CN110533728A - Scaling method, device and the medium of binocular stereo vision camera based on Zhang Zhengyou calibration - Google Patents
Scaling method, device and the medium of binocular stereo vision camera based on Zhang Zhengyou calibration Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
- G06T7/85—Stereo camera calibration
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
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Abstract
The invention discloses scaling method, device and the media of a kind of binocular stereo vision camera based on Zhang Zhengyou calibration, belong to camera calibration technical field, solve the problems, such as that current calibration mass is not high, the technical solution of use are as follows: the multiple images of different posture calibration plate units are obtained, wherein different postures include the position of at least two with calibration plate unit different distance；Zhang Zhengyou scaling method is based on to multiple images to demarcate, the corresponding uncalibrated image of two cameras of binocular stereo vision camera is obtained after the completion of calibration, includes the scaling board cell picture of all postures in uncalibrated image；Obtain the mean value error of the angle point re-projection of all scaling board cell pictures and left images polar curve Comparative result error in the corresponding uncalibrated image of each camera；When the mean value error and left images polar curve Comparative result error of angle point re-projection are in corresponding preset threshold, then otherwise it is exception that it is qualified, which to judge to demarcate,.The technical solution of above-mentioned use has many advantages, such as that calibration mass is high.
Description
Technical field
The invention mainly relates to camera calibration technical fields, refer in particular to a kind of binocular stereo vision phase based on Zhang Zhengyou calibration
Scaling method, device and the medium of machine.
Background technique
Continuous development and needs with human sciences' technology, video camera using more and more extensive, in social life side
Face plays extremely important effect.For example, a camera is installed on unmanned automobile, it, can after car-mounted terminal carries out camera calibration
To obtain a depth information of forward image, different obstacle distances is identified.Binocular stereo vision camera utilizes two phases
Machine carries out Image Acquisition to objects ahead information from different perspectives, and rebuilds the depth letter of the photographic subjects in three dimensions
Breath, to realize detection and pursuit movement target etc..The stated accuracy of binocular stereo vision camera has been largely fixed subsequent
Binocular measurement accuracy, therefore always be the emphasis of research.Existing calibration technique is usually to determine scaling board image, manually
Scaling method it is more complex and stated accuracy is poor.
Summary of the invention
The technical problem to be solved in the present invention is that, for technical problem of the existing technology, the present invention provides one
Scaling method, device and the medium of the high binocular stereo vision camera based on Zhang Zhengyou calibration of kind calibration mass.
In order to solve the above technical problems, technical solution proposed by the present invention are as follows:
A kind of scaling method of the binocular stereo vision camera based on Zhang Zhengyou calibration, comprising steps of
S01, the multiple images for obtaining different posture calibration plate units, wherein different postures include at least two and scaling board
The position of unit different distance；
S02, the multiple images that step S01 is obtained are demarcated based on Zhang Zhengyou scaling method, is obtained after the completion of calibration
Two cameras corresponding uncalibrated image of binocular stereo vision camera includes the calibration plate unit figure of all postures in uncalibrated image
Picture；
S03, the X-comers re-projection for obtaining all scaling board cell pictures in the corresponding uncalibrated image of each camera
Mean value error and left images polar curve Comparative result error；
S04, when the mean value error and left images polar curve Comparative result error of angle point re-projection are in corresponding default threshold
In value, then judges that calibration is qualified, be otherwise exception.
As a further improvement of the above technical scheme:
In step S01, obtained by adjusting binocular stereo vision camera to be calibrated or/and the position for demarcating plate unit
The image of different posture calibration plate units.
The calibration plate unit includes muti-piece scaling board.
The calibration plate unit includes left scaling board, intermediate scaling board and right scaling board, and intermediate scaling board face is to be measured double
Item stereo vision camera, left scaling board are located at the left side of intermediate scaling board, and right scaling board is located at the right side of intermediate scaling board；
Image totally three of plate unit are demarcated in the acquisition of one pre-position, and the scaling board cell position in each image is located in image
Upper, middle and lower position；It is opened in the image one that the second pre-position acquires calibration plate unit, two marks is included at least in image
Fixed board；Wherein the first predetermined position is vertical with intermediate scaling board greater than the second predetermined position with the vertical range of intermediate scaling board
Distance.
The calibration plate unit includes nine pieces of scaling boards, is distributed in nine grids shape；It acquires and demarcates in the first pre-position
The image one of plate unit is opened, and includes all scaling boards in image；The image one of calibration plate unit is acquired in the second pre-position
, two scaling boards are included at least in image；Wherein it is pre- to be greater than second for the vertical range of the first predetermined position and calibration plate unit
The vertical range with calibration plate unit is set in positioning.
The vertical range of first predetermined position and calibration plate unit is 2m, second predetermined position and scaling board list
The vertical range of member is 1.5m.
It in step S02, is demarcated in MATLAB software, calibration process includes: image binaryzation conversion, chess in image
The identification of disk lattice, picture segmentation.
In step S03, the function in Calling MATLAB software directly obtains mean value error and the left and right of angle point re-projection
Image polar curve Comparative result error.
The invention also discloses a kind of caliberating devices of binocular stereo vision camera based on Zhang Zhengyou calibration, including
First module, for obtaining the multiple images of different posture calibration plate units, wherein different postures include at least two
A position with calibration plate unit different distance；
Second module, the multiple images for obtaining step S01 are based on Zhang Zhengyou scaling method and demarcate, demarcated
The corresponding uncalibrated image of two cameras of binocular stereo vision camera is obtained after, includes the calibration of all postures in uncalibrated image
Plate unit image；
Third module, for obtaining the gridiron pattern angle of all scaling board cell pictures in the corresponding uncalibrated image of each camera
The mean value error and left images polar curve Comparative result error of point re-projection；
4th module, for the mean value error and left images polar curve Comparative result error when angle point re-projection in correspondence
Preset threshold in, then judge that calibration is qualified, be otherwise exception.
The present invention further discloses a kind of computer readable storage mediums, store computer program, the meter thereon
Calculation machine program executes the calibration of the binocular stereo vision camera as described above based on Zhang Zhengyou calibration when being run by processor
The step of method.
Compared with the prior art, the advantages of the present invention are as follows:
Scaling method, device and medium of the invention introduces the mean value error and left images polar curve knot of angle point re-projection
Fruit judges the quality and reliability of nominal data two parameters of ratio error, to improve the quality of calibration.Angle point weight
The mean value error and left images polar curve Comparative result error of projection are directly obtained by the function in MATLAB software, convenient fast
It is prompt.
Scaling method, device and medium of the invention carries out the acquisition of image in different distance, obtains the figure of different depth
Piece, so that entire calibration process has the following technical effect that the black and white chessboard trrellis diagram piece of 1, two depth can be better
The polar curve effect pixel error for reducing uncalibrated image, it is not in one that obtained data entirety parallax distribution can be relatively uniform
Depth trip point more like that interferes as a result, the parallax result of two depth is got well than a depth in other words, therefore
The figure mode of adopting of two depth is more suitable the calibration of binocular；2, subsequent camera distortion parameter is advanced optimized；3,
Figure is adopted due to the posture by change camera, secures its positional relationship between scaling board, so that calibration efficiency is improved,
Calibration space can be saved simultaneously.
Detailed description of the invention
Fig. 1 is the method flow diagram of the present invention in embodiment.
Fig. 2 is the position view of the camera of the present invention in embodiment with calibration unit.
Fig. 3 is corresponding multiple images in step S01 in embodiment of the invention.
Fig. 4 is that the present invention divides the picture that different postures obtain in embodiment.
Fig. 5 is one of the schematic diagram of uncalibrated image in embodiment of the invention.
Fig. 6 is the two of the schematic diagram of uncalibrated image in embodiment of the invention.
Fig. 7 is the present invention tessellated comparison diagram of different depth in an implementation.
Specific embodiment
Below in conjunction with Figure of description and specific embodiment, the invention will be further described.
As shown in Figure 1, the scaling method of the binocular stereo vision camera based on Zhang Zhengyou calibration of the present embodiment, including step
It is rapid:
S01, the multiple images for obtaining different posture calibration plate units, wherein different postures include at least two and scaling board
The position of unit different distance；
S02, the multiple images that step S01 is obtained are demarcated based on Zhang Zhengyou scaling method, is obtained after the completion of calibration
Two cameras corresponding uncalibrated image of binocular stereo vision camera includes the calibration plate unit figure of all postures in uncalibrated image
Picture；
S03, the X-comers re-projection for obtaining all scaling board cell pictures in the corresponding uncalibrated image of each camera
Mean value error and left images polar curve Comparative result error；
S04, when the mean value error and left images polar curve Comparative result error of angle point re-projection are in corresponding default threshold
In value, then judges that calibration is qualified, be otherwise exception.
In the embodiment of the present invention, the mean value error and left images polar curve Comparative result error two of angle point re-projection are introduced
A parameter judges the quality and reliability of nominal data, to improve the quality of calibration.Tessellated angle point re-projection
Mean value error and left images polar curve Comparative result error directly obtained by the function in MATLAB software, it is convenient and efficient.
In the present embodiment, in step S01, difference is obtained by adjusting the position of binocular stereo vision camera to be calibrated
The image of posture calibration plate unit.Wherein, calibration plate unit includes muti-piece scaling board.It certainly, in other embodiments, can also be with
The image of different posture calibration plate units is obtained by adjusting the position of calibration plate unit, or adjusts calibration plate unit simultaneously
The image of different postures calibration plate units is obtained with the position of binocular stereo vision camera to be calibrated.
As shown in Figures 2 and 3, in the present embodiment, calibration plate unit includes three pieces of scaling boards (such as having a size of 1.2m*
1.2m), respectively left scaling board (below Fig. 2), intermediate scaling board (among Fig. 2) and right scaling board (above Fig. 2), centre calibration
Plate face binocular stereo vision camera to be measured, left scaling board are located at the left side of intermediate scaling board, and right scaling board is located at intermediate calibration
The right side of plate, wherein the angle between left and right scaling board and intermediate scaling board is in 45 degree of angles, and specific arrangement is as shown in Fig. 2, three pieces
Scaling board why be: be three shooting postures of upper, middle and lower respectively in 45 ° of angles before camera, two different distances are shot；
Reason is that the distortion of camera wide-angle lens is larger, and scaling board is centered around certain before camera lens in the form of a semicircle is paved with
Distance, scaling board used at present are wanted to be paved with display picture, and needing to shoot three picture of upper, middle and lower can meet the requirements, and two
A different distance is because the picture for finding that two distance difference 0.5m are obtained after calibration calibrates baseline in the outer ginseng come
It is more accurate to be worth, and has a biggish deviation when only one depth, for this is practical baseline.Carrying out image
When acquisition, the image totally three of calibration plate unit is acquired at the first pre-position (at intermediate scaling board vertical range 2m) first
, the scaling board cell position in each image is located at the upper, middle and lower position in image；In the second pre-position (from
Between at scaling board vertical range 1.5m) image one of acquisition calibration plate unit opens, two scaling boards are included at least in image.Such as figure
Shown in 3, four picture of top is that left camera shoots to obtain in binocular stereo vision camera, wherein three pictures of left side are left phases
Machine is located at the first predetermined position and shoots to obtain, and three scaling boards are located at top, centre and lower section in picture, the figure on right side
Seem that left camera is located at the second predetermined position and shoots to obtain, includes 2 scaling boards in figure；Four picture of lower section is right camera shooting
It obtains, wherein three pictures of left side are that right camera is located at the first predetermined position and shoots to obtain, three scaling boards are located at figure
Top, centre and lower section in piece, the image on right side are that right camera is located at the second predetermined position and shoots to obtain, and include 2 in figure
Scaling board.Certainly, the specific distance in above-mentioned first predetermined position and the second predetermined position is not defined herein, it is only necessary to
The distance between first predetermined position and the second predetermined position meet certain requirement, in other embodiments, can also be with
Big smallest number according to camera type, field angle and scaling board etc. carries out appropriate adjustment.
In other embodiments, calibration plate unit includes nine pieces of scaling boards, is distributed in nine grids shape；In the first predetermined position
The image one of place's acquisition calibration plate unit is opened, and includes all scaling boards in image；Scaling board list is acquired in the second pre-position
The image one of member is opened, and two scaling boards are included at least in image；The wherein vertical range in the first predetermined position and calibration plate unit
Greater than the vertical range in the second predetermined position and calibration plate unit.By the arrangement of such scaling board, picture shooting can be saved
Quantity, optimized on the time.
As shown in fig. 7, the acquisition of image is carried out by the first predetermined position of above-mentioned different distance and the second predetermined position,
The picture for obtaining different depth (the specific position using two distance difference 0.5m), so that entire calibration process has such as
Lower technical effect:
1, the black and white chessboard trrellis diagram piece of two depth can preferably reduce the polar curve effect pixel error of uncalibrated image, obtain
The data entirety parallax distribution arrived can be relatively uniform, is not in that depth trip point more like that interferes as a result, in other words
Say that the exactly parallax result of two depth is got well than a depth, therefore the figure mode of adopting of two depth is more suitable the mark of binocular
It is fixed；
2, subsequent camera distortion parameter is advanced optimized；
3, it due to being shot by mobile camera in different location, does not need to be adjusted scaling board, to improve
Calibration efficiency, while calibration space can be saved.
In the present embodiment, in step S02, is demarcated, demarcated based on Zhang Zhengyou scaling method in MATLAB software
Process includes: image binaryzation conversion, gridiron pattern identification, picture segmentation in image, picture such as Fig. 4 after the corresponding segmentation of single camera
It is shown, totally 11, the arrangement of corresponding three pieces of scaling boards, from gridiron pattern on different scaling boards is partitioned into every image, i.e.,
Every picture resolves into three pictures, the respectively gridiron pattern of left, center, right scaling board.As shown in figure 4, the most upper row left side three is opened
Picture is that upper row's one picture of Far Left is divided to obtain in Fig. 3, and other the rest may be inferred；Two, row the right is most descended then to correspond in Fig. 4
The picture segmentation on upper row the right obtains in Fig. 3.Finally, the picture that 11 represent different calibration postures is placed in the same coordinate system
In, the picture of each depth is paved with picture as far as possible, the distribution hemispherical before camera, as shown in Figure 5 and Figure 6.It demarcates above
Process is conventional positive plate calibration process, and details are not described herein.
In the present embodiment, in step S03, the function in Calling MATLAB software is (as conventional
EstimateCameraParameters the mean value error and left images polar curve Comparative result for) directly obtaining angle point re-projection miss
Difference；Such as estimatonErrors, this parameter can assess the error amount after 11 groups of scaling board difference posture calibration correct angle point,
This parameter is to bring position and the world coordinate point of pixel coordinate point under estimateCameraParameters function
A biased error value is calculated in position.Specifically, the mean value error of angle point re-projection is within 0.5 pixel and left and right is schemed
As polar curve Comparative result error is that normally, otherwise must readjust scaling board posture or camera position carries out in a pixel
Calibration.
The embodiment of the present invention also discloses a kind of caliberating device of binocular stereo vision camera based on Zhang Zhengyou calibration,
Including
First module, for obtaining the multiple images of different posture calibration plate units, wherein different postures include at least two
A position with calibration plate unit different distance；
Second module, the multiple images for obtaining step S01 are based on Zhang Zhengyou scaling method and demarcate, demarcated
The corresponding uncalibrated image of two cameras of binocular stereo vision camera is obtained after, includes the calibration of all postures in uncalibrated image
Plate unit image；
Third module, for obtaining the gridiron pattern angle of all scaling board cell pictures in the corresponding uncalibrated image of each camera
The mean value error and left images polar curve Comparative result error of point re-projection；
4th module, for the mean value error and left images polar curve Comparative result error when angle point re-projection in correspondence
Preset threshold in, then judge that calibration is qualified, be otherwise exception.
The embodiment of the present invention also discloses a kind of computer readable storage medium, stores computer program thereon, meter
Calculation machine program executes the calibration of the binocular stereo vision camera as described above based on Zhang Zhengyou calibration when being run by processor
The step of method.
The embodiment of the present invention also discloses a kind of computer equipment, including memory and processor, stores on memory
There is computer program, the computer program executes the binocular as described above based on Zhang Zhengyou calibration when being run by processor
The step of scaling method of stereo vision camera.
It is of course also possible to which the method and apparatus in the embodiment of the present invention, equipment are achieved by other means.For example, can
Methods and apparatus of the present invention, equipment are realized by any combination of software, hardware, firmware or software, hardware, firmware.
In addition, in some embodiments, also the present invention can be embodied as to record program in the recording medium, these programs include being used for
Realize machine readable instructions according to the method for the present invention.Thus, it is according to the present invention for executing that the present invention also covers storage
The recording medium of the program of method.
The above is only the preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-described embodiment,
All technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art
For those of ordinary skill, several improvements and modifications without departing from the principles of the present invention should be regarded as protection of the invention
Range.
Claims (10)
1. a kind of scaling method of the binocular stereo vision camera based on Zhang Zhengyou calibration, which is characterized in that comprising steps of
S01, the multiple images for obtaining different posture calibration plate units, wherein different postures include at least two and calibration plate unit
The position of different distance；
S02, the multiple images that step S01 is obtained are demarcated based on Zhang Zhengyou scaling method, binocular is obtained after the completion of calibration
Two cameras corresponding uncalibrated image of stereo vision camera includes the scaling board cell picture of all postures in uncalibrated image；
The X-comers re-projection of all scaling board cell pictures is equal in S03, the corresponding uncalibrated image of each camera of acquisition
It is worth error and left images polar curve Comparative result error；
S04, when the mean value error and left images polar curve Comparative result error of angle point re-projection are in corresponding preset threshold,
Then judge that calibration is qualified, is otherwise exception.
2. the scaling method of the binocular stereo vision camera according to claim 1 based on Zhang Zhengyou calibration, feature exist
In obtaining difference by adjusting binocular stereo vision camera to be calibrated or/and the position for demarcating plate unit in step S01
The image of posture calibration plate unit.
3. the scaling method of the binocular stereo vision camera according to claim 1 based on Zhang Zhengyou calibration, feature exist
In the calibration plate unit includes muti-piece scaling board.
4. the scaling method of the binocular stereo vision camera according to claim 3 based on Zhang Zhengyou calibration, feature exist
In the calibration plate unit includes left scaling board, intermediate scaling board and right scaling board, intermediate scaling board face binocular solid to be measured
Vision camera, left scaling board are located at the left side of intermediate scaling board, and right scaling board is located at the right side of intermediate scaling board；It is predetermined first
Acquisition calibration image totally three of plate unit at position, the scaling board cell position in each image be located in image it is upper,
In, lower position；It is opened in the image one that the second pre-position acquires calibration plate unit, two scaling boards is included at least in image；
Wherein the vertical range of the first predetermined position and intermediate scaling board is greater than the vertical range in the second predetermined position and intermediate scaling board.
5. the scaling method of the binocular stereo vision camera according to claim 3 based on Zhang Zhengyou calibration, feature exist
In the calibration plate unit includes nine pieces of scaling boards, is distributed in nine grids shape；Calibration plate unit is acquired in the first pre-position
Image one open, in image include all scaling boards；It is opened in the image one that the second pre-position acquires calibration plate unit, image
In include at least two scaling boards；Wherein the first predetermined position and calibration plate unit vertical range be greater than the second predetermined position with
Demarcate the vertical range of plate unit.
6. the scaling method of the binocular stereo vision camera according to claim 4 or 5 based on Zhang Zhengyou calibration, feature
It is, the vertical range of first predetermined position and calibration plate unit is 2m, second predetermined position and calibration plate unit
Vertical range be 1.5m.
7. the calibration of the binocular stereo vision camera as claimed in any of claims 1 to 5 based on Zhang Zhengyou calibration
Method, which is characterized in that in step S02, demarcated in MATLAB software, calibration process include: image binaryzation conversion,
Gridiron pattern identification, picture segmentation in image.
8. the calibration of the binocular stereo vision camera as claimed in any of claims 1 to 5 based on Zhang Zhengyou calibration
Method, which is characterized in that in step S03, the function in Calling MATLAB software directly obtains X-comers re-projection
Mean value error and left images polar curve Comparative result error.
9. a kind of caliberating device of the binocular stereo vision camera based on Zhang Zhengyou calibration, which is characterized in that including
First module, for obtaining the multiple images of different postures calibration plate units, wherein different postures include at least two with
Demarcate the position of plate unit different distance；
Second module, the multiple images for obtaining step S01 are based on Zhang Zhengyou scaling method and demarcate, after the completion of calibration
The corresponding uncalibrated image of two cameras of binocular stereo vision camera is obtained, includes the scaling board list of all postures in uncalibrated image
First image；
Third module, for obtaining the X-comers weight of all scaling board cell pictures in the corresponding uncalibrated image of each camera
The mean value error and left images polar curve Comparative result error of projection；
4th module, for the mean value error and left images polar curve Comparative result error when angle point re-projection corresponding pre-
If in threshold value, then judging that calibration is qualified, being otherwise exception.
10. a kind of computer readable storage medium, stores computer program thereon, which is characterized in that the computer program
The binocular tri-dimensional as claimed in any of claims 1 to 8 in one of claims based on Zhang Zhengyou calibration is executed when being run by processor
The step of feeling the scaling method of camera.
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