapple area is other Dapples is found, in the plane reference plate with the circle
Origin O of the spot as world coordinate systemw, it is X with the orthogonal both sides of plane reference platewAxis and YwAxis, wherein ZwAxis
Perpendicular to the scaling board plane.
Optionally, the building process of the constraint equation in the step 9 is as follows:
According to camera perspective projection model, and the definition of local world coordinate system, following formula is determined:
Wherein:The homogeneous coordinates value for being Dapple under the image coordinate system that calibration for cameras is shot,Exist for Dapple
Homogeneous coordinates value under world coordinate system, homography matrix H=[h1 h2 h3]=λ A [r1 r2T], A is camera internal reference matrix,
r1、r2For two rotation items of parameter matrix outside calibration for cameras, t is the translation item of Camera extrinsic matrix number；h1For homography matrix
The 1st column of H, h2For the 2nd column of homography matrix H, h3For the 3rd column of homography matrix H, λ is zoom factor；
According toWith | | r2||2=| | r1||2Two are established in first shot location of the plane reference plate
Constraint equation is as follows:
Wherein:For the 1st column of homography matrix H corresponding to i-th of position of scaling board；For the 1st position of scaling board
Set the 1st column of corresponding homography matrix H, A-TFor the transposition of camera Intrinsic Matrix A inverse matrix, A-1For camera intrinsic parameter
The inverse matrix of matrix A,The 2nd for homography matrix H corresponding to the 1st position of scaling board arranges,
After the plane reference plate is controlled along the uniaxial displacement platform translation pre-determined distance q, second shooting is reached
Position, building constraint equation are as follows:
Wherein:The 3rd for homography matrix H corresponding to the 1st position of scaling board arranges,For the 2nd position of scaling board
The 1st column of corresponding homography matrix H are set,For the 3rd column of homography matrix H corresponding to the 2nd position of scaling board；
Since the plane reference plate does translational motion, the plane reference plate along the axial direction of the uniaxial displacement platform
It is constant in the rotation item of the outer ginseng matrix of each shot location, i.e.,WithTherefore, the plane
Constraint equation of the scaling board i-th of camera site is as follows:
Wherein:For the 1st rotation item of Camera extrinsic matrix number corresponding to the 1st position of scaling board,For calibration
2nd rotation item of Camera extrinsic matrix number corresponding to i-th of position of plate, subscriptTIndicate transposition,It is i-th of scaling board
The 1st column of homography matrix H corresponding to position.
Optionally, the building process of the nonlinear model of calibration for cameras described in the step 10 is as follows:
The influence of the camera lens radial distortion and tangential distortion of calibration for cameras to calibration for cameras model is considered, using camera lens quadravalence
Distortion model models camera lens, and camera lens quadravalence distortion model is as follows:
Wherein: xnFor distortionless image abscissa, ynFor distortionless image ordinate, xdIt is horizontal for the image after distortion
Coordinate, ydFor for distortion after image ordinate, k1For 1 rank distortion factor of camera lens, k2For 2 rank distortion factor of camera lens, k3For camera lens
3 rank distortion factors, k4For 4 rank distortion factor of camera lens, [xn yn]TFor ideal coordinates value undistorted under image coordinate system, [xd yd]T
For the coordinate value of corresponding consideration distortion factor, r2=xn 2+yn 2, K=[k1 k2 k3 k4] it is distortion coefficients of camera lens；
The nonlinear model of the calibration for cameras is as follows:
Wherein: mijThe image coordinate value of j-th of the calibration in position is demarcated for i-th,For calibration point theoretical value, MjFor jth
Coordinate value under a calibration point world coordinate system, n are scaling board positional number, and m is the points on scaling board, | | | | it is 2 norms,
V is the axis direction vector of uniaxial displacement platform to be asked, qiIt is flat for the displacement of single shaft corresponding to i-th of scaling board calibration position
The coordinate value of platform.
Optionally, the step 10 includes:
The nonlinear model of the calibration for cameras is solved using Levenberg-Marquardt algorithm.With prior art phase
Than, the present invention have it is following the utility model has the advantages that
Camera calibration method provided by the invention based on uniaxial high precision displacement platform overcomes existing camera calibration side
Method is not available translation scaling board image, camera calibration result is put down vulnerable to the influence of calibration board placing pose, using three-dimensional motion
The disadvantages of platform manufacturing cost is high realizes the camera calibration method based on uniaxial displacement platform, and there is extremely important engineering to answer
With value, calibration process simply and readily realizes that calibration is full-automatic, and calibration result is stable and accurate, improves calibration efficiency.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is the flow chart of the camera calibration method provided by the invention based on uniaxial high precision displacement platform；
Fig. 2 is the schematic layout pattern of camera calibration system in the present invention；
Fig. 3 is the structural schematic diagram of plane reference plate in the present invention；
In figure:
1 is plane reference plate, and 2 be camera, and 3 be high-precise uniaxial displacement platform, and 4 be host computer.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, several changes and improvements can also be made.These belong to the present invention
Protection scope.
Camera calibration is most basic and most important link, this hair in the systems such as dimensional measurement, posture tracking, defects detection
The bright automatic camera calibration system based on uniaxial high precision displacement platform, to plane reference plate placement location and uniaxial displacement machine
The moving direction of structure, the axis direction of camera do not have particular/special requirement.
Fig. 2 is the schematic layout pattern of camera calibration system in the present invention；As shown in Fig. 2, first that plane reference plate 1 is fixed
On high-precise uniaxial displacement platform 3, single axial displacement platform will drive plane reference plate 1 working under the control of host computer 4
Specified movement is done in region, camera 2 shoots the plane reference plate moved in its working region under the control of host computer 4
Multiple image, the calibration for camera 2.
Scaling method proposed by the present invention mainly includes obtaining the image of position scaling board and extracting mark from image
The image coordinate value of fixed point obtains single shaft position at coordinate value and the position under local world coordinate system corresponding to calibration point
The coordinate value for moving platform solve the closing solution of camera using above-mentioned data and utilizes nonlinear optimization algorithm solution camera non-
Parameter in linear model and etc., it should illustrate high-precise uniaxial displacement platform can only be used to control in entire calibration process
Device controls the movement of scaling board, absolutely not permission manual toggle or touch scaling board.
In the present embodiment, the round spot array calibrating plate 1 of use, a biggish Dapple of area on scaling board can be obvious
It is distinguished with other Dapples, the origin as local world coordinate system.
Fig. 1 is the flow chart of the camera calibration method provided by the invention based on uniaxial high precision displacement platform；Such as Fig. 1 institute
Show, shoots image one by one with camera and be illustrated, specific step is as follows.
Step 1: camera calibration system of the initialization based on uniaxial high precision displacement platform.Wherein high-precision uniaxial displacement
Platform courses plane reference plate makees the movement of known distance along its axis；The high-precise uniaxial displacement platform only has one
Freedom degree, displacement accuracy reach 0.01mm.
Step 2: the initial pose between adjustment calibration for cameras and scaling board, by calculating length and width side on scaling board
Distance ratio of the upward two equidistant mark dot center under image coordinate system, should by adjusting the pose of calibration for cameras
Distance ratio controls between 0.95 to 1.05.
Step 3: initializing uniaxial displacement platform range mobile during camera calibration, pass through observation camera imaging
The initial moving range comprising camera field depth is artificially arranged in fog-level.
Step 4: the moving range of uniaxial displacement platform corresponding to initialization camera field depth is movement with 0.5mm
Step-length and the moving range that the corresponding single shaft displacement platform in camera field depth is determined by focusing evaluation function.
Step 5: the world coordinate system of scaling board is established, as shown in Fig. 2, in the scaling board at camera close shot deeply point position
The center of maximum Dapple is world coordinate system origin Ow, the orthogonal both sides of scaling board are XwAxis and YwAxis, ZwPerpendicular to mark
Fixed board plane.The coordinate value and corresponding image seat under world coordinate system are obtained according to the distance between scaling board Dapple
Coordinate value under mark system, and record the coordinate value of uniaxial displacement platform at this time.
Step 6: the mobile initial value of uniaxial displacement platform is 0.05mm, and specific value is set as the 1/ of the camera depth of field
20.Scaling board is controlled by high-precise uniaxial displacement platform and is moved to next position, is established world coordinate system, is recorded round spot
The D coordinates value of point and coordinate value under corresponding image coordinate system and the at this time coordinate value of single shaft displacement platform, in repetition
It states operation to uniaxial displacement platform and removes the distant view corresponding coordinate value of point deeply.
Step 7: using the coordinate value under world coordinates, the coordinate value and uniaxial displacement under corresponding image coordinate system are flat
Platform coordinate value constructs constraint equation, solves the closing solution of camera intrinsic parameter.
Step 8:Levenberg-Marquardt algorithm is to consider the camera nonlinear model of distortion coefficients of camera lens as target
Function, one piece solve the inside and outside parameter of camera, wherein the camera intrinsic parameter closing solution solved is as iteration initial solution.
Camera calibration system and method proposed by the present invention based on uniaxial high precision displacement platform, it is easy to accomplish camera mark
Fixed automatic operation improves the stability of camera calibration；The precision of uniaxial displacement platform is mored easily guarantee, is controlled more simultaneously
Simply, cost is lower；The present invention has great importance to the automation for realizing camera calibration and practical value.
It should be noted that in the camera calibration method based on uniaxial high precision displacement platform provided by the invention
Step can use corresponding module, device, unit etc. in the camera calibration system based on uniaxial high precision displacement platform and give
It realizes, the technical solution that those skilled in the art are referred to the system realizes the step process of the method, that is, the system
Embodiment in system can be regarded as realizing the preference of the method, and it will not be described here.
One skilled in the art will appreciate that in addition to realizing system provided by the invention in a manner of pure computer readable program code
And its other than each device, completely can by by method and step carry out programming in logic come so that system provided by the invention and its
Each device is in the form of logic gate, switch, specific integrated circuit, programmable logic controller (PLC) and embedded microcontroller etc.
To realize identical function.So system provided by the invention and its every device are considered a kind of hardware component, and it is right
The device for realizing various functions for including in it can also be considered as the structure in hardware component；It can also will be for realizing each
The device of kind function is considered as either the software module of implementation method can be the structure in hardware component again.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make a variety of changes or modify within the scope of the claims, this not shadow
Ring substantive content of the invention.In the absence of conflict, the feature in embodiments herein and embodiment can any phase
Mutually combination.
Claims (8)
1. a kind of camera calibration method based on uniaxial high precision displacement platform, which is characterized in that applying is including uniaxial displacement
Platform, plane reference plate calibration system in；The described method includes:
Step 1: initializing the calibration system, and plane reference plate is controlled by the uniaxial displacement platform and is done in the axial direction
The translation motion of pre-determined distance；
Step 2: the initial pose between adjustment calibration for cameras and the plane reference plate；
Step 3: according to the fog-level of the imaging of the calibration for cameras, determining the initial movement of the calibration for cameras field depth
Range；
Step 4: according to the initial moving range of the calibration for cameras field depth, determining the mobile model of the uniaxial displacement platform
It encloses；
Step 5: establish the world coordinate system of the plane reference plate, according on the plane reference plate between Dapple away from
From obtaining coordinate value of the Dapple under world coordinate system；
Step 6: obtaining coordinate value of the Dapple under the image coordinate system that calibration for cameras is shot, and uniaxial displacement platform
Coordinate value；
Step 7: the screen scaling board being controlled by the uniaxial displacement platform and is moved to next position；
Step 8: judging whether the uniaxial displacement platform removes the moving range of the uniaxial displacement platform, if it is not, then returning
Execute step 5；If so, thening follow the steps 9；
Step 9: the image shot by coordinate value, the Dapple of the Dapple under world coordinate system in calibration for cameras
Coordinate value under coordinate system, and the coordinate value of uniaxial displacement platform construct constraint equation, solve the envelope of calibration for cameras intrinsic parameter
Close solution；
Step 10: considering that calibration for cameras distortion coefficients of camera lens constructs the nonlinear model of the calibration for cameras, and with the calibration
The closing solution of camera intrinsic parameter solves the inside and outside parameter of the calibration for cameras as primary iteration value.
2. the camera calibration method according to claim 1 based on uniaxial high precision displacement platform, which is characterized in that described
One and only one freedom degree of uniaxial displacement platform；Displacement accuracy reaches 0.01mm.
3. the camera calibration method according to claim 1 based on uniaxial high precision displacement platform, which is characterized in that described
Step 2 includes:
According to the center of plane reference plate two equidistant Dapples on length and width direction in calibration for cameras
Distance ratio under the image coordinate system of shooting adjusts the pose of the calibration for cameras, so that the distance ratio is 0.95
Between~1.05.
4. the camera calibration method according to claim 1 based on uniaxial high precision displacement platform, which is characterized in that described
Step 4 includes:
The moving step length of 0.5mm is set, the corresponding list in the calibration for cameras field depth is determined by focusing evaluation function
The moving range of axial displacement platform.
5. the camera calibration method according to claim 1 based on uniaxial high precision displacement platform, which is characterized in that described
Step 5 includes:
2 times of area of the Dapple that Dapple area is other Dapples is found, in the plane reference plate with the Dapple
Origin O as world coordinate systemw, it is X with the orthogonal both sides of plane reference platewAxis and YwAxis, wherein ZwAxis is vertical
In the scaling board plane.
6. the camera calibration method according to claim 1 based on uniaxial high precision displacement platform, which is characterized in that described
The building process of constraint equation in step 9 is as follows:
According to camera perspective projection model, and the definition of local world coordinate system, following formula is determined:
Wherein:The homogeneous coordinates value for being Dapple under the image coordinate system that calibration for cameras is shot,It is Dapple in the world
Homogeneous coordinates value under coordinate system, homography matrix H=[h1 h2 h3]=λ A [r1 r2T], A is camera internal reference matrix, r1、r2
For two rotation items of parameter matrix outside calibration for cameras, t is the translation item of Camera extrinsic matrix number；h1For homography matrix H's
1st column, h2For the 2nd column of homography matrix H, h3For the 3rd column of homography matrix H, λ is zoom factor；
According to r1 Τr2=0 He | | r2||2=| | r1||2Two are established about in first shot location of the plane reference plate
Shu Fangcheng is as follows:
Wherein:For the 1st column of homography matrix H corresponding to i-th of position of scaling board；For the 1st position institute of scaling board
The 1st column of corresponding homography matrix H, A-TFor the transposition of camera Intrinsic Matrix A inverse matrix, A-1For camera Intrinsic Matrix A
Inverse matrix,The 2nd for homography matrix H corresponding to the 1st position of scaling board arranges,
After the plane reference plate is controlled along the uniaxial displacement platform translation pre-determined distance q, second camera site is reached,
It is as follows to construct constraint equation:
Wherein:The 3rd for homography matrix H corresponding to the 1st position of scaling board arranges,For the 2nd position institute of scaling board
The 1st column of corresponding homography matrix H,For the 3rd column of homography matrix H corresponding to the 2nd position of scaling board；
Since the plane reference plate does translational motion along the axial direction of the uniaxial displacement platform, the plane reference plate is each
The rotation item of the outer ginseng matrix of shot location is constant, i.e.,WithTherefore, the plane reference plate
Constraint equation i-th of camera site is as follows:
Wherein:For the 1st rotation item of Camera extrinsic matrix number corresponding to the 1st position of scaling board,For scaling board i-th
2nd rotation item of Camera extrinsic matrix number corresponding to a position, subscript T indicate transposition,For i-th of position institute of scaling board
The 1st column of corresponding homography matrix H.
7. the camera calibration method according to claim 1 to 6 based on uniaxial high precision displacement platform, special
Sign is that the building process of the nonlinear model of calibration for cameras described in the step 10 is as follows:
Consider the influence of the camera lens radial distortion and tangential distortion of calibration for cameras to calibration for cameras model, is distorted using camera lens quadravalence
Model models camera lens, and camera lens quadravalence distortion model is as follows:
Wherein: xnFor distortionless image abscissa, ynFor distortionless image ordinate, xdFor distortion after image abscissa,
ydFor for distortion after image ordinate, k1For 1 rank distortion factor of camera lens, k2For 2 rank distortion factor of camera lens, k3It is abnormal for 3 rank of camera lens
Variable coefficient, k4For 4 rank distortion factor of camera lens, [xn yn]TFor ideal coordinates value undistorted under image coordinate system, [xd yd]TIt is right
The coordinate value of the considerations of answering distortion factor, r2=xn 2+yn, K=[k1 k2 k3 k4] it is distortion coefficients of camera lens；
The nonlinear model of the calibration for cameras is as follows:
Wherein: mijThe image coordinate value of j-th of the calibration in position is demarcated for i-th,For calibration point theoretical value, MjIt is marked for j-th
The coordinate value under world coordinate system is pinpointed, n is scaling board positional number, and m is the points on scaling board, | | | | it is 2 norms, v is
The axis direction vector of uniaxial displacement platform to be asked, qiFor uniaxial displacement platform corresponding to i-th of scaling board calibration position
Coordinate value.
8. the camera calibration method according to claim 1 based on uniaxial high precision displacement platform, which is characterized in that described
Step 10 includes:
The nonlinear model of the calibration for cameras is solved using Levenberg-Marquardt algorithm.
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| CN112116666A (en) * | 2020-09-21 | 2020-12-22 | 华中科技大学鄂州工业技术研究院 | Pose adjusting method and device for camera calibration |
| CN112132891A (en) * | 2020-11-26 | 2020-12-25 | 三代光学科技（天津）有限公司 | Method for enlarging calibration space |
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| CN113920205A (en) * | 2021-12-15 | 2022-01-11 | 深圳市华汉伟业科技有限公司 | Calibration method of non-coaxial camera |
| CN114170246A (en) * | 2021-12-08 | 2022-03-11 | 广东奥普特科技股份有限公司 | Positioning method of precision displacement platform |
| CN114255287A (en) * | 2022-03-01 | 2022-03-29 | 杭州灵西机器人智能科技有限公司 | Monocular calibration method, system, device and medium for small depth-of-field camera |
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