CN110988910A - ToF camera calibration device and calibration method - Google Patents
ToF camera calibration device and calibration method Download PDFInfo
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- CN110988910A CN110988910A CN201911176539.1A CN201911176539A CN110988910A CN 110988910 A CN110988910 A CN 110988910A CN 201911176539 A CN201911176539 A CN 201911176539A CN 110988910 A CN110988910 A CN 110988910A
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- 238000005259 measurement Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
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Abstract
The invention discloses a calibration device for a ToF camera, which comprises: the device comprises a frame, a bracket and a jig which are connected with the frame, a plurality of calibration plates which are arranged above the jig and movably connected with the bracket, and a control and processor; wherein, the jig is used for placing the ToF camera; the control and processor is used for controlling the ToF camera to synchronously measure the distance values of the plurality of calibration plates and calibrating the ToF camera based on the measured distance values; wherein the plurality of calibration plates are different distances from the ToF camera. The calibration device of the ToF camera is used for calibrating the ToF camera, the calibration process can be completed without moving a calibration plate, the calibration precision is high, the calibration speed is high, and the calibration of the ToF camera can be efficiently and accurately realized.
Description
Technical Field
The invention relates to the technical field of depth data acquisition equipment, in particular to a calibration device and a calibration method for a ToF camera.
Background
The Time of Flight (ToF) technique is to calculate the distance of a target object by calculating the Time difference or phase difference of a light beam from being emitted to being received reflected by the target object to obtain depth data information of the target object. The ToF camera works by adopting the ToF technical principle, and due to the existence of system errors and random errors, the measurement result and the measurement precision of the ToF camera are affected by various factors such as the internal environment and the external environment of the camera system, and in order to acquire distance information with higher precision, the ToF camera needs to be calibrated in depth value.
In the prior art, the calibration method based on the ToF camera obtains an actual distance of each calibration position through actual measurement, then sequentially moves the calibration plate to distance points to be measured, obtains a measured distance corresponding to each distance point to be measured, and obtains a calibration result of each actual distance through comparison between the measured distance and the actual distance.
However, since there are many distance points to be tested, it takes much testing time, thereby affecting the efficiency of testing. Moreover, moving the calibration plate many times easily causes errors, so that the calibration accuracy is affected. Therefore, a solution needs to be researched and developed to provide a calibration device for a ToF camera, which can achieve accurate and efficient calibration.
The above background disclosure is only for the purpose of assisting understanding of the inventive concept and technical solutions of the present invention, and does not necessarily belong to the prior art of the present patent application, and should not be used for evaluating the novelty and inventive step of the present application in the case that there is no clear evidence that the above content is disclosed at the filing date of the present patent application.
Disclosure of Invention
The present invention is directed to a calibration apparatus and a calibration method for a ToF camera, so as to solve at least one of the above-mentioned problems in the related art.
In order to achieve the above purpose, the technical solution of the embodiment of the present invention is realized as follows:
a ToF camera calibration device, comprising: the device comprises a frame, a bracket and a jig which are connected with the frame, a plurality of calibration plates which are arranged above the jig and movably connected with the bracket, and a control and processor; wherein, the jig is used for placing the ToF camera; the actual distance values of the plurality of calibration plates to the ToF camera are different; the control and processor is used for controlling the ToF camera to synchronously measure the calibration plates so as to obtain measurement distance values, and calibrating the ToF camera based on the measurement distance values; .
In some embodiments, the calibration plates are disposed within a viewing angle range of the ToF camera, and the calibration plates do not overlap with each other.
In some embodiments, the frame includes a fully enclosed space formed by a plurality of faces, inner walls of the plurality of faces are coated with a low-reflectivity coating, and the jig, the bracket, and the plurality of calibration plates are all located in the fully enclosed space.
In some embodiments, the calibration plates are regularly arranged on a plane perpendicular to the optical axis of the ToF camera, wherein at least one of the calibration plates is located on the optical axis of the ToF camera.
In some embodiments, the control and processor controls the ToF camera to receive the reflected light signal of each calibration plate to obtain a measured distance value of each calibration plate, calculates a corrected compensation value based on the measured distance value and the actual distance value, and compensates the measured distance values of the calibration plates according to the corrected compensation value to obtain a calibration result.
The other technical scheme of the embodiment of the invention is as follows:
a calibration method of a ToF camera comprises the following steps:
acquiring actual distance values of a plurality of calibration plates;
and synchronously measuring by using the ToF camera to obtain the measured distance values of the plurality of calibration plates, and calibrating the ToF camera based on the actual distance values and the measured distance values.
In some embodiments, the calibration plates are located above the jig and movably connected to the bracket, and the calibration plates are disposed within a viewing angle range of the ToF camera and are not overlapped with each other.
In some embodiments, the jig, the bracket, and the calibration plates are located in a frame, the frame includes a fully enclosed space formed by a plurality of faces, and inner walls of the plurality of faces are coated with a low-reflectivity coating.
In some embodiments, the calibration plates are regularly arranged on a plane perpendicular to the optical axis of the ToF camera, wherein at least one calibration plate is located on the optical axis of the ToF camera.
In some embodiments, the calibration board is pre-installed, an actual distance value of the calibration board is obtained, the ToF camera is fixedly placed on the jig, the control and processor controls the ToF camera to receive a reflected light signal of the calibration board so as to obtain measured distance values of the calibration boards, a correction compensation value is calculated based on the measured distance values and the actual distance values, and the measured distance values of the calibration boards are compensated according to the correction compensation value, so as to obtain a calibration result.
The technical scheme of the invention has the beneficial effects that:
the calibration device of the ToF camera is used for calibrating the ToF camera, the calibration process can be completed without moving a calibration plate, the calibration precision is high, the calibration speed is high, and the calibration of the ToF camera can be efficiently and accurately realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic perspective view of a ToF camera calibration apparatus according to an embodiment of the invention.
Fig. 2 is a schematic perspective view of another angle of the ToF camera calibration apparatus according to an embodiment of the invention.
Fig. 3 is a plan view of fig. 1 in a vertical plane with respect to the viewing angle of the ToF camera to be calibrated.
FIG. 4 is a flowchart illustration of a ToF camera calibration method according to another embodiment of the invention.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the embodiments of the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and the embodiments. 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 will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element. The connection may be for fixation or for circuit connection.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the embodiments of the present invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be in any way limiting of the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present invention, "a plurality" means two or more unless specifically limited otherwise.
As an embodiment of the present invention, a calibration apparatus for a ToF camera is provided, which can complete a calibration process without moving a calibration plate, has high calibration accuracy and high calibration speed, and can efficiently and accurately calibrate the ToF camera.
Referring to fig. 1-2, a ToF camera calibration apparatus 10 is provided as an embodiment of the present invention. The calibration device 10 includes a frame 112, a bracket 110 and a jig 111 connected to the frame 112, a plurality of calibration boards disposed above the jig 111 and movably connected to the bracket 110, and a control and processor (not shown). The jig 111 is used for placing the ToF camera, actual distance values from the calibration plates to the ToF camera are different, the control and processor is used for controlling the ToF camera to measure the calibration plates synchronously to obtain measured distance values, and the ToF camera is calibrated based on the measured distance values and the actual distance values.
Specifically, the bracket 110 is fixedly connected with the frame 112; the ToF camera is fixed on the jig 111, and a plurality of calibration plates are located above the jig 111 and movably connected with the bracket 110, wherein actual distance values from each calibration plate to the ToF camera are different.
In some embodiments, the frame 112 is provided with a horizontal plane (not numbered) on which the jig 111 is mounted. It should be understood that the plane on which the jig 111 is mounted may not be a horizontal plane, the jig 111 only needs to be mounted and fixed on the frame 112, and the specific fixing manner is not particularly limited, and whatever the manner, only the concept of the present invention needs to be adopted, and all the manners should fall within the protection scope of the present invention.
In some embodiments, the jig 111 is installed at a central position of the horizontal plane; it is understood that the jig 111 may also be movably connected to the frame 112, so that the jig 111 can freely move on the horizontal plane of the frame 112, so as to facilitate the movement adjustment of the position of the ToF camera on the horizontal plane. In some embodiments, the plurality of brackets 110 are disposed above a horizontal plane.
In some embodiments, the bracket 110 is removably mounted to the frame 112. In a practical application scenario, the number of the brackets 110 can be increased or decreased according to requirements, and the number of the brackets 110 can be flexibly adjusted to adjust the number of the calibration plates.
In one embodiment, the frame 112 is a fully enclosed space formed by a plurality of sides, the inner walls of which are coated with a low reflectivity coating to eliminate the effects of ToF camera multipath effects. The shape of the frame 112 may be cylindrical, square, etc., without any limitation thereto. The jig, the calibration plate and the support are all located in the fully-closed space.
As shown in fig. 1, in an embodiment, the number n of calibration plates is 9, and the calibration plates 101 and 109 are spirally distributed in the optical axis direction of the calibration ToF camera according to the actual distance value; the calibration plates 101-109 are located in the viewing angle range of the ToF camera and are not overlapped, so that the ToF camera can capture each calibration plate with different distances when capturing images. The control and processor controls the ToF camera to receive the reflected light signals of each calibration plate 101-.
The calibration device for the ToF camera provided by the embodiment can complete the calibration process of the ToF camera without moving the calibration plate, has high calibration precision and high calibration speed, and can realize accurate and efficient calibration of the ToF camera to be calibrated.
Fig. 3 is a plan view of fig. 1 in a vertical plane with respect to the viewing angle of the ToF camera to be calibrated. Referring to fig. 3, the calibration plates 101-109 have different sizes, and each calibration plate is square; the calibration plates 101-109 are regularly arranged on a plane perpendicular to the optical axis of the ToF camera and do not overlap; wherein, at least one calibration plate is positioned on the optical axis of the ToF camera to be calibrated. It can be understood that the calibration plates 101-109 may be arranged irregularly, but the regular arrangement of the calibration plates may reduce the gap between the calibration plates, which is more beneficial for calibration of the ToF camera.
In some embodiments, the calibration plate may also be circular or other irregular shape, and multiple calibration plates may be different from each other, or some calibration plates may be the same and some calibration plates different, for example: the partial calibration plate is square, and the partial calibration plate is round and/or other irregular shapes, which are not particularly limited in the embodiment of the present invention, and any combination manner should belong to the protection scope of the present patent as long as the technical solution of the present invention is essentially adopted.
In some embodiments, the calibration plate is a flat white plate. It can be understood that the sizes of the calibration plates can be set to be gradually increased according to the actual distance values of the calibration plates, that is, the size of the calibration plate close to the camera to be calibrated is small, and the size of the calibration plate far away from the camera to be calibrated is large, so that the calibration plates are prevented from being overlapped, and the ToF camera is ensured to shoot the occupied pixel size of each calibration plate.
Continuing with FIG. 3, assume that the actual distance value of the calibration plate 101-109 is Z1、Z2、Z3、Z4、Z5、Z6、Z7、Z8、Z9It will be appreciated that to avoid obscuring the calibration plate, Z1、Z2、Z3、Z4、Z5、Z6、Z7、Z8、Z9Successively increases. The positions of the calibration plate 101, the calibration plate 102, the calibration plate 103 and the calibration plate 104 can be interchanged, and the positions of the calibration plate 105, the calibration plate 106, the calibration plate 107 and the calibration plate 108 can be interchanged. It will be appreciated that the calibration plates in relative positions may be interchanged.
Another embodiment of the present invention is a calibration method for a ToF camera, and fig. 4 is a flowchart of the calibration method for a ToF camera, where the calibration method includes the following steps:
s401, acquiring actual distance values of all calibration plates;
and pre-installing calibration plates and acquiring actual distance values of the calibration plates.
S402, synchronously measuring the measured distance values of the plurality of calibration plates by using the ToF camera, and calibrating the ToF camera based on the actual distance values and the measured distance values.
The control and processor controls the operation of the ToF camera, receives the reflected light signals of the calibration plates to obtain the measured distance values, calculates the corrected compensation values based on the actual distance values and the measured values, and compensates the measured distance values of the calibration plates according to the corrected compensation values to obtain the calibration results.
The calibration method of the ToF camera of this embodiment has the same principle as the calibration device of the ToF camera, and therefore, the detailed description thereof is omitted. By the aid of the calibration method, the calibration process can be completed without moving the calibration plate, the calibration precision is high, the calibration speed is high, and accurate and efficient calibration of the ToF camera can be realized.
It will be understood that when the calibration device of the present invention is applied to other scenarios, the corresponding structural or component changes are made to the device to adapt to the requirements, and the essence of the device still adopts the calibration device of the present invention, so the protection scope of the present invention should be considered. The foregoing is a more detailed description of the invention in connection with specific/preferred embodiments and is not intended to limit the practice of the invention to those descriptions. It will be apparent to those skilled in the art that various substitutions and modifications can be made to the described embodiments without departing from the spirit of the invention, and these substitutions and modifications should be considered to fall within the scope of the invention. In the description herein, references to the description of the term "one embodiment," "some embodiments," "preferred embodiments," "an example," "a specific example," or "some examples" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention.
In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction. Although embodiments of the present invention and their advantages have been described in detail, it should be understood that various changes, substitutions and alterations can be made herein without departing from the scope of the invention as defined by the appended claims.
Moreover, the scope of the present application is not intended to be limited to the particular embodiments of the process, machine, manufacture, composition of matter, means, methods and steps described in the specification. One of ordinary skill in the art will readily appreciate that the above-disclosed, presently existing or later to be developed, processes, machines, manufacture, compositions of matter, means, methods, or steps, that perform substantially the same function or achieve substantially the same result as the corresponding embodiments described herein may be utilized. Accordingly, the appended claims are intended to include within their scope such processes, machines, manufacture, compositions of matter, means, methods, or steps.
Claims (10)
1. A ToF camera calibration device, comprising: the device comprises a frame, a bracket and a jig which are connected with the frame, a plurality of calibration plates which are arranged above the jig and movably connected with the bracket, and a control and processor; wherein,
the jig is used for placing the ToF camera;
the actual distance values of the plurality of calibration plates to the ToF camera are different;
the control and processor is used for controlling the ToF camera to synchronously measure the calibration plates so as to obtain measured distance values, and calibrating the ToF camera based on the measured distance values and the actual distance values.
2. The ToF camera calibration apparatus according to claim 1, wherein: the calibration plates are arranged in the viewing angle range of the ToF camera, and the calibration plates are not overlapped with each other.
3. The ToF camera calibration apparatus according to claim 1, wherein: the frame includes a totally enclosed space that is formed by a plurality of faces, the inner wall of a plurality of faces scribbles low reflectivity coating, the tool, the support and a plurality of calibration plates all are located in the totally enclosed space.
4. The ToF camera calibration apparatus according to claim 1, wherein: the calibration plates are regularly arranged on a plane perpendicular to the optical axis of the ToF camera, wherein at least one calibration plate is positioned on the optical axis of the ToF camera.
5. The ToF camera calibration apparatus according to claim 1, wherein: the control and processor controls the ToF camera to receive the reflected light signals of the calibration plates so as to obtain the measured distance values of the calibration plates, calculates a correction compensation value based on the measured distance values and the actual distance values, and compensates the measured distance values of the calibration plates according to the correction compensation value to obtain a calibration result.
6. A calibration method for a ToF camera is characterized by comprising the following steps:
acquiring actual distance values of a plurality of calibration plates;
and synchronously measuring by using the ToF camera to obtain the measured distance values of the plurality of calibration plates, and calibrating the ToF camera based on the actual distance values and the measured distance values.
7. The ToF camera calibration method according to claim 6, wherein: the calibration plates are located above the jig and movably connected with the support, the calibration plates are arranged in the visual angle range of the ToF camera, and the calibration plates are not overlapped with each other.
8. The ToF camera calibration method according to claim 7, wherein: the jig, the support and the calibration plates are all located in the frame, the frame comprises a fully-closed space formed by a plurality of faces, and the inner walls of the faces are coated with low-reflectivity coating.
9. The ToF camera calibration method according to claim 7, wherein: the calibration plates are regularly arranged on a plane perpendicular to the optical axis of the ToF camera, wherein at least one calibration plate is positioned on the optical axis of the ToF camera.
10. A ToF camera calibration method according to any one of claims 6 to 9, wherein: the calibration plate is installed in advance, actual distance values of the calibration plates are obtained, the ToF camera is fixedly placed on the jig, the control and processor controls the ToF camera to receive reflected light signals of the calibration plates so as to obtain measured distance values of the calibration plates, correction compensation values are calculated based on the measured distance values and the actual distance values, and the measured distance values of the calibration plates are compensated according to the correction compensation values, so that calibration results are obtained.
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Cited By (1)
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| CN112904320A (en) * | 2021-05-07 | 2021-06-04 | 深圳阜时科技有限公司 | Optical module testing method and system |
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