CN111239712A - Depth camera calibration and evaluation environment system - Google Patents
Depth camera calibration and evaluation environment system Download PDFInfo
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- CN111239712A CN111239712A CN202010066627.2A CN202010066627A CN111239712A CN 111239712 A CN111239712 A CN 111239712A CN 202010066627 A CN202010066627 A CN 202010066627A CN 111239712 A CN111239712 A CN 111239712A
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- depth camera
- linear motor
- target
- darkroom
- environment system
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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
Abstract
The application provides a depth camera calibration and evaluation environment system. The calibration and evaluation environment system is used for the calibration and evaluation test of the depth camera, and comprises: the device comprises a darkroom, a lint covered by low-reflectivity materials on the side wall of the darkroom, a target, a linear motor and a depth camera, wherein the target is arranged on the side wall of one side of the darkroom, the linear motor is arranged in the darkroom and is provided with an output end for carrying the depth camera, and the linear motor drives the depth camera on the linear motor to move based on instruction movement to carry out calibration and evaluation. The system uses a low-reflectivity environment to eliminate the influence of multiple light reflections during calibration and testing of the depth camera. Meanwhile, the high-precision positioning of the depth camera calibration and test is achieved by using the linear motor.
Description
Technical Field
The invention relates to the technical field of calibration and evaluation, in particular to a depth camera calibration and evaluation environment system.
Background
In recent years, with the development of optical measurement, depth cameras based on TOF (Time of Flight) technology have become mature, and they are beginning to be applied to the fields of three-dimensional measurement, gesture control, robot navigation, security, monitoring, and the like. The basic principle of the TOF depth camera is that modulated light emitted by an active light source of the TOF depth camera is reflected by a space target and then received by a sensor of the TOF depth camera, and the distance between the TOF depth camera and the space target is finally obtained by calculating the time difference between the emission and the reflection of the light. Since the speed of light is 300000km/s, the measurement of the entire time of flight is very short, with a distance resolution in the order of centimetres requiring a time measurement accuracy of 30 picoseconds for the system. It is difficult to maintain the time measurement accuracy of dozens of picoseconds in the measurement process of dozens of times per second for all pixel points on the sensor, so that the distance measurement error of the camera reaches dozens of centimeters.
There is therefore a need for a depth camera calibration and evaluation environment system that improves the accuracy of measurements through its calibration.
Disclosure of Invention
Therefore, the invention aims to provide an environmental system for evaluating and testing a TOF camera, and TOF camera correction for high-precision long-distance application can be carried out.
In order to achieve the purpose, the invention adopts the following technical scheme,
a depth camera calibration and evaluation environment system is characterized in that,
a darkroom, the side wall of which is covered with flannelette made of low-reflectivity material,
a target disposed on a side wall of the darkroom,
the linear motor is configured in the darkroom, the output end of the linear motor is used for carrying a depth camera, and the linear motor drives the depth camera on the linear motor to move based on the instruction movement so as to carry out calibration and evaluation. The method is used for calibrating and evaluating the depth camera, and the calibration precision is improved.
Preferably, the darkroom has a guide rail disposed on a floor of the darkroom, the linear motor being mounted on the guide rail to reciprocate on the guide rail based on a command,
the output end of the linear motor is also connected with an adjusting device, and a carrying platform for carrying a depth camera is arranged on the adjusting device.
Preferably, the camera calibration and evaluation environment system further comprises a laser collimator mounted at an output end of the linear motor for calibrating the depth camera.
Preferably, the surface of the target is provided with a material layer with a reflectivity of 94% or more.
Preferably, the total reflectance of the target is 95% or more.
Preferably, the side wall of the darkroom is provided with a low-reflection material with the reflectivity less than or equal to 1 percent.
Preferably, the reflectivity of the flannelette is less than or equal to 1 percent.
Preferably, the darkroom further includes a guide rail disposed on the floor, the guide rail having the linear motor mounted thereon for reciprocating movement on the guide rail based on a command, the output end of the linear motor is further connected to an adjustment device, the adjustment device is mounted with a stage, and the adjustment device is adjusted so that a plane of the stage is parallel to a plane of the target.
Preferably, the adjusting means is adjusted based on the laser collimator so that the plane of the stage is parallel to the plane of the target.
Preferably, the camera calibration and evaluation environment system, which adjusts the adjusting device based on the laser collimator, includes the following steps:
s1, mounting a collimator on a platform deck and placing a reflector at the center of a target;
s2, emitting light of the collimator to a reflector and reflecting the light to the collimator;
s3, calculating a deviation angle by the collimator based on the received reflected light, and adjusting the posture to enable the light to be vertical to the target surface;
s4, moving the reflector to an installation reference surface for installing the camera, emitting light rays onto the reflector, reflecting the light rays to the collimator through the reflector, and adjusting the installation reference surface to enable the installation reference surface of the camera to be perpendicular to the light rays emitted by the collimator;
and S5, completing the parallel correction of the installation reference surface of the camera and the target plane.
Advantageous effects
Compared with the scheme in the prior art, the invention has the advantages that: the method is used for the calibration and evaluation of the depth camera, and the correction target surface with high diffuse reflection is arranged in the depth camera. The corrected camera has high precision.
Drawings
The invention is further described with reference to the following figures and examples:
FIG. 1 is a schematic diagram of a depth camera calibration and evaluation environment system according to an embodiment of the invention;
FIG. 2 is a schematic diagram of the internal structure of the calibration and evaluation environment system of FIG. 1;
fig. 3 is a flowchart of an adjustment method of the parallelism of the carrier and the target according to the embodiment of the invention.
Detailed Description
The above-described scheme is further illustrated below with reference to specific examples. It should be understood that these examples are for illustrative purposes and are not intended to limit the scope of the present invention. The conditions employed in the examples may be further adjusted as determined by the particular manufacturer, and the conditions not specified are typically those used in routine experimentation.
The application provides a camera calibration and evaluation environmental system, it is used for calibration and evaluation test of depth camera, and this environmental system includes: the device comprises a totally-enclosed darkroom, a lint made of a low-reflectivity material, a high-precision motor which can rapidly move linearly and position, a high-reflectivity target, a depth camera and a laser collimator, wherein the side wall of the totally-enclosed darkroom is covered with the lint, the high-precision motor which can rapidly move linearly and position is arranged in the darkroom, the high-reflectivity target is arranged on the side wall of one side of the darkroom, the depth camera is arranged at the output end of the linear motor, and the. The system uses a low-reflectivity environment to eliminate the influence of multiple light reflections during calibration and testing of the depth camera. Meanwhile, the system solves the high-precision positioning of the calibration and the test of the depth camera. Preferably, the flannelette reflectivity test of the flannelette is less than 1 percent, so that the influence of multiple light reflections during the calibration and the test of the depth camera is eliminated, and the precision is provided.
The camera calibration and evaluation environment system proposed by the present application will be described with reference to the accompanying drawings,
fig. 1 is a schematic perspective view of a camera calibration and evaluation environment system, which includes: a darkroom 100 having an entrance 100a at one side thereof and a lint (not shown) coated with a low-reflectance material at an inner side wall thereof, and an inner structure thereof will be described with reference to fig. 2. The darkroom 100 includes a guide rail 101 disposed on the floor (bottom plate), a motor 102 mounted thereon for high-precision and rapid linear motion and positioning, and the motor 102 reciprocates on the guide rail 101 in response to a command, an adjustment device 103 mounted on the motor 102, a stage 104 mounted thereon, and a target 105 disposed on one side wall of the darkroom, the adjustment device 103 making the plane of the stage 104 parallel to the plane of the target 105. The high-reflectivity target is arranged in the darkroom and is arranged on the side wall of one side of the darkroom, and the high-reflectivity target is adopted to enable the light source of the depth camera to achieve high reflection energy. Preferably, the target has a total reflectance of greater than or equal to 95% (e.g., 95%, 96%, 97%) and a diffuse reflectance of greater than or equal to 94% (e.g., 94%, 95%, 96%, 97%). The lint reflectivity of the lint is less than or equal to 1 percent, so that a low-reflection environment except the target in a testing darkroom is formed. The parallelism of the reference plane of the depth camera and the target is corrected using a laser collimator.
The method for adjusting the parallelism of the stage and the target will be described in detail with reference to fig. 3.
S1, mounting a collimator on a platform deck and placing a reflector at the center of a target;
s2, emitting light of the collimator to a reflector and reflecting the light to the collimator;
s3, calculating a deviation angle by the collimator based on the received reflected light, and adjusting the posture to enable the light to be vertical to the target surface;
s4, moving a reflector (also called reflecting glass) to an installation reference surface for installing a camera, emitting light rays to the reflector, reflecting the light rays to the collimator by the reflector, and adjusting the installation reference surface to enable the installation reference surface of the camera to be vertical to the light rays emitted by the collimator;
and S5, completing the parallel correction of the installation reference surface of the camera and the target plane.
In the depth camera calibration and evaluation environment system, the calibration target surface with high diffuse reflection is provided. Preferably, the surface of the target surface is provided with an aqueous material layer with a reflectivity of more than or equal to 94 percent. The use of a high reflectivity target enables the light source of the depth camera to achieve high reflected energy. Preferably, the target surface is disposed on a side wall of the darkroom away from the entrance side (the side wall being perpendicular to the address/floor).
In the design of a darkroom, the darkroom is provided with an access opening, and the wall (side wall) in the darkroom is provided with a low-reflection material (such as flannelette, the reflectivity of the low-diffuse reflection material is less than or equal to 1 percent), so that the influence of multiple reflections of light during reflection in TOF depth camera evaluation and test can be eliminated.
In the design of a darkroom, in order to ensure high precision of evaluation and test of the TOF depth camera, a linear motor is arranged in the darkroom, the repeated positioning precision of the linear motor is less than 0.1mm, the effective test range is 6-20 (in the above embodiment, the effective test range 11 is adopted), and the acceleration reaches 2 g.
In the design of the linear motor, the output end of the linear motor is also connected with an adjusting device, and a carrying platform for carrying the depth camera is arranged on the adjusting device. The laser collimator is used for adjustment (the principle that light rays of the laser collimator are perpendicular to two planes is adopted, and the clamping and supporting device is parallel to the target surface), so that the plane of the carrying platform is parallel to the plane of the target (also called the target surface). The stage is sometimes also referred to as a clamping device.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (10)
1. A depth camera calibration and evaluation environment system is characterized in that,
a darkroom, the side wall of which is covered with flannelette made of low-reflectivity material,
a target disposed on a side wall of the darkroom,
the linear motor is configured in the darkroom, the output end of the linear motor is used for carrying a depth camera, and the linear motor drives the depth camera on the linear motor to move based on the instruction movement so as to carry out calibration and evaluation.
2. The depth camera calibration and evaluation environment system according to claim 1, further comprising a guide rail disposed in the darkroom, on which the linear motor is mounted to reciprocate on the guide rail based on a command, an output end of the linear motor being further connected to an adjusting device, on which a stage for mounting the depth camera is disposed.
3. The depth camera calibration and evaluation environment system of claim 1, further comprising a laser collimator mounted at an output of the linear motor for calibrating the depth camera.
4. The depth camera calibration and evaluation environment system of claim 1, wherein the surface of the target is configured with a material layer having a reflectivity of 94% or more.
5. The depth camera calibration and evaluation environment system of claim 4, wherein the total reflectance of the target is greater than or equal to 95%.
6. The depth camera calibration and evaluation environment system of claim 1, wherein the sidewalls of the darkroom are configured with a low-reflection material having a reflectivity of less than or equal to 1%.
7. The depth camera calibration and evaluation environment system of claim 1, wherein the reflectivity of the lint is ≦ 1%.
8. The depth camera calibration and evaluation environment system according to claim 1, wherein the darkroom further has a guide rail disposed on a floor, the guide rail having the linear motor mounted thereon for reciprocating movement on the guide rail based on a command, an output end of the linear motor is further connected to an adjusting device, the adjusting device is mounted with a stage, and the adjusting device is adjusted such that a plane of the stage is parallel to a plane of the target.
9. The depth camera calibration and evaluation environment system of claim 8, wherein the adjustment device is adjusted based on a laser collimator such that the plane of the stage is parallel to the plane of the target.
10. The depth camera calibration and evaluation environment system of claim 9, wherein adjusting the adjustment device based on the laser collimator comprises the steps of:
s1, mounting a collimator on a platform deck and placing a reflector at the center of a target;
s2, emitting light of the collimator to a reflector and reflecting the light to the collimator;
s3, calculating a deviation angle by the collimator based on the received reflected light, and adjusting the posture to enable the light to be vertical to the target surface;
s4, moving the reflector to an installation reference surface for installing the camera, emitting light rays onto the reflector, reflecting the light rays to the collimator through the reflector, and adjusting the installation reference surface to enable the installation reference surface of the camera to be perpendicular to the light rays emitted by the collimator;
and S5, completing the parallel correction of the installation reference surface of the camera and the target plane.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010066627.2A CN111239712A (en) | 2020-01-20 | 2020-01-20 | Depth camera calibration and evaluation environment system |
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Application publication date: 20200605 |