CN110501026B - Camera internal orientation element calibration device and method based on array star points - Google Patents
Camera internal orientation element calibration device and method based on array star points Download PDFInfo
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- CN110501026B CN110501026B CN201910786827.2A CN201910786827A CN110501026B CN 110501026 B CN110501026 B CN 110501026B CN 201910786827 A CN201910786827 A CN 201910786827A CN 110501026 B CN110501026 B CN 110501026B
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
Abstract
The invention provides a camera inner orientation element calibration device and method based on array star points, wherein the calibration device comprises a light source, an m multiplied by n array star point reticle, a collimator, a vibration isolation table and a lifting working table; the m x n array star point reticle is used for forming an m x n array star point image in the camera to be marked through the collimator tube, and the formed array star point image is full of the field of view of the camera to be marked; the collimator is used for simulating a camera to be marked to image the infinity star point reticle; the air-floatation vibration isolation table is used for supporting and mounting the collimator; the lifting workbench is used for supporting the camera to be marked to image the m multiplied by n array star points in the collimator. And according to the pixel coordinate values of the array star points in the imaging plane, establishing an object-image geometric relationship between the array star points and the star point image, and solving orientation elements and distortion coefficients in the camera. The invention does not need a high-precision angle measurement rotary table to carry out angle measurement, saves the manufacturing or purchasing cost of the high-precision angle measurement rotary table, and eliminates the influence of the angle measurement error of the rotary table on the calibration precision of the camera.
Description
Technical Field
The invention belongs to the technical field of calibration of aerial surveying and mapping cameras, and particularly relates to a camera internal orientation element calibration device and method based on array star points.
Background
When the aerial photography measurement method is used for researching the space position of a shot object, in order to enable image information to describe the space shot object correctly, a camera must be precisely calibrated. The acquisition of the inner orientation elements such as the principal point, the principal distance, the distortion and the like of the surveying and mapping camera through calibration is a necessary condition for realizing high-precision aerial photography measurement.
At present, the azimuth elements in the laboratory of the long-focus aerial photogrammetry camera are generally calibrated by a precise angle measurement method. The device for realizing the method mainly comprises the following steps: the system comprises a light source, a collimator, a camera to be marked, a precise angle measurement rotary table, a vibration isolation table and the like, wherein a star point reticle with a single star point hole is used in the collimator and is used for imaging a single infinite target by the camera to be marked; the angle measurement rotary table uses a two-axis or single-axis precision rotary table and is used for measuring the rotating angle of the rotary table every time. The rotation of the rotary table is controlled by the rotary table control unit to simulate the rotation of the target to be measured, so that a star point target formed by the collimator is imaged on different positions of a CCD image surface, then an inner orientation element resolving equation is established according to the corresponding relation between the rotation angle of the rotary table and the moving distance of the star point on an image surface coordinate, and finally a principal point, a principal distance and distortion parameters of the camera are obtained through equation resolving.
The method is visual and simple, is easy to realize, has strict requirements on test conditions, and has larger workload. The concrete points are as follows:
(1) Because the method depends on the star point rotation angle, a high-precision two-axis or single-axis angle measurement rotary table is needed, and the angle measurement precision of the rotary table directly influences the final calibration result;
(2) Because the observation number of the star points directly influences the final calibration result, the method needs to take multiple times of photographing, and angle measurement and star point coordinate positioning are carried out once every time of photographing, so that the workload is large.
Disclosure of Invention
The invention provides a camera inner orientation element calibration device and method based on array star points, aiming at the problems of the existing camera inner orientation element calibration method, so as to improve the camera inner orientation element calibration efficiency and calibration precision.
The technical scheme of the invention is as follows:
the camera inner orientation element calibration device based on the array star points is characterized in that: the system comprises a light source, an mxn array star point reticle, a collimator, a vibration isolation table and a lifting workbench;
the m x n array star point reticle is used for forming an m x n array star point image in the camera to be marked through a collimator tube, and the formed array star point image is full of the field of view of the camera to be marked; vertical or horizontal grid division lines are carved between adjacent star points;
the collimator is used for simulating the camera to be marked to image an infinite target, and the focal length of the collimator is greater than that of the camera to be marked;
the vibration isolation table is used for supporting and installing the collimator so as to reduce the vibration influence of surrounding objects;
the lifting workbench is used for supporting the camera to be marked to image array star points in the collimator, and the levelness of the supporting surface of the lifting workbench is adjustable.
Further preferred scheme, the camera interior orientation element calibration device based on array star point, its characterized in that: the vibration isolation platform is an air-flotation vibration isolation platform.
Further preferred scheme, the camera interior orientation element calibration device based on array star point is characterized in that: grid division lines are carved between adjacent star points in the m x n array star point division board, and each star point is just positioned on a cross point of the grid division lines.
Further preferred scheme, the camera interior orientation element calibration device based on array star point is characterized in that: the substrate material of the m multiplied by n array star point reticle is made of quartz material, the star points are all light-transmitting, the background is a chromium plating dark area, and the m multiplied by n array star point reticle has high transmittance which meets the set requirements in visible light and near infrared areas.
Further preferred scheme, the camera interior orientation element calibration device based on array star point is characterized in that: the optical density D of the m multiplied by n array star point reticle is more than 3, and the contrast is not less than 100:1, the diameter of the star points is not more than 60 mu m and not less than 50 mu m, the distribution of the star points is not less than 20 rows and 20 columns, the star points are uniformly, symmetrically and equidistantly arranged, the space between the star points is not more than 5mm, the arrangement straightness of the star points is less than 1 mu m, and the position precision of the star points is less than 1 mu m.
The method for calibrating the camera internal orientation elements based on the array star points by using the device is characterized by comprising the following steps of: the method comprises the following steps:
step 1: mounting an m x n array star point reticle on a focal plane of a collimator, fixing a camera to be marked on a lifting workbench, and aligning the camera to the collimator;
and 2, step: adjusting the lifting workbench to enable the array star point reticle to be clearly imaged in the camera to be marked, and enabling the central electric cross line of the camera detector to be superposed with the cross grid division line near the center of the reticle;
and 3, step 3: adjusting the lifting workbench to enable the surface of the camera detector to be marked to be vertical to the optical axis of the collimator;
and 4, step 4: calculating the included angle between each star point imaging light beam and the optical axis according to the focal length of the collimator and the star point distance value in the mxn array star point reticle;
and 5: respectively calculating the azimuth angle of view and the elevation angle of view of star points at two ends of the x-axis and the y-axis according to the number of star points in the x-axis and the y-axis in the field of view of the camera to be marked; wherein the cross grid division line selected in the step 2 is taken as an x axis and a y axis of a coordinate system;
and 6: and (5) respectively calculating the camera principal distance and principal point coordinates of the x-axis and y-axis of the camera to be marked according to the calculation results of the step (4) and the step (5).
Further, in a preferred embodiment, the method for calibrating the orientation elements in the camera based on the array star points is characterized in that: in step 3, analyzing the images of the mxn array star point reticle formed in the camera to be marked, randomly finding out two pairs of star points which are symmetrical relative to the origin of the coordinate system in the mxn array star point reticle, judging whether the distances between each pair of star points and the origin of the coordinate system in the images are equal, if so, the surface of the detector of the camera to be marked is vertical to the optical axis of the collimator, otherwise, adjusting the levelness of the supporting surface of the lifting workbench until the surface of the detector of the camera to be marked is vertical to the optical axis of the collimator.
Further, in a preferred embodiment, the method for calibrating the azimuth element in the camera based on the array star point is characterized in that: in step 4, the coordinates of the ith star point on the x axis or the y axis in the array star point reticle are (id, 0) or (0, id), and the included angle between the ith star point imaging light beam and the optical axis of the collimator is alphaiOr betaiIn which α isi＝βi＝arctan(id/f1') wherein f1' is focal length of collimator, d is distance between two adjacent star points on x-axis or y-axis。
Further, in a preferred embodiment, the method for calibrating the azimuth element in the camera based on the array star point is characterized in that: in step 5, the number of the star points appearing in the x-axis direction and the y-axis direction in the field of view of the camera to be marked is n and m respectively, and the azimuth angle and the elevation angle of view of the star points at the two ends of the x-axis direction and the y-axis direction are respectively
Further, in a preferred embodiment, the method for calibrating the azimuth element in the camera based on the array star point is characterized in that: in step 6, according to the included angle between the imaging light beam of each star point and the optical axis of the collimator, which is obtained by calculation in step 4, and the azimuth angle and the elevation angle of view of the star points at two ends of the x-axis and the y-axis, which are obtained by calculation in step 5, the formula is used
Calculating the main camera distance f of the x-axis and the y-axis of the camerax、fyAnd principal point coordinates x0、y0。
Advantageous effects
The invention has the following advantages:
1) The invention does not need a high-precision two-dimensional angle measurement rotary table to measure the angle, thereby not only saving the manufacturing or purchasing cost of the high-precision angle measurement rotary table, but also eliminating the influence of the angle measurement error of the rotary table on the calibration precision of the camera;
2) The invention can obtain all data required by camera calibration by only one photo, has higher calibration efficiency, and can improve the camera calibration precision by increasing the number of array star points.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic diagram of an in-camera orientation element calibration apparatus of the present invention;
FIG. 2 is a schematic diagram of an array star point reticle required for orientation element calibration in a camera according to the present invention;
FIG. 3 is a schematic diagram of the calibration of orientation elements within a camera of the present invention;
FIG. 4 is a schematic diagram of the calibration steps of the orientation elements in the camera of the present invention;
FIG. 5 is a schematic diagram of the collimator optical axis and camera optical axis coincidence correction of the present invention.
Detailed Description
The following detailed description of embodiments of the invention is intended to be illustrative, and not to be construed as limiting the invention.
Referring to fig. 1, the invention relates to a camera inner orientation element calibration device based on array star points, comprising: the device comprises a light source 10, an m multiplied by n array star point reticle 20, a collimator 30, an air floatation vibration isolation table 40 and a lifting workbench 50. The m × n array star point reticle 20 is used for forming an m × n array star point image in the camera 60 to be marked through the collimator 30, and the formed array star point image is full of the field of view of the camera to be marked; the collimator 30 is used for simulating the camera to be marked to image the target of the infinitely distant star point reticle, and the focal length of the collimator is larger than that of the camera to be marked 60; the air-floating vibration isolation table 40 is used for supporting and installing a collimator and reducing the influence of the vibration of surrounding objects on the collimator; the lifting workbench 50 is used for supporting the imaging of the m multiplied by n array star points 20 in the collimator 30 by the camera 60 to be marked, and the levelness of the supporting surface of the lifting workbench is adjustable.
Referring to fig. 2, the m × n array star point reticle 20 according to the present invention includes: an m x n array of star points 201 and a cross-hatched line 202. The m x n array star points 201 are uniformly distributed in the reticle, the distance between two adjacent star points in the longitudinal direction and the transverse direction is d, and the diameter of each star point is 2r, so that the requirement that star point images in the detector occupy about 3 to 5 detector pixels is met. A longitudinal or transverse semi-transparent grid division line 202 is carved between adjacent star points in the m multiplied by n array star point division board, each star point is just positioned on a cross point of the grid division line, and the cross point is superposed with the circle center of the array star point.
The substrate material of the mxn array star point reticle is made of quartz material, the star points are all transparent, the background is a chromium plating dark area, and the mxn array star point reticle has high transmittance in visible light and near infrared areas meeting the set requirements. Specifically, the optical density D of the m × n array star point reticle is more than 3, and the contrast is not less than 100:1, the diameter of the star points is not more than 60 mu m and not less than 50 mu m, the distribution of the star points is not less than 20 rows and 20 columns, the star points are uniformly, symmetrically and equidistantly arranged, the space between the star points is not more than 5mm, the arrangement straightness of the star points is less than 1 mu m, and the position precision of the star points is less than 1 mu m.
Referring to fig. 3, the principle of the method for calibrating the orientation elements in the camera based on the array star points by using the device is as follows:
focal length of collimator f1', the focal length of the camera to be calibrated is f2' if the coordinate of the ith star point on the x-axis (or y-axis) of the cross-shaped division line of the array star point division board is (id, 0) (or (0, id)), the included angle between the ith star point imaging light beam and the optical axis of the collimator is alphai(or beta)i) In which α isi＝βi＝arctan(idf1'). Suppose the coordinates of the ith star point on the x-axis or the y-axis of the cross-shaped division line of the star point division plate on the imaging of the camera detector are (x)i0) or (0, y)i) The image space has star point image imaging light rays and optical axesThe included angle is equal to the included angle between the object space star point imaging light and the optical axis, i.e.
Therefore, the included angle data between the imaging beams of the star points outside the space axis of all object space and the optical axis can be obtained by utilizing the array star point reticle for one-time imaging, and the internal orientation elements of the camera can be obtained by calculation according to the calibration principle of the angular method camera by combining the coordinate values of the star points imaged by the camera detector in the image plane coordinate system with the image center as the origin.
Referring to fig. 4, the implementation of the method for calibrating the orientation element in the camera based on the array star point comprises the following specific steps:
step 1: the m x n array star point reticle is arranged on the focal plane of the collimator, and the camera to be marked is fixed on the lifting workbench and is aligned to the collimator.
Step 2: generating a cross line in the center of the camera detector to be marked by using a cross signal generator; adjusting the lifting workbench to enable the array star point reticle to be clearly imaged in the camera to be marked, and enabling the central electric cross line of the camera detector to be superposed with the cross grid division line near the center of the reticle; because the semi-transparent grid division line is carved between the array star points on the array star point reticle, only the electric cross line at the center of the camera detector is coincided with any cross grid division line near the center of the reticle, and the operation difficulty of adjusting the coincidence of the electric cross line and a certain specific cross line is avoided.
And 3, step 3: adjusting the lifting workbench to enable the surface of the camera detector to be marked to be vertical to the optical axis of the collimator:
as shown in fig. 5, the specific steps of this step are as follows:
analyzing the image of the m × n array star point reticle formed in the camera to be marked, randomly finding out two pairs of star points which are symmetrical relative to the origin of the coordinate system in the m × n array star point reticle, and marking the coordinate values as (x)l，0)，(xr，0)，(0，yu) And (0,y)b) (ii) a Judging whether the distances between each pair of star points and the origin of the coordinate system in the image are equal, if so, determining that x isl＝xrAnd y isu＝ybIf not, the surface of the camera detector to be marked is not perpendicular to the optical axis of the collimator, and the coordinate value difference can indicate the inclination direction of the surface of the detector to the optical axis, so that the support surface levelness of the lifting workbench is adjusted until the surface of the camera detector to be marked is perpendicular to the optical axis of the collimator.
And 4, step 4: according to the focal length f of the collimator1' calculating the included angle between each star point imaging light beam and the optical axis according to the star point distance value in the m multiplied by n array star point reticle; for the ith star point on the x axis or the y axis in the array star point reticle, the coordinate is (id, 0) or (0, id), and the included angle between the imaging beam of the ith star point and the optical axis of the collimator is alphaiOr betaiIn which α isi＝βi＝arctan(id/f1') where d is the distance between two adjacent stars on the x-axis or the y-axis.
And 5: respectively calculating the azimuth angle of view and the elevation angle of view of star points at two ends of the x-axis and the y-axis according to the number of star points in the x-axis and the y-axis in the field of view of the camera to be marked; wherein the cross grid division line selected in the step 2 is taken as an x axis and a y axis of a coordinate system; if the number of the star points appearing in the x-axis direction and the y-axis direction in the visual field of the camera to be marked is n and m respectively, the azimuth angle of view and the elevation angle of view of the star points at the two ends of the x-axis direction and the y-axis direction are respectively
And 6: according to the included angle between the imaging light beam of each star point and the optical axis of the collimator tube, which is obtained by calculation in the step 4, and the azimuth angle and the elevation angle of view of the star points at the two ends of the x axis and the y axis, which are obtained by calculation in the step 5, the formula is used for calculating the included angle between the imaging light beam of each star point and the optical axis of the collimator tube
Calculating the main camera distance f of the x-axis and the y-axis of the camerax、fyAnd principal point coordinates x0、y0。
Although embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are exemplary and not to be construed as limiting the present invention, and that those skilled in the art may make variations, modifications, substitutions and alterations within the scope of the present invention without departing from the spirit and scope of the present invention.
Claims (10)
1. The utility model provides a camera interior position element calibration device based on array star which characterized in that: the system comprises a light source, an mxn array star point reticle, a collimator, a vibration isolation table and a lifting workbench;
the m x n array star point reticle is used for forming an m x n array star point image in the camera to be marked through a collimator tube, and the formed array star point image is full of the field of view of the camera to be marked; grid division lines are carved between adjacent star points;
the collimator is used for simulating the camera to be marked to image an infinite target, and the focal length of the collimator is greater than that of the camera to be marked;
the vibration isolation table is used for supporting and installing the collimator and reducing the vibration influence of surrounding objects;
the lifting workbench is used for supporting the camera to be marked to image array star points in the collimator, and the levelness of the supporting surface of the lifting workbench is adjustable.
2. The device for calibrating the azimuth element in the camera based on the array star points as claimed in claim 1, wherein: the vibration isolation platform is an air-flotation vibration isolation platform.
3. The device for calibrating the azimuth element in the camera based on the array star points as claimed in claim 1, wherein: grid division lines are carved between adjacent star points in the m x n array star point division board, and each star point is just positioned on a cross point of the grid division lines.
4. The device for calibrating the azimuth element in the camera based on the array star points as claimed in claim 3, wherein: the substrate material of the m multiplied by n array star point reticle is made of quartz material, the star points are all light-transmitting, the background is a chromium plating dark area, and the m multiplied by n array star point reticle has high transmittance which meets the set requirements in visible light and near infrared areas.
5. The device for calibrating the azimuth element in the camera based on the array star points as claimed in claim 4, wherein: the optical density D of the m multiplied by n array star point reticle is more than 3, and the contrast is not less than 100:1, the diameter of the star points is not more than 60 mu m and not less than 50 mu m, the distribution of the star points is not less than 20 rows and 20 columns, the star points are uniformly, symmetrically and equidistantly arranged, the space between the star points is not more than 5mm, the arrangement straightness of the star points is less than 1 mu m, and the position precision of the star points is less than 1 mu m.
6. The method for calibrating the orientation elements in the camera based on the array star points by using the device of claim 1 is characterized in that: the method comprises the following steps:
step 1: mounting an m x n array star point reticle on a focal plane of a collimator, fixing a camera to be marked on a lifting workbench, and aligning the camera to the collimator;
step 2: adjusting the lifting workbench to enable the array star point reticle to be clearly imaged in the camera to be marked, and enabling the central electric cross line of the camera detector to be superposed with the cross grid division line near the center of the reticle;
and step 3: adjusting the lifting workbench to enable the surface of the camera detector to be marked to be vertical to the optical axis of the collimator;
and 4, step 4: calculating the included angle between each star point imaging light beam and the optical axis according to the focal length of the collimator and the star point distance value in the mxn array star point reticle;
and 5: respectively calculating the azimuth angle of view and the elevation angle of view of star points at two ends of the x-axis and the y-axis according to the number of star points in the x-axis and the y-axis in the field of view of the camera to be marked; wherein the cross grid division line selected in the step 2 is taken as an x axis and a y axis of a coordinate system;
and 6: and respectively calculating the camera principal distance and principal point coordinates of the x axis and the y axis of the camera to be marked according to the calculation results of the step 4 and the step 5.
7. The method for calibrating the azimuth elements in the camera based on the array star points as claimed in claim 6, wherein: in step 3, analyzing the images of the mxn array star point reticle formed in the camera to be marked, randomly finding out two pairs of star points which are symmetrical relative to the origin of the coordinate system in the mxn array star point reticle, judging whether the distances between each pair of star points and the origin of the coordinate system in the images are equal, if so, the surface of the detector of the camera to be marked is vertical to the optical axis of the collimator, otherwise, adjusting the levelness of the supporting surface of the lifting workbench until the surface of the detector of the camera to be marked is vertical to the optical axis of the collimator.
8. The method for calibrating the azimuth element in the camera based on the array star point as claimed in claim 7, wherein: in step 4, the coordinate of the ith star point on the x axis or the y axis in the array star point reticle is (id, 0) or (0, id), and the included angle between the ith star point imaging light beam and the optical axis of the collimator is alphaiOr betaiIn which α isi＝βi＝arctan(id/f1') wherein f1' is the focal length of the collimator, and d is the distance between two adjacent star points on the x-axis or the y-axis.
9. The method for calibrating the orientation elements in the camera based on the array star points as claimed in claim 8, wherein: in step 5, the number of star points appearing in the x-axis direction and the y-axis direction in the visual field of the camera to be marked is n and m respectively, and the azimuth angle of view and the elevation angle of view of the star points at the two ends of the x-axis direction and the y-axis direction are respectively
10. The method for calibrating the azimuth element in the camera based on the array star point as claimed in claim 9, wherein: in step 6, according to the included angle between the imaging light beam of each star point and the optical axis of the collimator, which is obtained by calculation in step 4, and the azimuth angle and the elevation angle of view of the star points at the two ends in the x-axis direction and the y-axis direction, which are obtained by calculation in step 5, the formula is used for calculating the included angle between the imaging light beam of each star point and the optical axis of the collimator
Calculating the main camera distance f of the x-axis and the y-axis of the camerax、fyAnd principal point coordinates x0、y0。
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| CN111707451B (en) * | 2020-05-27 | 2021-09-14 | 中国科学院西安光学精密机械研究所 | Method for calibrating internal orientation element and distortion of interference type imaging spectrometer |
| CN111641812B (en) * | 2020-05-29 | 2021-09-10 | 西安应用光学研究所 | Multi-camera array arrangement method suitable for airborne wide-area reconnaissance and monitoring |
| CN112055195B (en) * | 2020-07-24 | 2022-09-06 | 北京空间机电研究所 | Method for measuring distortion of surveying and mapping camera |
| CN114543835B (en) * | 2021-12-27 | 2023-04-28 | 中科院南京天文仪器有限公司 | Star simulation system vibration suppression system and method adopting laser interference detection |
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