CN110646016A - Distributed POS calibration method and device based on theodolite and vision-assisted flexible base line - Google Patents
Distributed POS calibration method and device based on theodolite and vision-assisted flexible base line Download PDFInfo
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention provides a distributed POS calibration method based on theodolite and vision-aided flexible baselines, which comprises the steps of respectively aiming at two targets in a camera view field through a double-theodolite system, and acquiring relation data of the two targets and the double-theodolite system; calculating the relation data of the two targets according to the relation data of the targets and the double-theodolite system; obtaining relation data between the two cameras and the two targets through calibrating internal reference parameters of the cameras and completing external reference parameter calibration operation; and establishing a relation matrix through the relation data of the two targets, the internal reference parameters of the cameras and the external reference parameters of the cameras, and calibrating the relative relation between the two cameras. The method achieves the effects of non-contact measurement, simple operation and low cost. Meanwhile, the theodolite measurement system calibrates the two vision cameras without a public view field, so that the calibration accuracy, the high efficiency and the usability of high precision are achieved. The disclosure also provides a distributed POS calibration device based on the theodolite and the visual auxiliary flexible base line.
Description
Technical Field
The disclosure relates to the technical field of high-precision electronic equipment, in particular to a distributed POS calibration method and device based on theodolite and vision-assisted flexible base lines.
Background
The Position and Orientation System (POS) mainly comprises a Strapdown Inertial Navigation System (SINS) and a Global Positioning System (GPS). The data storage and processing is composed of a POS Computer (POS Computer System, PCS) and post-processing software. The method is mainly used for acquiring the position, speed and attitude data information of a moving carrier (an airplane, a naval vessel, an airship and the like) in real time. This characteristic of POS can provide a high precision, high frequency, full range real-time data reference for a variety of carriers. At present, a POS system provides motion compensation by imaging of a remote sensing load, and has been successfully applied to various load devices of multiple platforms, such as a microwave class (e.g., synthetic aperture radar, interferometric synthetic aperture radar, scanning radar, etc.), a visible light class (e.g., aperture camera, line camera, etc.), a multispectral class (e.g., interferometric imaging spectrometer, scanning imaging spectrometer, etc.), and a laser class (e.g., laser radar, etc.).
Because the wings of the airplane are mostly made of flexible materials, the wings can deform obviously in the flying process, the wings are simultaneously influenced by multiple forces such as carrier power, high-altitude airflow and the like in high altitude, the wings can deform in a complex way and comprise vertical bending, front-back torsion, left-right stretching and the like, the wings can deform flexibly, the high-precision measurement of the flexible base line cannot be met by transmission alignment independently depending on main nodes and sub nodes, meanwhile, the measurement of the distributed POS deformation based on the fiber bragg grating also lacks corresponding reference, and therefore measurement research on the flexible base line of the distributed POS is urgently needed.
Because the position measurement error of the POS is random. If the length of the interference baseline is directly measured by the POS, the change of the position error between the two antennas can not keep consistency, and the measurement error of the length of the interference baseline is 1.4 times of that of the POS. In order to solve the problem of baseline measurement, calibration is generally carried out in advance by a precision instrument (such as a laser tracker and a high-precision optical system) under the condition of a rigid baseline; under the condition of a flexible baseline, in the field of aerospace remote sensing, an InSAR interference baseline is generally measured by adopting an optical system, so that high-precision position and attitude measurement can be realized; in the field of aviation remote sensing, because a flight carrier is influenced by factors such as disturbance and a wing structure, the wing amplitude is too large, the 'through vision' or 'direct vision' between optical measurement equipment and a load is difficult to ensure, and the method is difficult to apply in the field of aviation. Because the wings of the airplane are mostly made of flexible materials, the wings can deform obviously in the flying process, the wings are simultaneously influenced by multiple forces such as carrier power, high-altitude airflow and the like in high altitude, the wings can deform in a complex way, the wings can deform flexibly and comprise vertical bending, front-back torsion, left-right stretching and the like, and the high-precision measurement of the flexible baseline cannot be met by transmission alignment independently depending on main nodes and sub nodes.
Disclosure of Invention
In order to solve the technical problems in the prior art, the embodiment of the disclosure provides a distributed POS calibration method and device based on theodolite and vision-aided flexible base line, and the related method can achieve the beneficial effects of non-contact measurement, simple operation and low cost. Meanwhile, the theodolite measurement range is large, and the precision can be met under the application condition of the theodolite measurement system, so that the theodolite measurement system is introduced to calibrate the two vision cameras without a public view field, and the beneficial effect of high-precision calibration can be achieved.
In a first aspect, an embodiment of the present disclosure provides a distributed POS calibration method based on theodolite and vision-assisted flexible baseline, including the following steps: aiming at two targets which are placed in a camera view field in advance through a double-theodolite system respectively, and acquiring relation data of the two targets and the double-theodolite system; calculating relation data of the two targets according to the relation data of the targets and the double-theodolite system; obtaining relation data between the two cameras and the two targets through calibrating internal reference parameters of the cameras and completing external reference parameter calibration operation; and establishing a relation matrix through the relation data of the two targets, the internal reference parameters of the cameras and the external reference parameters of the cameras, and calibrating the relative relation between the two cameras.
In one embodiment, the calculating the relationship data of the two targets from the relationship data of the targets and the dual theodolite system comprises: defining the relation between the two targets and the theodolite as T1 and T2 respectively; calculating the relation between the two targets according to a first preset formula, and defining the relation between the two targets as T _ tar _ to _ tar;
wherein the first preset formula is as follows: t _ tar _ to _ tar ═ T (T)2)-1·T1。
In one embodiment, the acquiring relationship data between the two cameras and the two targets comprises: relative positions between the two cameras and the two targets, and a pose relationship between the two cameras and the two targets.
In one embodiment, the establishing a relationship matrix by the relationship data of the two targets, the internal reference parameters of the cameras and the external reference parameters of the cameras, and the calibrating the relative relationship between the two cameras includes: defining an internal parameter of the camera as T _ left; positioning the external parameter of the camera as T _ right; calibrating a correlation between the two cameras according to a second preset formula, and defining the calibrated correlation between the two cameras as T _ camera; wherein the second preset formula is as follows:
T_camera＝T_right·T_tar_to_tar·(T_left)-1。
in one embodiment, the method further comprises the following steps: and setting the double theodolite system.
In one embodiment, the method further comprises the following steps: fixing two tripods, and fixing two theodolites on the tripods; leveling the two theodolites at least once so that horizontal errors and vertical errors of the theodolites in different directions are within preset range values; in the leveling process, a tripod needs to be reinforced on the ground, so that the position of the theodolite is kept unchanged; after the leveling operation is finished, adjusting the eyepieces and the objective lenses of the two theodolites to enable the two theodolites to observe a measuring point within a preset definition; and carrying out mutual aiming operation through the two theodolites.
In one embodiment, the method further comprises the following steps: selecting 8-12 positions in a region 1.5-2.5 meters away from the two theodolites to place a reference ruler, measuring two ends of the reference ruler by using the two theodolites, and recording data; after data are recorded, carrying out directional resolving on the two theodolites; and the length of the reference scale is inversely calculated through the acquired data, so that the operation of verifying the correctness and the precision of the orientation result is completed.
In a second aspect, the disclosed embodiments provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements the steps of the method described above.
In a third aspect, the disclosed embodiments provide a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method described above when executing the program.
In a fourth aspect, an embodiment of the present disclosure provides a distributed POS calibration device based on theodolite and vision-assisted flexible baseline, the device including: the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for aiming at two targets which are placed in a camera view field in advance through a double-theodolite system respectively and acquiring relation data of the two targets and the double-theodolite system; the calculation module is used for calculating the relation data of the two targets according to the relation data of the targets and the double-theodolite system; the second acquisition module is used for acquiring relationship data between the two cameras and the two targets through calibrating the internal reference parameters of the cameras and completing external reference parameter calibration operation; and the calibration module is used for establishing a relation matrix through the relation data of the two targets, the internal reference parameters of the cameras and the external reference parameters of the cameras, and calibrating the relative relation between the two cameras.
The invention provides a distributed POS calibration method and a distributed POS calibration device based on theodolite and vision-aided flexible baselines, wherein two targets are respectively pre-placed in a camera view field through aiming of a double-theodolite system, and relation data of the two targets and the double-theodolite system is obtained; calculating relation data of the two targets according to the relation data of the targets and the double-theodolite system; obtaining relation data between the two cameras and the two targets through calibrating internal reference parameters of the cameras and completing external reference parameter calibration operation; and establishing a relation matrix through the relation data of the two targets, the internal reference parameters of the cameras and the external reference parameters of the cameras, and calibrating the relative relation between the two cameras. The method can achieve the beneficial effects of non-contact measurement, simple operation and low cost. Meanwhile, the theodolite measurement range is large, and the precision can be met under the application condition of the theodolite measurement system, so that the theodolite measurement system is introduced to calibrate the two vision cameras without a public view field, and the high-precision calibration accuracy, high efficiency and usability can be achieved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings needed to be used in the description of the embodiments are briefly introduced as follows:
FIG. 1 is a schematic flow chart illustrating steps of a distributed POS calibration method based on theodolite and vision-aided flexible baselines according to an embodiment of the present invention;
FIG. 2 is an exemplary diagram of a theodolite-based and vision-aided flexible baseline distributed POS calibration method including a theodolite measurement system host system in an embodiment of the present invention;
FIG. 3 is a schematic diagram of calibration cameras of a theodolite measurement system in a distributed POS calibration method based on theodolite and vision-aided flexible baselines according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a theodolite measurement system in a distributed POS calibration method based on theodolite and vision-aided flexible baselines according to an embodiment of the present invention;
fig. 5 is a schematic view of a horizontal projection showing plane of a theodolite a coordinate system in a distributed POS calibration method based on theodolite and vision-aided flexible baselines according to an embodiment of the present invention;
fig. 6 is a scene diagram of a theodolite measurement system in a distributed POS calibration method based on theodolite and vision-aided flexible baselines in an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a distributed POS calibration apparatus based on theodolite and vision-aided flexible baselines according to an embodiment of the present invention; and
fig. 8 is a schematic field view of a theodolite-based and vision-assisted flexible baseline distributed POS calibration apparatus according to an embodiment of the present invention.
Detailed Description
The present application will now be described in further detail with reference to the accompanying drawings and examples.
In the following description, the terms "first" and "second" are used for descriptive purposes only and are not intended to indicate or imply relative importance. The following description provides embodiments of the disclosure, which may be combined or substituted for various embodiments, and this application is therefore intended to cover all possible combinations of the same and/or different embodiments described. Thus, if one embodiment includes feature A, B, C and another embodiment includes feature B, D, then this application should also be considered to include an embodiment that includes one or more of all other possible combinations of A, B, C, D, even though this embodiment may not be explicitly recited in text below.
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the following describes in detail a specific implementation of a theodolite-based and vision-assisted flexible baseline distributed POS calibration method and apparatus according to the present invention, by way of example, with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It should be noted that the visual measurement method related to the present disclosure has the advantages of non-contact measurement, simple operation and low cost; the method has the disadvantages that the method is easily interfered by the environment, and a stable environment needs to be provided in the experimental process; the angular range of single-camera measurements is limited. The method provides precision calibration on the ground, can provide an optimal experimental environment, and ensures a constant light source and a panoramic view.
Meanwhile, due to the limitation of the size of the wing, the traditional cameras have no public view field due to the relationship between the view field of the cameras and the working distance, so that data cannot be converted and the obtained measurement accuracy is not high. Because the theodolite measuring range is large and the precision can be met under the application condition of the invention, a theodolite measuring system is introduced to calibrate two visual cameras without a common view field.
As shown in fig. 1, a schematic flow chart of a distributed POS calibration method based on a theodolite and a visual-assisted flexible baseline in an embodiment specifically includes the following steps:
and 102, aiming at two targets which are placed in a camera view field in advance through the double-theodolite system respectively, and acquiring relation data of the two targets and the double-theodolite system.
And 104, calculating the relation data of the two targets according to the relation data of the targets and the double-theodolite system.
Specifically, calculating the relationship data of the two targets through the relationship data of the targets and the double-warp-weft instrument system includes: defining the relation between the two targets and the theodolite as T1 and T2 respectively; calculating the relationship between the two targets according to a first preset formula, and defining the relationship between the two targets as T _ tar _ to _ tar;
wherein, the first preset formula is as follows: t _ tar _ to _ tar ═ T (T)2)-1·T1。
And 106, obtaining the relation data between the two cameras and the two targets through calibrating the internal reference parameters of the cameras and completing the operation of calibrating the external reference parameters. Wherein acquiring relationship data between the two cameras and the two targets comprises: relative positions between the two cameras and the two targets, and a pose relationship between the two cameras and the two targets.
And step 108, establishing a relation matrix through the relation data of the two targets, the internal reference parameters of the cameras and the external reference parameters of the cameras, and calibrating the relative relation between the two cameras.
Specifically, establishing a relationship matrix through relationship data of the two targets, internal reference parameters of the cameras and external reference parameters of the cameras, and calibrating the relative relationship between the two cameras includes: defining an internal parameter of the camera as T _ left; positioning the external parameter of the camera as T _ right; calibrating a correlation between the two cameras according to a second preset formula, and defining the calibrated correlation between the two cameras as T _ camera;
wherein the second predetermined formula is:
T_camera＝T_right·T_tar_to_tar·(T_left)-1。
in addition, the embodiment of the present disclosure further includes: and setting the double-warp-weft instrument system. Specifically, two tripods are fixed, and two theodolites are fixed on the tripods; leveling the two theodolites at least once so that horizontal errors and vertical errors of the theodolites in different directions are within preset range values; in the leveling process, a tripod needs to be reinforced on the ground, so that the position of the theodolite is kept unchanged; after the leveling operation is finished, adjusting the eyepieces and the objective lenses of the two theodolites to enable the two theodolites to observe a measuring point within a preset definition; the cross-sighting operation is carried out by using two theodolites.
It should be noted that 8-12 positions are selected in an area 1.5-2.5 meters away from the two theodolites and are placed on a reference ruler, the two theodolites are used for measuring two ends of the reference ruler, and data are recorded; after data are recorded, carrying out directional resolving on the two theodolites; and performing inverse calculation on the length of the reference ruler through the acquired data to finish verification of the correctness and precision of the verification orientation result.
In order to more clearly and accurately understand and apply the distributed POS calibration method based on theodolite and vision-aided flexible baseline proposed by the present disclosure, the following example is made. It should be noted that the protection schemes and scope of the present disclosure are not limited to the following examples.
2-6, measuring the pose of the target at the corresponding sub-node in the camera coordinate system through a monocular vision pose algorithm by each camera; then, by calibrating the relative poses between the two cameras, the poses of the two targets are transferred to the coordinate system of the same camera; and converting the pose relationship between the two targets into the pose relationship between the two sub-nodes. Thus, the baseline information between the two sub-nodes can be calculated, and the distributed POS calibration method based on the theodolite and the vision-aided flexible baseline comprises a theodolite measurement system main system as shown in figure 2.
In an actual application environment, because each sub-node is far away from each other, a single camera view field is difficult to cover a plurality of sub-nodes, and even if the view field can cover a plurality of sub-nodes, because the size of each target is small relative to the camera view field, the occupied pixel quantity is small, and the final measurement precision is low. Therefore, a scheme of measuring only one child node per camera, i.e., single-camera measurement, is used. In the application context of the system, the two cameras have no common view field due to the limitations of measurement angles, measurement distances and measurement view fields, so that the traditional binocular calibration method is not applicable any more.
The theodolite measurement system can obtain high-precision position coordinates of a measured object, so that coordinate systems can be respectively established on the cooperative targets through the establishment of the coordinate systems and the conversion between the coordinate systems, then the relative pose relations between the two cooperative targets, namely a rotation matrix and a translation matrix, are obtained, and finally the fixed pose relation between the two cameras without the common view field is obtained through the coordinate conversion according to the existing monocular vision measurement result.
To solve the above problem, a dual camera calibration assisted by a theodolite measurement system is used, as shown in fig. 6. Firstly, the relative position and posture relation between the camera and the cooperative target is determined by calibrating the internal reference and the external reference coefficients of the camera through the cooperative target and the camera, the coordinate of a point on the cooperative target is calculated by a theodolite measuring system, a coordinate system can be established on the cooperative target, the relative relation between the cooperative targets is obtained through the conversion of the coordinate system, then the relative position relation between the two cameras is calculated through the relative relation between the cooperative targets and the relative relation between the camera and the cooperative target, and the theodolite measuring system calibrates the camera relation as shown in figure 3.
Specifically, firstly, two targets are placed in a camera view field, a double-warp-weft instrument system respectively aims at the target 1 and the target 2, the relations T1 and T2 of the two targets and a theodolite are respectively obtained, and then the relation T _ tar _ to _ tar of the two targets can be calculated:
T_tar_to_tar＝(T2)-1·T1
the relation between the camera and the target can be firstly calibrated by calibrating the internal parameters of the camera, the external parameters, namely T _ left and T _ right, can be calibrated by using the internal parameters, and finally, the relative relation T _ camera between the two cameras can be calibrated by the three relation matrixes:
T_camera＝T_right·T_tar_to_tar·(T_left)-1
the theodolite measurement system is used for calibrating the relative position relationship of the two cameras, so that errors caused by changing the positions of the two cameras for many times are avoided, and the cameras do not need to be adjusted again when position and posture are measured. The measurement principle of the theodolite measurement system is spatial forward intersection, and a system formed by two theodolites is taken as an example for explanation. Two theodolites A, B, using the center of the theodolite A (axis intersection) as the origin of coordinates, the projection of the line A, B in the horizontal direction as the X axis, the reverse direction of the perpendicular line passing through the center of the theodolite A as the Z axis, and the Y axis is determined by the right-hand rule, thus forming the measuring coordinate system, as shown in FIG. 4, assuming that the projection of the line A, B in the horizontal direction is the base line length B, the height difference of the line A, B is H, when the theodolites A, B aim at each other and respectively observe the target P, the observed values (horizontal direction, vertical direction) are respectively HAB,VAB,HBA,VBA,HAP,VPA,HBP,VPB. Make horizontal angle alphaA,αBRespectively as follows:
vertical angle betaAP,βBPRespectively as follows:
considering the projection of the coordinate system a on a horizontal plane, as shown in fig. 5, according to the sine theorem, there are:
can be written as:
while
From the coordinates of fig. 4, the coordinates Z of the point P can be calculated from the theodolites a, B, respectively, i.e.:
then there are:
in summary, the three-dimensional coordinates of the target point calculated by spatial forward intersection are:
b-the horizontal base length of the theodolite A and the theodolite B;
in the above formula: h isAB-the difference in height between the two theodolites a, B.
The length of the base line in the formula can be obtained by inverse calculation of a certain reference measurement by two theodolites, and can also be directly measured by a high-precision distance measurement system; the height difference of the two theodolites is
The principle of theodolite measurement system orientation is mainly divided into two aspects: firstly, after two theodolites are leveled, the telescope cones are aimed mutually, and human eyes respectively aim at an internal target of the other theodolite from an ocular of one theodolite. At the moment, the sighting axes of the two theodolites are superposed, and the horizontal projection of the sighting axes is the X-axis direction of the theodolite coordinate system, so that the direction of the theodolite coordinate system is determined. The theodolite is rotated 180 degrees in the horizontal direction and the process is repeated to eliminate errors introduced by the vertical rotation axis and the horizontal dial mounting eccentricity, which completes the relative orientation. However, the device is not suitable for use in a kitchenAnd then, solving the horizontal distance b and the elevation difference h of the theodolite, wherein the step needs the assistance of a reference ruler. Fix the reference scale in certain department in space, aim at the reference scale both ends respectively with left theodolite, establish the left point of reference scale and be 1, the point on right side is 2, owing to there are two theodolites, consequently to every extreme point, can obtain two sets of observed values: left side point (alpha)A1,βA1),(αB1,βB1) Right side point (α)A2,βA2),(αB2,βB2). Assuming that the length of the reference scale is L, the length of L is:
L2＝(x1-x2)2+(y1-y2)2+(z1-z2)2
the simplification can calculate the horizontal distance b of two theodolites:
wherein:
the above process is repeated to randomly place the scale at multiple positions in space to reduce errors. And b is substituted into a three-dimensional coordinate formula, so that the three-dimensional coordinate of the target in the space can be obtained.
The invention provides a distributed POS calibration method based on theodolite and vision-aided flexible baselines, which comprises the steps of respectively aiming at two targets in a camera view field through a double-theodolite system, and acquiring relation data of the two targets and the double-theodolite system; calculating relation data of the two targets according to the relation data of the targets and the double-theodolite system; obtaining relation data between the two cameras and the two targets through calibrating internal reference parameters of the cameras and completing external reference parameter calibration operation; and establishing a relation matrix through the relation data of the two targets, the internal reference parameters of the cameras and the external reference parameters of the cameras, and calibrating the relative relation between the two cameras. The method can achieve the beneficial effects of non-contact measurement, simple operation and low cost. Meanwhile, the theodolite measurement range is large, and the precision can be met under the application condition of the theodolite measurement system, so that the theodolite measurement system is introduced to calibrate the two vision cameras without a public view field, and the high-precision calibration accuracy, high efficiency and usability can be achieved.
Based on the same inventive concept, the invention also provides a distributed POS calibration device based on the theodolite and the vision-assisted flexible base line. The principle of the device for solving the problems is similar to that of the distributed POS calibration method based on the theodolite and the vision-aided flexible base line, so that the implementation of the device can be realized according to the specific steps of the method, and repeated parts are not repeated.
Fig. 7 is a schematic structural diagram of a distributed POS calibration apparatus based on theodolite and vision-aided flexible baseline in an embodiment. This based on theodolite and supplementary flexible baseline distribution type POS calibration equipment 10 of vision includes: a first acquisition module 200, a calculation module 400, a second acquisition module 600, and a calibration module 800.
The first acquisition module 200 is configured to respectively aim at two targets placed in advance in a camera view field through a dual-theodolite system, and acquire relationship data between the two targets and the dual-theodolite system; the calculation module 400 is configured to calculate relationship data of the two targets according to the relationship data of the targets and the dual theodolite system; the second obtaining module 600 is configured to obtain relationship data between the two cameras and the two targets through calibrating internal parameters of the cameras and complete external parameter calibration; the calibration module 800 is configured to establish a relationship matrix according to the relationship data of the two targets, the internal reference parameters of the cameras, and the external reference parameters of the cameras, and calibrate the relative relationship between the two cameras.
The invention provides a distributed POS calibration device based on theodolite and vision-aided flexible baselines, which comprises a first acquisition module, a second acquisition module, a first display module and a second display module, wherein the first acquisition module aims at two targets which are placed in a camera view field in advance through a double-theodolite system, and acquires relation data of the two targets and the double-theodolite system; calculating the relation data of the two targets through the relation data of the targets and the double-theodolite system in the calculation module; calibrating internal parameters of the cameras by a second acquisition module to acquire relationship data between the two cameras and the two targets and finish external parameter calibration operation; and finally, establishing a relation matrix through the relation data of the two targets in the calibration module, the internal reference parameters of the cameras and the external reference parameters of the cameras, and calibrating the relative relation between the two cameras. The device can achieve the beneficial effects of non-contact measurement, simple operation and low cost. Meanwhile, the theodolite measuring range is large, and the precision can be met under the application condition of the theodolite measuring system, so that the theodolite measuring system is introduced to calibrate the two vision cameras without a public view field, and the accuracy, the high efficiency and the usability of high-precision calibration can be achieved.
The following example is performed for clearer and more accurate understanding and application of a theodolite-based and vision-assisted flexible baseline distributed POS calibration device. It should be noted that the protection scope of the present disclosure is not limited to the following examples.
As shown in fig. 8, the vision-aided measuring system mainly comprises three parts, namely a camera, a high-precision target, and upper computer software. The main functional modules are divided into the following parts: a synchronous triggering module: the cameras are provided with trigger interfaces, and in the experiment, the two cameras start synchronous shooting through GPS Pulse Per Second (PPS) triggering; the theodolite measurement system calibrates two camera pose modules: the part comprises two theodolites, a reference ruler, two cameras, a target and the like. Firstly, fixing and keeping the positions of two cameras fixed through a camera tripod and other devices, adjusting the aperture and the focal length of the cameras to enable the cameras to clearly image, calibrating the internal reference and the external reference of the cameras through a camera-target, calculating the relative relation of the two targets by using a theodolite measuring system, and finally obtaining the relative relation of the two fixedly connected cameras through coordinate conversion and matrix operation; camera-theodolite position appearance measurement module: the part comprises a GPS receiver, a camera-theodolite measuring system and the like, wherein the GPS receiver receives signals and triggers two cameras to shoot at the same time through pulse per second, and the pose relation of two node targets is obtained through real-time measuring software and pictures are stored.
It should be noted that, the conventional cameras have no common view field due to the relationship between the camera view field and the working distance, which results in that data cannot be converted and the obtained measurement accuracy is not high. Therefore, a theodolite measuring system is introduced, and the problem of calibrating two vision cameras without a public view field is solved.
An embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and the computer program is executed by the processor in fig. 1.
The embodiment of the invention also provides a computer program product containing the instruction. Which when run on a computer causes the computer to perform the method of fig. 1 described above.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
The foregoing describes the general principles of the present disclosure in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present disclosure are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present disclosure. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the disclosure is not intended to be limited to the specific details so described.
The block diagrams of devices, apparatuses, systems referred to in this disclosure are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".
Also, as used herein, the use of "or" in a list of items beginning with "at least one" indicates a separate list, e.g., "A, B or at least one of C" means A or B or C, or AB or AC or BC, or ABC (i.e., A and B and C). Furthermore, the word "exemplary" does not mean that the described example is preferred or better than other examples.
The foregoing description has been presented for purposes of illustration and description. Furthermore, this description is not intended to limit embodiments of the disclosure to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.
Claims (10)
1. A distributed POS calibration method based on theodolite and vision-aided flexible base lines is characterized by comprising the following steps:
aiming at two targets which are placed in a camera view field in advance through a double-theodolite system respectively, and acquiring relation data of the two targets and the double-theodolite system;
calculating relation data of the two targets according to the relation data of the targets and the double-theodolite system;
obtaining relation data between the two cameras and the two targets through calibrating internal reference parameters of the cameras and completing external reference parameter calibration operation;
and establishing a relation matrix through the relation data of the two targets, the internal reference parameters of the cameras and the external reference parameters of the cameras, and calibrating the relative relation between the two cameras.
2. The theodolite and visual-assisted flexible baseline-based distributed POS calibration method of claim 1, wherein said calculating relationship data for two of said targets from relationship data for said targets and said dual theodolite system comprises:
defining the relation between the two targets and the theodolite as T1 and T2 respectively;
calculating the relation between the two targets according to a first preset formula, and defining the relation between the two targets as T _ tar _ to _ tar;
wherein the first preset formula is as follows: t _ tar _ to _ tar ═ T (T)2)-1·T1。
3. The theodolite and visual-assisted flexible baseline-based distributed POS calibration method of claim 1, wherein said obtaining relationship data between two cameras and two of said targets comprises: relative positions between the two cameras and the two targets, and a pose relationship between the two cameras and the two targets.
4. The theodolite and visual-assisted flexible baseline distributed POS calibration method according to claim 1, wherein a relationship matrix is established by the relationship data of the two targets, the internal reference parameters of the cameras and the external reference parameters of the cameras, and the calibration of the relative relationship between the two cameras comprises:
defining an internal parameter of the camera as T _ left;
positioning the external parameter of the camera as T _ right;
calibrating a correlation between the two cameras according to a second preset formula, and defining the calibrated correlation between the two cameras as T _ camera;
wherein the second predetermined formula is
T_camera＝T_right·T_tar_to_tar·(T_left)-1。
5. The theodolite and visual-aided flexible baseline-based distributed POS calibration method according to claim 1, further comprising: and setting the double theodolite system.
6. The theodolite and visual-aided flexible baseline-based distributed POS calibration method of claim 5, further comprising: fixing two tripods, and fixing two theodolites on the tripods;
leveling the two theodolites at least once so that horizontal errors and vertical errors of the theodolites in different directions are within preset range values; in the leveling process, a tripod needs to be reinforced on the ground, so that the position of the theodolite is kept unchanged;
after the leveling operation is finished, adjusting the eyepieces and the objective lenses of the two theodolites to enable the two theodolites to observe a measuring point within a preset definition;
and carrying out mutual aiming operation through the two theodolites.
7. The theodolite and visual-aided flexible baseline-based distributed POS calibration method of claim 6, further comprising: selecting 8-12 positions in a region 1.5-2.5 meters away from the two theodolites to place a reference ruler, measuring two ends of the reference ruler by using the two theodolites, and recording data;
after data are recorded, carrying out directional resolving on the two theodolites;
and the length of the reference scale is inversely calculated through the acquired data, so that the operation of verifying the correctness and the precision of the orientation result is completed.
8. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method of any of claims 1-7 are implemented when the program is executed by the processor.
10. A flexible base line distribution type POS calibration device based on theodolite and vision assistance is characterized in that the device comprises:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for aiming at two targets which are placed in a camera view field in advance through a double-theodolite system respectively and acquiring relation data of the two targets and the double-theodolite system;
the calculation module is used for calculating the relation data of the two targets according to the relation data of the targets and the double-theodolite system;
the second acquisition module is used for acquiring relationship data between the two cameras and the two targets through calibrating the internal reference parameters of the cameras and completing external reference parameter calibration operation;
and the calibration module is used for establishing a relation matrix through the relation data of the two targets, the internal reference parameters of the cameras and the external reference parameters of the cameras, and calibrating the relative relation between the two cameras.
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