CN111260721A - Remote multi-camera alignment method, device and related equipment - Google Patents
Remote multi-camera alignment method, device and related equipment Download PDFInfo
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- CN111260721A CN111260721A CN202010031220.6A CN202010031220A CN111260721A CN 111260721 A CN111260721 A CN 111260721A CN 202010031220 A CN202010031220 A CN 202010031220A CN 111260721 A CN111260721 A CN 111260721A
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
Abstract
The invention discloses a remote multi-camera alignment method, a device and related equipment, wherein the method comprises the steps of selecting a camera as a central camera, respectively placing calibration sheets in the visual fields of the central camera and other cameras, photographing the calibration sheets, and respectively calculating the imaging mapping relation of the central camera and other cameras; calculating mapping relations among all cameras; and controlling the object stage to move for a preset distance, observing the imaging of the preset distance in the central camera, and determining the mapping relation between the object stage and the imaging of the central camera, thereby determining the mapping relation between the imaging of each camera and the object stage. After the alignment of a plurality of cameras is finished, the alignment between any one camera and the object stage is carried out, so that the alignment of the plurality of cameras is realized, and compared with the original method that each camera is aligned with the object stage respectively and is calibrated to a central point, the method has higher precision.
Description
Technical Field
The invention relates to the field of computer vision, in particular to a remote multi-camera alignment method, a remote multi-camera alignment device and related equipment.
Background
And calculating the position and the shape of the object in the three-dimensional space according to the object image acquired by the camera by adopting a high-precision printing device with visual positioning. The multi-camera system is beneficial to the 3D reconstruction of an object under higher precision and larger visual field range in the field of computer vision. The multi-camera system is applied to high-precision printing equipment, and the cameras need to be aligned to determine the mapping relation between the cameras and the object stage. The existing remote multi-camera alignment method adopts a method that each camera is aligned with an objective table respectively, so that the time consumption is long and the alignment precision is not high.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a remote multi-camera alignment method which can improve the accuracy of camera alignment.
The invention further provides a remote multi-camera alignment device.
The invention further provides high-precision printing equipment.
The invention also provides a computer readable storage medium.
In a first aspect, an embodiment of the present invention provides a remote multi-camera alignment method: for a high precision printing apparatus comprising a stage and a plurality of cameras, comprising:
selecting a camera as a central camera, respectively placing a calibration film in the visual fields of the central camera and other cameras, photographing the calibration film, and respectively calculating the imaging mapping relation of the central camera and other cameras;
calculating mapping relations among all cameras;
and controlling the object stage to move for a preset distance, observing the imaging of the preset distance in the central camera, and determining the mapping relation between the object stage and the imaging of the central camera, thereby determining the mapping relation between the imaging of each camera and the object stage.
The remote multi-camera alignment method provided by the embodiment of the invention at least has the following beneficial effects: the mapping relation between each camera and the central camera is determined through pairwise alignment of each camera and the central camera, the mapping relation between the cameras is determined through matrix transformation, the mapping relation between the object stage and the central camera is determined through comparing the preset moving distance of the object stage with the imaging of the central camera, and then the mapping relation between all the cameras and the object stage is determined, and the method is simple in calculation and high in calculation precision.
According to other embodiments of the present invention, a remote multi-camera alignment method, a center position calibration step, placing a reference product at a preset point of an object stage, taking a picture of the reference product by the camera, recording a reference position of the reference product,
and aligning, namely placing a product to be printed in an objective table, taking a picture of the product to be printed by the camera, recording the position of the product to be printed, calculating a path from the product to be printed to the reference position, and adjusting the product to be printed to the reference position by the objective table.
Further, the calibration sheet is a checkerboard.
Further, the method also comprises the steps of installing the cameras above the object stage, and adjusting the heights of the cameras to enable the cameras to clearly image.
Further, the preset distance includes a horizontal displacement and a rotation.
Further, the plurality of cameras includes a common field of view.
In a second aspect, an embodiment of the present invention provides a multi-camera positioning device, including:
the camera alignment unit is used for selecting one camera as a central camera, respectively placing the calibration films in the visual fields of the central camera and other cameras, photographing the calibration films, respectively calculating the imaging mapping relation of the central camera and other cameras, and further calculating the imaging mapping relation of all the cameras;
and the central alignment unit controls the object stage to move for a preset distance, observes the imaging of the preset distance in the central camera, and determines the mapping relation between the object stage and the imaging of the central camera, thereby determining the mapping relation between the imaging of each camera and the object stage.
In a third aspect, an embodiment of the present invention provides a high-precision printing apparatus, including:
at least one processor, and,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a remote multi-camera registration method as described.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium storing computer-executable instructions for causing a computer to perform the long-range multi-camera alignment method.
Drawings
Fig. 1 is a schematic flow chart of an embodiment of a remote multi-camera alignment method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a remote multi-camera alignment method according to an embodiment of the present invention;
fig. 3 is a schematic flow chart of a remote multi-camera alignment method according to another embodiment of the present invention.
Detailed Description
The concept and technical effects of the present invention will be clearly and completely described below in conjunction with the embodiments to fully understand the objects, features and effects of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and those skilled in the art can obtain other embodiments without inventive effort based on the embodiments of the present invention, and all embodiments are within the protection scope of the present invention.
In the description of the present invention, if an orientation description is referred to, for example, the orientations or positional relationships indicated by "upper", "lower", "front", "rear", "left", "right", etc. are based on the orientations or positional relationships shown in the drawings, only for convenience of describing the present invention and simplifying the description, but not for indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. If a feature is referred to as being "disposed," "secured," "connected," or "mounted" to another feature, it can be directly disposed, secured, or connected to the other feature or indirectly disposed, secured, connected, or mounted to the other feature.
In the description of the embodiments of the present invention, if "a number" is referred to, it means one or more, if "a plurality" is referred to, it means two or more, if "greater than", "less than" or "more than" is referred to, it is understood that the number is not included, and if "greater than", "lower" or "inner" is referred to, it is understood that the number is included. If reference is made to "first" or "second", this should be understood to distinguish between features and not to indicate or imply relative importance or to implicitly indicate the number of indicated features or to implicitly indicate the precedence of the indicated features.
Referring to fig. 1 and 2, in an embodiment of the present invention, a remote multi-camera alignment method is disclosed, which is used for a high-precision printing apparatus, where the high-precision printing apparatus includes an object stage 100 and a plurality of cameras (201, 202, and 203), and specifically includes the steps of:
s1, selecting one camera as a center camera, respectively placing a calibration sheet in the visual field of the center camera and the visual field of other cameras, photographing the calibration sheet, and respectively calculating the imaging mapping relation of the center camera and other cameras;
selecting a camera 202 as a center camera, placing a calibration film under the visual fields of the camera 201 and the camera 202, calculating the imaging mapping relation of the camera 201 and the camera 202 to obtain a calibration file 1, wherein the calibration file is generally a coordinate matrix which embodies X/Y axis proportion transformation, translation change, inclination conversion and the like between pixel point mappings of the camera 201 to the camera 202.
And (3) placing the calibration sheet under the visual fields of the camera 202 and the camera 203, completing the mapping calculation of the imaging of the camera 202 and the camera 203, and obtaining a calibration file 2.
S2, calculating the mapping relation among all cameras;
the coordinates of the calibration picture 1 under the camera 202, which are obtained through calculation of the calibration file 1, are taken as world coordinates, the coordinates of the calibration file 2, which are obtained through calculation of the calibration file 2, are taken as pixel coordinates, and the mapping relation between the world coordinates and the pixel coordinates of the calibration picture 1 is calculated, so that a calibration file 3 is generated.
And S3, controlling the object stage to move for a preset distance, observing the imaging of the preset distance in the central camera, and determining the mapping relation between the object stage and the imaging of the central camera, thereby determining the mapping relation between the imaging of each camera and the object stage.
In this embodiment, the object stage is rotated 3 degrees in the X direction and the Y direction, the imaging of the preset distance in the center camera is observed, and the mapping relationship between the object stage and the imaging of the center camera is determined, so that the mapping relationship between the imaging of each camera and the object stage is determined, and the calibration of the multiple cameras is completed by obtaining the calibration file 4.
After the alignment of the plurality of cameras is completed, the alignment between any one camera and the object stage is performed, so that the alignment of the plurality of cameras is realized, and compared with the original method that each camera is aligned with the object stage respectively and is calibrated to a central point, the method has higher precision.
Referring to fig. 3, in another embodiment further comprises:
a step of calibrating the central position, in which a reference product is placed at a preset point of an objective table, the camera photographs the reference product and records the reference position of the reference product,
and aligning, namely placing a product to be printed in the objective table, taking a picture of the product to be printed by the camera, recording the position of the product to be printed, calculating a path from the product to be printed to the reference position, and adjusting the product to be printed to the reference position by the objective table.
In another embodiment, the method further comprises the steps of mounting the plurality of cameras above the stage, adjusting the heights of the plurality of cameras to enable the cameras to image clearly, marking the piece as a checkerboard, and enabling the plurality of cameras to contain a common field of view, wherein the distance between the two cameras can be more than 500 mm. The center camera is preferably selected to be the camera in the middle position, which is beneficial to reducing errors.
The embodiment of the invention also discloses a remote multi-camera alignment device, which comprises:
the camera alignment unit is used for selecting one camera as a central camera, respectively placing the calibration films in the visual fields of the central camera and other cameras, photographing the calibration films, respectively calculating the imaging mapping relation of the central camera and other cameras, and further calculating the imaging mapping relation of all the cameras;
and the central alignment unit controls the object stage to move for a preset distance, observes the imaging of the preset distance in the central camera, and determines the mapping relation between the object stage and the imaging of the central camera, thereby determining the mapping relation between the imaging of each camera and the object stage.
The embodiment of the invention also discloses high-precision printing equipment, which comprises:
at least one processor, and,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a remote multi-camera registration method as described.
The embodiment of the invention also discloses a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used for enabling a computer to execute the remote multi-camera alignment method.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention. Furthermore, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.
Claims (9)
1. A remote multi-camera alignment method for a high precision printing apparatus comprising a stage and a plurality of cameras, comprising:
selecting a camera as a central camera, respectively placing a calibration film in the visual fields of the central camera and other cameras, photographing the calibration film, and respectively calculating the imaging mapping relation of the central camera and other cameras;
calculating mapping relations among all cameras;
and controlling the object stage to move for a preset distance, observing the imaging of the preset distance in the central camera, and determining the mapping relation between the object stage and the imaging of the central camera, thereby determining the mapping relation between the imaging of each camera and the object stage.
2. A remote multi-camera alignment method as claimed in claim 1, further comprising:
a step of calibrating the central position, in which a reference product is placed at a preset point of an objective table, the camera photographs the reference product and records the reference position of the reference product,
and aligning, namely placing a product to be printed in the objective table, taking a picture of the product to be printed by the camera, recording the position of the product to be printed, calculating a path from the product to be printed to the reference position, and adjusting the product to be printed to the reference position by the objective table.
3. A remote multi-camera alignment method as claimed in claim 1, wherein said calibration piece is a checkerboard.
4. The remote multi-camera alignment method as claimed in claim 1, further comprising the steps of mounting the plurality of cameras above the stage, and adjusting the heights of the plurality of cameras to make the images of the cameras clear.
5. A remote multi-camera alignment method as claimed in claim 1 wherein said predetermined distance comprises horizontal displacement and rotation.
6. A remote multi-camera alignment method as claimed in claim 1 wherein said plurality of cameras comprise a common field of view.
7. A remote multi-camera alignment apparatus, comprising:
the camera alignment unit is used for selecting one camera as a central camera, respectively placing the calibration films in the visual fields of the central camera and other cameras, photographing the calibration films, respectively calculating the imaging mapping relation of the central camera and other cameras, and further calculating the imaging mapping relation of all the cameras;
and the central alignment unit controls the object stage to move for a preset distance, observes the imaging of the preset distance in the central camera, and determines the mapping relation between the object stage and the imaging of the central camera, thereby determining the mapping relation between the imaging of each camera and the object stage.
8. A high precision printing apparatus, comprising:
at least one processor, and,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a remote multi-camera registration method as claimed in any one of claims 1 to 6.
9. A computer-readable storage medium storing computer-executable instructions for causing a computer to perform the remote multi-camera alignment method of any one of claims 1 to 6.
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