CN110910459A - Camera device calibration method and device and calibration equipment - Google Patents
Camera device calibration method and device and calibration equipment Download PDFInfo
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Abstract
The application discloses a method and a device for calibrating a camera device and calibration equipment. In the method, a plurality of images shot by a camera device for movable calibration equipment are obtained, wherein the images comprise calibration reference objects arranged on the calibration equipment; obtaining the position of the calibration equipment corresponding to each image; obtaining the relative installation position relation between a calibration reference object and calibration equipment; and calibrating external parameters of the camera device according to the relative installation position relationship, the plurality of images and the position of the calibration equipment corresponding to each image. The calibration equipment can move in a scene where the camera device to be calibrated is deployed, the images acquired by the camera device to be calibrated are acquired and processed, the spatial position relation and the self-positioning of the calibration reference object and the camera device to be calibrated are established, and finally, the calibration of the camera device to be calibrated in the scene is automatically and conveniently realized. The method does not need to manually execute the calibration operation, and the calibration efficiency of the camera device is obviously improved.
Description
The present invention claims priority of the chinese patent application entitled "a method, an apparatus, and a system for calibrating an image pickup device" filed by the national intellectual property office of the people's republic of china, application No. 201811612158.9, on 27/12/2018, the entire contents of which are incorporated herein by reference.
Technical Field
The present disclosure relates to the field of instrument and device calibration technologies, and in particular, to a method and a device for calibrating a camera device, and a calibration device.
Background
With the wide application of the camera devices, a lot of areas are monitored by using a large amount of camera devices. Today, some technologies are already in use for tracking a moving object in a scene by retrieving an image captured by a camera deployed in the scene.
The calibration of instruments and equipment is a conventional means adopted in the fields of optics, electricity, machinery and the like for obtaining accurate measurement results at present. In practical application, when parameters of a camera device deployed in a scene are not calibrated, the accuracy of an obtained monitoring result is poor. For example, the motion trajectories of the same target object obtained by using videos shot by two cameras arranged adjacently in a scene are difficult to join. Further, when the parameters of the camera are not calibrated, tracking of the moving target object may fail, resulting in a reduction in the safety and controllability of the scene. Therefore, it is necessary and critical to calibrate the camera device.
The existing camera calibration method usually requires manual operation, which not only consumes manpower, but also has very high time cost. When the area of a scene where the camera device is deployed is very large and the number of the deployed camera devices is large, it is obviously a very tedious work to calibrate the camera device by manpower. How to improve the calibration efficiency has become a technical problem which needs to be solved urgently in the field.
Disclosure of Invention
Based on the above problems, the application provides a calibration method, a calibration device and calibration equipment for a camera device, so as to automatically and conveniently calibrate the camera device deployed in a scene, save the manpower cost and time cost of calibration and improve the calibration efficiency.
The embodiment of the application discloses the following technical scheme:
in a first aspect, the present application provides a method for calibrating an image capturing apparatus, including:
obtaining a plurality of images shot by a camera device on movable calibration equipment, wherein the images comprise calibration reference objects arranged on the calibration equipment;
obtaining the position of the calibration equipment corresponding to each image;
obtaining the relative installation position relation between the calibration reference object and the calibration equipment;
and calibrating the external parameters of the camera device according to the relative installation position relationship, the plurality of images and the position of the calibration equipment corresponding to each image.
Optionally, the method further comprises: and carrying out feature recognition on the calibration reference object in the images, and calibrating the internal reference of the camera device according to the features of the calibration reference object recognized in the plurality of images.
Optionally, the method further comprises:
acquiring data acquired by a sensor arranged on the calibration equipment;
constructing a three-dimensional map by using data acquired by the sensor;
the obtaining of the position of the calibration device corresponding to each image specifically includes: obtaining the position of the calibration equipment corresponding to each image on the three-dimensional map;
the calibrating the external parameters of the camera device specifically comprises: and calibrating the external parameters of the camera device on the three-dimensional map.
Optionally, the method may calibrate external parameters of the camera device according to the relative installation position relationship, the plurality of images, and the position of the calibration device corresponding to each image, and specifically includes:
obtaining a first relative position relation between the camera device and the calibration reference object corresponding to the image by using each image;
obtaining a second relative position relation of the camera device and the calibration equipment corresponding to the image by using the first relative position relation and the relative installation position relation;
and calibrating the external parameters of the camera device by using the second relative position relation and the position of the calibration equipment corresponding to the image.
Optionally, the method further comprises: setting the camera device to shoot the calibration equipment at each preset moment; each preset moment corresponds to an image comprising a calibration reference object arranged on the calibration equipment;
the obtaining of the position of the calibration device corresponding to each image on the three-dimensional map specifically includes: and obtaining the position of the calibration equipment on the three-dimensional map at each preset moment.
In a second aspect, the present application provides a calibration apparatus for an image capturing apparatus, including:
the device comprises an image acquisition module, a calibration module and a calibration module, wherein the image acquisition module is used for acquiring a plurality of images shot by a camera device on movable calibration equipment, and the images comprise calibration reference objects arranged on the calibration equipment;
the position acquisition module is used for acquiring the position of the calibration equipment corresponding to each image;
the relative installation position relation acquisition module is used for acquiring the relative installation position relation between the calibration reference object and the calibration equipment;
and the first calibration module is used for calibrating the external parameters of the camera device according to the relative installation position relationship, the plurality of images and the position of the calibration equipment corresponding to each image.
Optionally, the apparatus further comprises:
the characteristic identification module is used for carrying out characteristic identification on the calibration reference object in the image;
and the second calibration module is used for calibrating the internal reference of the camera device according to the characteristics of the calibration reference object identified in the plurality of images.
Optionally, the apparatus further comprises:
the data acquisition module is used for acquiring data acquired by a sensor arranged on the calibration equipment;
the map building module is used for building a three-dimensional map by using the data acquired by the sensor;
the position obtaining module is specifically configured to obtain a position of the calibration device in the three-dimensional map corresponding to each image;
the first calibration module is specifically configured to calibrate external parameters of the camera device on the three-dimensional map.
Optionally, the first calibration module of the apparatus specifically includes:
the first acquisition unit is used for acquiring a first relative position relation between the camera device and the calibration reference object corresponding to the image by using each image;
a second obtaining unit, configured to obtain, by using the first relative positional relationship and the relative installation positional relationship, a second relative positional relationship between the imaging device and the calibration apparatus corresponding to the image;
and the first calibration unit is used for calibrating the external parameters of the camera device by utilizing the second relative position relation and the position of the calibration equipment corresponding to the image.
In a third aspect, the present application provides a calibration apparatus, including: a processor and a memory; the memory stores a computer program that, when executed on the processor, performs the method of calibrating an imaging apparatus according to the first aspect.
Optionally, the calibration apparatus further includes: the movable base is used for moving in a calibration scene of the camera device so that the camera device can shoot a plurality of images including a calibration reference object arranged on the calibration equipment.
In a fourth aspect, the present application provides a method for calibrating a camera device, which is used for calibrating a parameter of a first camera device to be calibrated; a visual calibration reference object is arranged on the calibration equipment, and the calibration equipment moves in the range of a first shooting area of the first camera device to be calibrated; the method comprises the following steps:
acquiring a first group of images shot by the first camera device to be calibrated when the calibration equipment moves in a first shooting area range; the first set of images includes at least: a first image and a second image; the first image and the second image both comprise the calibration reference object;
acquiring a first position of the calibration equipment corresponding to the first image, a second position of the calibration equipment corresponding to the second image and a relative installation position of the calibration reference object and a positioning point of the calibration equipment;
and calibrating the parameters of the first camera to be calibrated by using the first image, the first position, the second image, the second position and the relative installation position.
Optionally, the method further comprises:
visual data are obtained through a visual data acquisition device arranged on the calibration equipment;
constructing a three-dimensional map using the visual data;
the obtaining of the first position of the calibration device corresponding to the first image and the second position of the calibration device corresponding to the second image specifically includes:
acquiring a first position of the calibration equipment corresponding to the first image and a second position of the calibration equipment corresponding to the second image in the three-dimensional map;
the calibrating the parameter of the first camera device to be calibrated specifically includes:
and calibrating the internal parameters and/or the external parameters of the first camera device to be calibrated in the three-dimensional map.
Optionally, the calibration device is further configured to calibrate parameters of the second to-be-calibrated camera device; the calibration equipment moves from the first shooting area range to a second shooting area range of the second camera device to be calibrated; the method further comprises the following steps:
acquiring a second group of images shot by the second camera device to be calibrated when the calibration equipment moves in a second shooting area range; the second set of images includes at least: a third image and a fourth image; the third image and the fourth image both comprise the calibration reference object;
acquiring a third position of the calibration equipment corresponding to the third image and a fourth position of the calibration equipment corresponding to the fourth image in the three-dimensional map;
and calibrating the internal parameters and/or the external parameters of the second camera device to be calibrated in the three-dimensional map by using the third image, the third position, the fourth image, the fourth position and the relative mounting position.
Optionally, the calibrating the parameter of the first to-be-calibrated imaging device by using the first image, the first position, the second image, the second position, and the relative installation position specifically includes:
obtaining a first relative position relationship between the calibration reference object corresponding to the first image and the first to-be-calibrated camera device from the first image, and obtaining a second relative position relationship between the calibration reference object corresponding to the second image and the first to-be-calibrated camera device from the second image;
obtaining a third relative position relationship between the calibration equipment corresponding to the first image and the first camera device to be calibrated according to the first relative position relationship and the relative installation position, and obtaining a fourth relative position relationship between the calibration equipment corresponding to the second image and the first camera device to be calibrated according to the second relative position relationship and the relative installation position;
and calibrating the internal parameters and/or the external parameters of the first camera device to be calibrated according to the third relative position relationship, the first position, the fourth relative position relationship and the second position.
Optionally, the acquiring a first group of images captured by the first to-be-calibrated imaging device when the calibration apparatus moves within the first capturing area specifically includes:
controlling the first camera device to be calibrated to respectively shoot the first image and the second image at a first moment and a second moment;
obtaining the first image and the second image;
the obtaining of the first position of the calibration device corresponding to the first image and the second position of the calibration device corresponding to the second image specifically includes:
and acquiring a first position of the calibration equipment at the first moment and a second position of the calibration equipment at the second moment.
Optionally, the acquiring a first group of images captured by the first to-be-calibrated imaging device when the calibration apparatus moves within the first capturing area specifically includes:
acquiring the first group of images shot by the first camera device to be calibrated through a server; the server is in communication connection with the first camera device to be calibrated and the calibration equipment respectively.
In a fifth aspect, the present application provides a calibration apparatus, where a visible calibration reference object is installed on the calibration apparatus, and the calibration apparatus moves within a first shooting area of the first to-be-calibrated camera device; the calibration device comprises:
the first image acquisition module is used for acquiring a first group of images shot by the first camera device to be calibrated when the calibration equipment moves in a first shooting area range; the first set of images includes at least: a first image and a second image; the first image and the second image both comprise the calibration reference object;
a first position acquiring module, configured to acquire a first position of the calibration device corresponding to the first image, a second position of the calibration device corresponding to the second image, and a relative installation position of the calibration reference object and a positioning point of the calibration device;
and the image first processing and operation module is used for calibrating the parameters of the first camera device to be calibrated by utilizing the first image, the first position, the second image, the second position and the relative installation position.
Optionally, the calibration apparatus further includes: the system comprises a visual data acquisition device and a map building module;
the visual data acquisition device is used for acquiring visual data;
the map building module is used for building a three-dimensional map by using the visual data;
the first position obtaining module specifically includes:
a first position obtaining unit, configured to obtain a first position of the calibration device corresponding to the first image in the three-dimensional map;
a second position obtaining unit, configured to obtain a second position of the calibration device corresponding to the second image in the three-dimensional map;
the image first processing and operation module specifically comprises:
and the first calibration unit is used for calibrating the internal parameters and/or the external parameters of the first camera device to be calibrated in the three-dimensional map.
Optionally, the calibration equipment moves from the first shooting area range to a second shooting area range of the second camera to be calibrated; the calibration device further comprises:
the second image acquisition module is used for acquiring a second group of images shot by the second camera device to be calibrated when the calibration equipment moves in a second shooting area range; the second set of images includes at least: a third image and a fourth image; the third image and the fourth image both comprise the calibration reference object;
a second position obtaining module, configured to obtain a third position of the calibration device corresponding to the third image and a fourth position of the calibration device corresponding to the fourth image in the three-dimensional map;
and the image second processing and computing module is used for calibrating the internal parameters and/or the external parameters of the second camera device to be calibrated in the three-dimensional map by using the third image, the third position, the fourth image, the fourth position and the relative mounting position.
Optionally, the image first processing and computing module specifically includes:
a relative position relation first obtaining unit, configured to obtain a first relative position relation between the calibration reference object corresponding to the first image and the first to-be-calibrated photographing device from the first image, and obtain a second relative position relation between the calibration reference object corresponding to the second image and the first to-be-calibrated photographing device from the second image;
a relative position relationship second obtaining unit, configured to obtain a third relative position relationship between the calibration apparatus corresponding to the first image and the first to-be-calibrated imaging device according to the first relative position relationship and the relative installation position, and obtain a fourth relative position relationship between the calibration apparatus corresponding to the second image and the first to-be-calibrated imaging device according to the second relative position relationship and the relative installation position;
and the second calibration unit is used for calibrating the internal parameters and/or the external parameters of the first camera device to be calibrated according to the third relative position relationship, the first position, the fourth relative position relationship and the second position.
Optionally, the first image obtaining module specifically includes:
the image shooting control unit is used for controlling the first camera device to be calibrated to respectively shoot the first image and the second image at a first moment and a second moment;
an image first acquisition unit configured to acquire the first image and the second image;
the first position obtaining module specifically includes:
the image shooting control unit is used for controlling the first camera device to be calibrated to respectively shoot the first image and the second image at a first moment and a second moment;
a position obtaining unit, configured to obtain a first position of the calibration apparatus at the first time and a second position of the calibration apparatus at the second time.
Optionally, the first image obtaining module specifically includes:
the second image acquisition unit is used for acquiring the first group of images shot by the first camera device to be calibrated through a server; the server is in communication connection with the first camera device to be calibrated and the calibration equipment respectively.
In a sixth aspect, the present application provides a system for calibrating an image capturing apparatus, including: a first camera device to be calibrated and the calibration apparatus provided in the fifth aspect; the calibration equipment is used for calibrating the parameters of the first camera device to be calibrated.
Compared with the prior art, the method has the following beneficial effects:
the application provides a calibration method and device for a camera device and calibration equipment. Obtaining a plurality of images shot by a camera device on movable calibration equipment, wherein the images comprise calibration reference objects arranged on the calibration equipment; obtaining the position of the calibration equipment corresponding to each image; obtaining the relative installation position relation between the calibration reference object and the calibration equipment; and calibrating the external parameters of the camera device according to the relative installation position relationship, the plurality of images and the position of the calibration equipment corresponding to each image.
According to the technical scheme, the calibration equipment can move in a scene where the camera device to be calibrated is deployed, the image collected by the camera device to be calibrated is obtained, the image is processed, the spatial position relation and the self-positioning of the calibration reference object and the camera device to be calibrated are established, and finally, the calibration of the camera device to be calibrated in the scene is automatically and conveniently realized. Compared with the prior art, the method does not need to manually execute the calibration operation, and the calibration efficiency of the camera device is obviously improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a flowchart of a calibration method for an image capturing apparatus according to an embodiment of the present disclosure;
fig. 2 is a schematic diagram of movement of a calibration apparatus according to an embodiment of the present disclosure;
fig. 3 is a flowchart of another calibration method for an image capturing apparatus according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a calibration apparatus provided in an embodiment of the present application.
Detailed Description
According to the foregoing description, at present, calibration of the image capturing apparatus is mostly performed manually, and the operation is complex and inefficient. Based on the problem, the inventor researches and provides a calibration method, a calibration device and a calibration apparatus for an image pickup device. According to the calibration method, the calibration equipment can move in a scene where the camera device to be calibrated is deployed, the images acquired by the camera device to be calibrated are acquired and processed, the spatial position relation and the self-positioning of the calibration reference object and the camera device to be calibrated are established, and finally the calibration of the camera device to be calibrated in the scene is automatically and conveniently realized. The method does not need to manually execute the calibration operation, and the calibration efficiency of the camera device is obviously improved.
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment of the method comprises the following steps:
referring to fig. 1, the figure is a flowchart of a calibration method for an image capturing apparatus according to an embodiment of the present application.
For ease of understanding, an application scenario of the method is first described below. At least one camera device to be calibrated is deployed in a scene, and for each camera device to be calibrated, the calibration can be performed according to the method provided by the embodiment. The method can be applied to calibration equipment which is moved in the calibration process; in addition, the method can also be applied to a server or other equipment with a computing function. In the latter case, the device with the computing function may be in communication connection with the camera device to be calibrated and the calibration device, respectively. The calibration equipment can move in the shooting area range of one camera device to be calibrated, and also can move from the shooting area range of one camera device to be calibrated to the shooting area range of another camera device to be calibrated. As an example, the calibration device may be a robot.
In this embodiment, the calibration device is provided with a visible calibration reference. By way of example, the calibration reference object may be a calibration plate or a two-dimensional code. In the embodiments of the present application, the specific form of the calibration reference is not limited. When the calibration device is used to perform the calibration method, the calibration reference thereon is known, i.e. the pattern, shape or size is determined.
As shown in fig. 1, the method for calibrating an imaging apparatus provided in this embodiment includes:
step 101: and obtaining a plurality of images shot by a camera device on the movable calibration equipment, wherein the images comprise calibration reference objects arranged on the calibration equipment.
In a specific implementation, a first group of images captured by the first to-be-calibrated camera device when the calibration device moves within the range of the first capturing area may be obtained.
The first shooting area range refers to a shooting area range corresponding to the first camera device to be calibrated. In this embodiment, a description will be specifically given by taking the first to-be-calibrated imaging device as an example of the to-be-calibrated imaging device.
Referring to fig. 2, the drawing is a schematic diagram of movement of the calibration device provided in the embodiment of the present application. In this embodiment, the calibration device 201 can move along the arrow shown in fig. 2. During the movement of the calibration apparatus, the distance between the calibration apparatus 201 and the image capturing device changes, so that the size of the calibration reference 202 mounted on the calibration apparatus 201 appearing on the image captured by the image capturing device also changes. Of course, the illustration in fig. 2 is only an exemplary movement manner, and in a specific application, the calibration device may also move along other routes or trajectories. In this embodiment, the specific manner in which the calibration device moves within the range of the first shooting area is not limited.
In this embodiment, the first group of images may be in the form of video or pictures. The specific form of the first set of images is not limited. It should be noted that the first group of images at least includes: a first image and a second image. The first image and the second image both comprise the calibration reference object. It can be understood that the first image and the second image are pictures taken by the first camera device to be calibrated when the calibration apparatus moves to different positions within the first shooting area. For example, the first image may be a picture taken by the first to-be-calibrated imaging device when the calibration apparatus 201 moves to a in fig. 2; the second image may be a picture taken by the first camera to be calibrated when the calibration apparatus 202 moves to B in fig. 2.
Step 102: and obtaining the position of the calibration equipment corresponding to each image.
In a specific implementation, a first position of the calibration device corresponding to the first image, a second position of the calibration device corresponding to the second image, and a relative installation position of the calibration reference object and a positioning point of the calibration device may be obtained.
In this embodiment, the calibration device has a function of acquiring a position of the calibration device. As a possible implementation manner, the calibration device may implement positioning by a positioning module installed on the calibration device itself, and therefore, the position of the positioning module may be used as a positioning point of the calibration device. Thus, the position obtained by the positioning module is used as the position of the calibration device itself.
Step 103: and obtaining the relative installation position relation of the calibration reference object and the calibration equipment.
In practical applications, the calibration reference object may be located at the same position as the positioning point of the calibration device, or may be located at a different position. When the calibration reference object and the positioning point of the calibration device are not located at the same position, it is obvious that a relative installation position relationship exists between the calibration reference object and the positioning point of the calibration device.
Step 104: and calibrating the external parameters of the camera device according to the relative installation position relationship, the plurality of images and the position of the calibration equipment corresponding to each image.
In a specific implementation, for each image, a first relative positional relationship between the imaging device and the calibration reference object corresponding to the image may be obtained by using the image. If the patterns displayed by the calibration reference object at each position are different, the data association between the calibration reference object and the actually displayed calibration reference object in the image of the camera device can be constructed through the specific identity information of the calibration reference object. In addition, data association between the calibration reference object in the image and the actually displayed calibration reference object can be constructed by comparing the time stamps. According to the data association information, identifying characteristic information, such as corner point information and/or center point information, of the calibration reference object contained in the image, and calculating to obtain a first relative position relation between the camera device and the actually displayed calibration reference object.
Since the first relative positional relationship is a relative positional relationship between the imaging device and the calibration reference object, and the relative mounting positional relationship is a relative positional relationship between the calibration reference object and the calibration apparatus, after the first relative positional relationship is obtained, the second relative positional relationship between the imaging device and the calibration apparatus corresponding to the image can be obtained accordingly by using the first relative positional relationship and the relative mounting positional relationship.
And calibrating the external parameters of the camera device by using the second relative position relation and the position of the calibration equipment corresponding to the image. For example, if the position of the camera device to be calibrated is needed to calibrate the external reference, the position of the camera device can be easily obtained by using the second relative position relationship between the camera device and the calibration equipment and the position of the calibration equipment.
In addition, in practical applications, other external parameters of the imaging device, such as a lens direction, a shooting area range, and the like, may also be calibrated by using the second relative positional relationship and the position of the calibration equipment corresponding to the image. The type of external reference for calibration is not limited herein.
In the method, the calibration equipment can move in a scene where the camera device to be calibrated is deployed, the image acquired by the camera device to be calibrated is acquired, the image is processed, the spatial position relation and the self-positioning of the calibration reference object and the camera device to be calibrated are established, and finally the calibration of the camera device to be calibrated in the scene is automatically and conveniently realized. Compared with the prior art, the method does not need to manually execute the calibration operation, and the calibration efficiency of the camera device is obviously improved.
In practical application, the internal reference of the camera device can be calibrated. Specific implementations are described below.
As mentioned above, a plurality of images including the calibration reference object are acquired, the calibration reference object in the images can be subjected to feature recognition, and then the internal parameters (such as lens distortion, equivalent focal length, principal point coordinates, etc.) of the imaging device are calibrated according to the recognized features of the calibration reference object. The algorithm used for calibrating the internal parameters may be a Zhang-friend algorithm.
Based on the above embodiments, the present application further provides a specific implementation manner of step 104. Obtaining a first relative position relation between the camera device and the calibration reference object corresponding to the image by using each image; obtaining a second relative position relation of the camera device and the calibration equipment corresponding to the image by using the first relative position relation and the relative installation position relation; and calibrating the external parameters of the camera device by using the second relative position relation and the position of the calibration equipment corresponding to the image.
This implementation is described in detail below in connection with the first image and the second image. And obtaining a first relative position relationship between the calibration reference object corresponding to the first image and the first to-be-calibrated camera device from the first image, and obtaining a first relative position relationship between the calibration reference object corresponding to the second image and the first to-be-calibrated camera device from the second image.
In this implementation manner, the calibration device can obtain the relative relationship between the object in the image and the first to-be-calibrated camera device in the position from the image captured by the first to-be-calibrated camera device. That is, in this step, the first relative positional relationship is obtained from the first image and the second image, respectively.
Since the relative installation position relationship between the calibration reference object and the positioning point of the calibration apparatus is determinable in step 103, after the relative position relationship between the calibration reference object and the first to-be-calibrated camera device is obtained, the relative relationship between the calibration apparatus and the first to-be-calibrated camera device can be correspondingly obtained according to the relative position relationship and the relative installation position, that is, in this step, the second relative position relationship corresponding to the first image and the second relative position relationship corresponding to the second image.
For the first image, the external reference of the camera device can be obtained by using the corresponding second relative position relation and the position of the calibration equipment. For the second image, the external reference of the imaging device can also be obtained by using the corresponding second relative position relationship and the position of the calibration equipment. In practical application, if an image is used to obtain external parameters of the camera device, the calibration precision and accuracy may need to be improved, so that the external parameters obtained by a plurality of images can be used to reduce the calibration error.
In practical application, if the calibration operations of the cameras to be calibrated deployed in a scene are all performed in the same world coordinate system, the accuracy of parameter calibration of the cameras is obviously improved. Therefore, the present application further provides another calibration method for an image capturing apparatus, which is described in detail below with reference to the embodiments and the accompanying drawings.
The second method embodiment:
referring to fig. 3, the figure is a flowchart of another calibration method for an image capturing apparatus according to an embodiment of the present application.
As shown in fig. 3, the method for calibrating an imaging apparatus according to this embodiment includes:
step 301: and acquiring data acquired by a sensor arranged on the calibration equipment.
The sensor may be one or more of a camera, a lidar and an inertial measurement unit IMU.
Step 302: and constructing a three-dimensional map by using the data acquired by the sensor.
In this embodiment, the calibration device can construct a three-dimensional map of a scene according to data acquired by multiple cameras, laser radars, and IMUs. At present, there are various implementation forms for constructing a three-dimensional map according to data collected by a sensor, and a specific implementation manner of step 302 is not limited in this embodiment.
It will be appreciated that the position to which the calibration device is moved in the three-dimensional map may be known by itself during or after the construction of the three-dimensional map.
Step 303: and acquiring a first group of images shot by the first camera to be calibrated when the calibration equipment moves in the range of the first shooting area.
Wherein the first set of images includes at least: a first image and a second image; the first image and the second image both comprise the calibration reference object.
Step 304: and acquiring a first position of the calibration equipment corresponding to the first image and a second position of the calibration equipment corresponding to the second image in the three-dimensional map, and a relative installation position of the calibration reference object and a positioning point of the calibration equipment.
It should be noted that, in this embodiment, since the calibration device constructs the three-dimensional map, the first position corresponding to the first image and the second position corresponding to the second image are obtained based on the three-dimensional map, that is, the first position and the second position are positions in the three-dimensional map.
Step 305: and calibrating the external parameters of the first camera device to be calibrated in the three-dimensional map by using the first image, the first position, the second image, the second position and the relative installation position.
In this embodiment, step 301 and step 302 may be executed prior to or simultaneously with other steps. Namely, the calibration equipment can move and construct a three-dimensional map, and simultaneously calibrate the camera device to be calibrated corresponding to the moving shooting area range. Therefore, in this embodiment, the order of execution of step 301 and step 302 with respect to other steps is not limited.
The above is the calibration method for the camera device provided in the embodiment of the present application. The method is not limited to calibrating the parameters of one camera device to be calibrated, and can be understood as being capable of being applied to calibrating the parameters of each camera device to be calibrated in a scene in an expanded manner.
In the method, the calibration equipment can move in the scene, and when the calibration equipment moves to the shooting area range of a certain camera device to be calibrated in the scene, the parameters of the camera device to be calibrated can be automatically calibrated. The method is convenient and quick, saves labor, and obviously improves the efficiency of parameter calibration of a plurality of camera devices arranged in a scene in a large range. Because the three-dimensional map of the scene can be established by using the data collected by the sensor on the calibration equipment, and the parameters of each camera device to be calibrated are calibrated by taking a world coordinate system (namely the three-dimensional map) as a reference, the execution reference of parameter calibration is uniform, and the calibration accuracy is very high. When each calibrated camera device is used for monitoring scene pictures or tracking the moving path of a target object, the effect is better and accurate, and the picture connection or the route connection is better and natural.
There are many possible implementations of image acquisition and position acquisition in this embodiment, and several implementations are provided below as examples.
The first image acquisition implementation:
in this implementation manner, the server establishes communication connections with the first to-be-calibrated camera device and the calibration apparatus, respectively. And uploading the image to a server after the first camera device to be calibrated shoots the image. Therefore, when the calibration device needs to acquire an image, the first group of images may be acquired by the server. The first group of images may be actively sent to the calibration device by the server, or may be sent by the calibration device to the server for obtaining the images, and the server sends the first group of images to the calibration device according to the request.
The second image acquisition implementation:
in this implementation, the first to-be-calibrated camera device may be specifically controlled or requested by the calibration apparatus to perform shooting. For example, the calibration apparatus moves within a first shooting area of a first to-be-calibrated camera, and the calibration apparatus controls the first to-be-calibrated camera to respectively shoot the first image and the second image at a first time and a second time. Thereafter, the calibration device obtains a first image and a second image. For example, the calibration apparatus moves within a first shooting area of a first to-be-calibrated camera, and requests the first to-be-calibrated camera to respectively shoot the first image and the second image at a first time and a second time. The first camera device to be calibrated responds to the request of the calibration equipment and carries out shooting. Thereafter, the calibration device obtains a first image and a second image.
Based on the second image obtaining implementation manner, a position obtaining implementation manner is correspondingly provided in this embodiment. The following is described.
When a first position of a calibration device corresponding to a first image on a three-dimensional map needs to be acquired, and a second position of a calibration device corresponding to a second image on the three-dimensional map needs to be acquired, specifically, the first position of the calibration device on the three-dimensional map at the first moment and the second position of the calibration device on the three-dimensional map at the second moment are acquired.
Based on the calibration method provided by the above embodiment, correspondingly, the application further provides a calibration device for the camera device.
The embodiment of the device is as follows:
referring to fig. 4, the diagram is a schematic structural diagram of a calibration apparatus for an image capturing apparatus provided in this embodiment. The device can be applied to a calibration apparatus which is moved during calibration; in addition, the method can also be applied to a server or other equipment with a computing function. In the latter case, the device with the computing function may be in communication connection with the camera device to be calibrated and the calibration device, respectively.
As shown in fig. 4, the apparatus provided in this embodiment includes:
an image obtaining module 401, configured to obtain multiple images of a movable calibration device taken by a camera, where the images include a calibration reference installed on the calibration device;
a position obtaining module 402, configured to obtain a position of the calibration device corresponding to each image;
a relative installation position relationship obtaining module 403, configured to obtain a relative installation position relationship between the calibration reference object and the calibration device;
a first calibration module 404, configured to calibrate an external parameter of the image capturing apparatus according to the relative installation position relationship, the plurality of images, and a position of the calibration device corresponding to each image.
According to the technical scheme, the calibration equipment can move in a scene where the camera device to be calibrated is deployed, the image collected by the camera device to be calibrated is obtained, the image is processed, the spatial position relation and the self-positioning of the calibration reference object and the camera device to be calibrated are established, and finally, the calibration of the camera device to be calibrated in the scene is automatically and conveniently realized. Compared with the prior art, the method does not need to manually execute the calibration operation, and the calibration efficiency of the camera device is obviously improved.
Optionally, the apparatus further comprises:
the characteristic identification module is used for carrying out characteristic identification on the calibration reference object in the image;
and the second calibration module is used for calibrating the internal reference of the camera device according to the characteristics of the calibration reference object identified in the plurality of images.
Optionally, the apparatus further comprises:
the data acquisition module is used for acquiring data acquired by a sensor arranged on the calibration equipment;
the map building module is used for building a three-dimensional map by using the data acquired by the sensor;
a position obtaining module 402, configured to specifically obtain a position of the calibration device in the three-dimensional map corresponding to each image;
the first calibration module is specifically configured to calibrate external parameters of the camera device on the three-dimensional map.
Optionally, the first calibration module specifically includes:
the first acquisition unit is used for acquiring a first relative position relation between the camera device and the calibration reference object corresponding to the image by using each image;
a second obtaining unit, configured to obtain, by using the first relative positional relationship and the relative installation positional relationship, a second relative positional relationship between the imaging device and the calibration apparatus corresponding to the image;
and the first calibration unit is used for calibrating the external parameters of the camera device by utilizing the second relative position relation and the position of the calibration equipment corresponding to the image.
Optionally, the apparatus further comprises: the timing module is used for setting the camera device to shoot the calibration equipment at each preset moment; each preset moment corresponds to an image comprising a calibration reference object arranged on the calibration equipment;
the position obtaining module 402 is specifically configured to obtain the position of the calibration device on the three-dimensional map at each preset time.
The above is the calibration device for the camera device provided in the embodiment of the present application. The device is not limited to calibrating the parameters of one camera device to be calibrated, and can be understood as being capable of being applied to calibrating the parameters of each camera device to be calibrated in a scene in an expanded manner.
The calibration equipment can move in the scene, and when the calibration equipment moves to the shooting area range of a certain camera device to be calibrated in the scene, the device of the embodiment can be applied to obtain images and realize automatic calibration of parameters of the camera device to be calibrated. The method is convenient and quick, saves labor, and obviously improves the efficiency of parameter calibration of a plurality of camera devices arranged in a scene in a large range. The calibration equipment can acquire visual data and establish a three-dimensional map of a scene, and when the parameters of each camera device to be calibrated are calibrated, a world coordinate system (namely the three-dimensional map) is used as a reference, so that the execution reference of parameter calibration is uniform, and the calibration accuracy is very high. When each calibrated camera device is used for monitoring scene pictures or tracking the moving path of a target object, the effect is better and accurate, and the picture connection or the route connection is better and natural.
Based on the calibration method and device for the image capturing apparatus provided in the foregoing embodiment, correspondingly, the present embodiment further provides a calibration apparatus, which includes: a processor and a memory; the memory stores a computer program, and when the program is executed on the processor, the program executes part or all of the steps in the calibration method for the image pickup apparatus provided by the foregoing method embodiment.
In addition, the calibration apparatus further includes: the movable base is used for moving in a calibration scene of the camera device, so that when the calibration equipment moves to the range of the shooting area of the camera device, the camera device can shoot a plurality of images comprising the calibration reference object arranged on the calibration equipment.
It should be noted that, in the present specification, all the embodiments are described in a progressive manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as for the apparatus and the device, since they are substantially similar to the method embodiments, they are described simply, and reference may be made to the partial description of the method embodiments for relevant points. The above-described apparatuses and devices are merely illustrative, and the units described as separate parts may or may not be physically separate, and the parts indicated as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
The above description is only one specific embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (11)
1. A method for calibrating an imaging device, comprising:
obtaining a plurality of images shot by a camera device on movable calibration equipment, wherein the images comprise calibration reference objects arranged on the calibration equipment;
obtaining the position of the calibration equipment corresponding to each image;
obtaining the relative installation position relation between the calibration reference object and the calibration equipment;
and calibrating the external parameters of the camera device according to the relative installation position relationship, the plurality of images and the position of the calibration equipment corresponding to each image.
2. The method of claim 1, further comprising: and carrying out feature recognition on the calibration reference object in the images, and calibrating the internal reference of the camera device according to the features of the calibration reference object recognized in the plurality of images.
3. The method of claim 1, further comprising:
acquiring data acquired by a sensor arranged on the calibration equipment;
constructing a three-dimensional map by using data acquired by the sensor;
the obtaining of the position of the calibration device corresponding to each image specifically includes: obtaining the position of the calibration equipment corresponding to each image on the three-dimensional map;
the calibrating the external parameters of the camera device specifically comprises: and calibrating the external parameters of the camera device on the three-dimensional map.
4. The method according to claim 1, wherein the calibrating the external parameters of the image capturing device according to the relative installation position relationship, the plurality of images, and the position of the calibration apparatus corresponding to each image includes:
obtaining a first relative position relation between the camera device and the calibration reference object corresponding to the image by using each image;
obtaining a second relative position relation of the camera device and the calibration equipment corresponding to the image by using the first relative position relation and the relative installation position relation;
and calibrating the external parameters of the camera device by using the second relative position relation and the position of the calibration equipment corresponding to the image.
5. The method of claim 3, further comprising: setting the camera device to shoot the calibration equipment at each preset moment; each preset moment corresponds to an image comprising a calibration reference object arranged on the calibration equipment;
the obtaining of the position of the calibration device corresponding to each image on the three-dimensional map specifically includes: and obtaining the position of the calibration equipment on the three-dimensional map at each preset moment.
6. A calibration apparatus for an image pickup apparatus, comprising:
the device comprises an image acquisition module, a calibration module and a calibration module, wherein the image acquisition module is used for acquiring a plurality of images shot by a camera device on movable calibration equipment, and the images comprise calibration reference objects arranged on the calibration equipment;
the position acquisition module is used for acquiring the position of the calibration equipment corresponding to each image;
the relative installation position relation acquisition module is used for acquiring the relative installation position relation between the calibration reference object and the calibration equipment;
and the first calibration module is used for calibrating the external parameters of the camera device according to the relative installation position relationship, the plurality of images and the position of the calibration equipment corresponding to each image.
7. The apparatus of claim 6, further comprising:
the characteristic identification module is used for carrying out characteristic identification on the calibration reference object in the image;
and the second calibration module is used for calibrating the internal reference of the camera device according to the characteristics of the calibration reference object identified in the plurality of images.
8. The apparatus of claim 6, further comprising:
the data acquisition module is used for acquiring data acquired by a sensor arranged on the calibration equipment;
the map building module is used for building a three-dimensional map by using the data acquired by the sensor;
the position obtaining module is specifically configured to obtain a position of the calibration device in the three-dimensional map corresponding to each image;
the first calibration module is specifically configured to calibrate external parameters of the camera device on the three-dimensional map.
9. The apparatus according to claim 6, wherein the first calibration module specifically includes:
the first acquisition unit is used for acquiring a first relative position relation between the camera device and the calibration reference object corresponding to the image by using each image;
a second obtaining unit, configured to obtain, by using the first relative positional relationship and the relative installation positional relationship, a second relative positional relationship between the imaging device and the calibration apparatus corresponding to the image;
and the first calibration unit is used for calibrating the external parameters of the camera device by utilizing the second relative position relation and the position of the calibration equipment corresponding to the image.
10. A calibration apparatus, comprising: a processor and a memory; the memory stores a computer program that, when executed on the processor, performs the method of calibrating an imaging apparatus according to any one of claims 1 to 5.
11. The apparatus of claim 10, further comprising: the movable base is used for moving in a calibration scene of the camera device so that the camera device can shoot a plurality of images including a calibration reference object arranged on the calibration equipment.
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| CN2018116121589 | 2018-12-27 |
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| CN201911382632.8A Active CN110910460B (en) | 2018-12-27 | 2019-12-27 | Method and device for acquiring position information and calibration equipment |
| CN201911379855.9A Active CN110910459B (en) | 2018-12-27 | 2019-12-27 | Camera device calibration method and device and calibration equipment |
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| CN201911382632.8A Active CN110910460B (en) | 2018-12-27 | 2019-12-27 | Method and device for acquiring position information and calibration equipment |
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| CN110910459B (en) | 2022-09-27 |
| CN109360250A (en) | 2019-02-19 |
| CN110910460B (en) | 2022-09-27 |
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