CN111710004B - Grid type thermal infrared camera calibration plate and calibration method - Google Patents
Grid type thermal infrared camera calibration plate and calibration method Download PDFInfo
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- CN111710004B CN111710004B CN202010559209.7A CN202010559209A CN111710004B CN 111710004 B CN111710004 B CN 111710004B CN 202010559209 A CN202010559209 A CN 202010559209A CN 111710004 B CN111710004 B CN 111710004B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- 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
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/13—Edge detection
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- G—PHYSICS
- 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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- 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
- G06T2207/10048—Infrared image
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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
- G06T2207/20—Special algorithmic details
- G06T2207/20112—Image segmentation details
- G06T2207/20164—Salient point detection; Corner detection
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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
- G06T2207/20—Special algorithmic details
- G06T2207/20172—Image enhancement details
- G06T2207/20192—Edge enhancement; Edge preservation
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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
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30244—Camera pose
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Abstract
The utility model relates to a calibration plate and a calibration method for a grid type thermal infrared camera, which comprises a square-shaped bottom plate, wherein each side edge of the bottom plate is provided with a scale plate and a conductive bar which have the same extending direction with the bottom plate, so that the scale plate and the conductive bar are distributed in a square shape; a plurality of carbon fiber heating wires are respectively arranged between two parallel conductive strips, and the extending direction of each carbon fiber heating wire is perpendicular to the conductive strips at two ends of the carbon fiber heating wire, so that the carbon fiber heating wires are distributed in a grid manner on the bottom plate.
Description
Technical Field
The disclosure belongs to the technical field of infrared camera calibration, and particularly relates to a grid type thermal infrared camera calibration plate and a calibration method.
Background
In the image measurement process and machine vision application, in order to determine the correlation between the three-dimensional geometric position of a certain point on the surface of a space object and the corresponding point in the image, a geometric model of camera imaging must be established, the geometric model parameters are camera parameters, and the process of solving the parameters is called camera calibration.
At present, the camera calibration technology is mainly applied to the field of visible light image processing, the calibration technology is relatively mature, and a corresponding calibration tool box or a packaged function is widely applied, wherein a checkerboard template is one of the most used calibration templates. However, since the infrared camera receives thermal infrared radiation of the target object, it cannot be calibrated by using the conventional checkerboard calibration plate, and for this reason, many researchers try to introduce a camera calibration method in the visible light field into calibration of the infrared camera by using an improved heatable checkerboard manner.
The inventor knows that the heatable calibration plate generally adopts objects made of different materials to manufacture the checkerboards, the temperature of the checkerboards is different by utilizing the difference of heat conduction of the checkerboards, and the generated thermal infrared gray level image is similar to the shape of a checkerboard. However, the difficulties of this approach are:
1. the large-area heating of the calibration plate hardly ensures the uniform distribution of the whole temperature, thereby causing the consistency of checkerboard thermal infrared imaging to be poor and being not beneficial to the subsequent image processing process.
2. Because the heat exists in a radiation form, the infrared images of the checkerboard grid have the conditions of edge thickening, blurring and even superposition, the imaging discrimination is not obvious as a color camera, and the correction accuracy is reduced.
3. The heat transfer between the checkerboards to each other causes the temperature difference between adjacent checkerboards to be less pronounced and the contrast of the infrared image to be reduced.
4. Heatable checkerboard manufacturing process is loaded down with trivial details, the processing degree of difficulty is big, and the size can not be revised by oneself according to user's needs, is unfavorable for the user to use.
Disclosure of Invention
The disclosure is directed to overcome the deficiencies of the prior art and to provide a calibration plate and a calibration method for a grid-type thermal infrared camera, which can solve one of the above technical problems.
In order to achieve the above object, a first aspect of the present disclosure provides a calibration plate for a grid-type thermal infrared camera, which includes a bottom plate shaped like a Chinese character 'hui', and a scale plate and a conductive strip that are arranged at each side of the bottom plate and have the same extending direction as the bottom plate, so that the scale plate and the conductive strip are distributed in a Chinese character 'hui' shape;
a plurality of carbon fiber heating wires are respectively arranged between two parallel conductive strips, and the extending direction of each carbon fiber heating wire is perpendicular to the conductive strips at two ends of the carbon fiber heating wire, so that the carbon fiber heating wires are distributed in a grid manner on the bottom plate. The surface of the carbon fiber heating wire is coated with an insulating coating so as to realize electrical insulation among different carbon fiber wires at intersection points.
As a further limitation of the first aspect, the scale plate is provided with scale marks on the surface thereof to realize positioning of the carbon fiber heating wire during installation.
As a further limitation of the first aspect, two through grooves and two through holes which are opposite to each other are respectively formed in the conductive strip and the bottom plate, a plurality of first bolts penetrate through the through grooves, and second bolts are installed in the through holes;
the first bolt is used for fixing the carbon fiber heating wire, and the second bolt is used for fixing an external input power line.
A second aspect of the present disclosure provides a calibration method for a thermal infrared camera, including the following steps:
arranging carbon fiber heating wires according to a set interval;
collecting a thermal infrared image of the heated grid calibration plate;
carrying out image edge detection, extracting grid edge pixels and carrying out linear fitting to obtain grid lines;
calculating coordinates of four intersection points near the intersection points of the grid lines, calculating an average value of the coordinates, and recording the average value as coordinates of corner points of the grid;
and inputting the coordinates of the angular points into the existing algorithm to calibrate the infrared camera.
The beneficial effects of one or more of the above technical solutions are as follows:
1. the traditional chessboard format calibration plate is improved into the grid format calibration plate, so that the manufacturing complexity is reduced, the manufacturing cost is reduced, the size and the number of grids can be designed by a user according to specific requirements, and the flexibility is improved.
2. The large-area heating of the checkerboard by the checkerboard calibration plate is improved to the heating of the grid lines only, so that the conditions of poor temperature controllability and uneven temperature distribution of the checkerboard are avoided.
3. The grid type calibration plate is designed to be of a square-shaped structure, so that the reflection effect on thermal radiation can be reduced, and the discrimination degree between grid lines and a background in an infrared image can be increased.
4. The corner point coordinates of the grid lines can be obtained by fitting the grid line edge pixels in the thermal infrared image, and then the rapid calibration of the thermal infrared camera can be realized by adopting the existing color camera calibration algorithm.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
Fig. 1 is a schematic front view of a partial structure in embodiment 1 of the present disclosure.
Fig. 2 is an exploded schematic view of the overall structure in example 1 of the present disclosure.
Fig. 3 is a schematic view of the overall structure after installation of the carbon fiber heating wire in embodiment 1 of the present disclosure.
Fig. 4 is an infrared imaging diagram of a grid calibration plate in example 2 of the present disclosure.
Fig. 5 is a schematic diagram illustrating the result of edge extraction performed by using the Canny algorithm in fig. 4 in embodiment 2 of the present disclosure.
Fig. 6 is a schematic diagram illustrating an effect of extracting grid line edge pixels in embodiment 2 of the present disclosure.
Fig. 7 is a diagram illustrating a result of performing a numerical description on the extracted grid line edge pixels in embodiment 2 of the present disclosure.
Fig. 8 is a schematic diagram of a result of performing line fitting on a two-dimensional scatter point in example 2 of the present disclosure.
Fig. 9 is a schematic diagram of a position mapping of the corner coordinates obtained from fig. 8 in fig. 4 in embodiment 2 of the present disclosure.
Fig. 10 is a flowchart illustrating a calibration method in embodiment 2 of the present disclosure.
1. A scale plate; 2. a conductive strip; 3. a base plate; 4. and (4) bolts. 5. A carbon fiber heating wire; 7. a first through hole; 8. a first through groove; 9. a second through hole; 10. a second through slot.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide a preferred description of the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
Example 1
As shown in fig. 1-3, the embodiment provides a calibration plate for a grid-type thermal infrared camera, which includes a rectangular bottom plate 3, and each side edge of the bottom plate 3 is provided with a scale plate 1 and a conductive strip 2 which have the same extending direction as the scale plate 1, so that the scale plate 1 and the conductive strip 2 are distributed in a rectangular shape;
a plurality of carbon fiber heating wires 5 are respectively arranged between the two conductive strips 2 which are parallel to each other, and the extending direction of each carbon fiber heating wire 5 is perpendicular to the conductive strips 2 at the two ends of the carbon fiber heating wire, so that the carbon fiber heating wires 5 are distributed in a grid manner on the bottom plate 3. The surface of the carbon fiber heating wire is coated with an insulating coating so as to realize electrical insulation among different carbon fiber wires at intersection points. The surface of the scale plate 1 is provided with scale marks to realize the positioning of the carbon fiber heating wire 5 during installation.
Two through grooves and two through holes which are opposite to each other are respectively arranged on the conductive bar 2 and the bottom plate 3, a plurality of first bolts 4 are installed in the through grooves in a penetrating mode, and second bolts 4 are installed in the through holes; the first bolt 4 is used for fixing the carbon fiber heating wire 5, and the second bolt 4 is used for fixing an external input power line.
Specifically, a first through groove 8 is arranged on the conductive strip 2, the extending direction of the first through groove 8 is the same as the extending direction of the conductive strip 2, and a first through hole 7 is arranged at one end of the first through groove 8;
each side edge of the bottom plate 3 is provided with a second through groove 10, the extending direction of the second through groove 10 is the same as the extending direction of the side edge, and one end of the second through groove 10 is provided with a second through hole 9; the first through hole 7 is opposite to the second through hole 9, and the first through groove 8 is opposite to the second through groove 10.
A plurality of carbon fiber heater strips 5 that are parallel to each other form carbon fiber heater strip 5 group, and the supply voltage of two carbon fiber heater strip 5 groups can independently be adjusted to change carbon fiber heater strip 5's temperature.
The conductive strips 2 are aluminum foil tapes.
One side of carbon fiber heater strip 5 is provided with temperature sensor, temperature sensor can the perception carbon fiber heater strip 5's temperature.
Example 2
As shown in fig. 4 to 10, the present embodiment provides a calibration method for a thermal infrared camera, including the following steps:
arranging carbon fiber heating wires 5 according to a set interval;
and adjusting the heating power supply to make the heating temperature of the carbon fiber heating wires 5 consistent.
Collecting a thermal infrared image of the heated grid calibration plate;
carrying out image edge detection, extracting grid edge pixels and carrying out linear fitting to obtain grid lines; specifically, each grid line pixel is fitted according to a straight line or a curve; or, the whole grid line pixel is fitted into a multi-segment straight line or a multi-segment curve or a combination of the multi-segment straight line and the multi-segment curve in a segmented mode.
Calculating coordinates of four intersection points near the intersection points of the grid lines, calculating an average value of the coordinates, and recording the average value as coordinates of corner points of the grid;
and inputting the coordinates of the angular points into the existing algorithm to calibrate the infrared camera.
In particular, the following description is made with reference to the accompanying drawings:
fig. 4 is an infrared imaging diagram of the grid calibration board, and it can be seen from the diagram that due to the hollow structure (forming a square shape), the distinction degree between the heating wire and the background is obvious, and the image processing requirement required by calibration can be met.
Fig. 5 shows the result of edge extraction performed by Canny algorithm on fig. 4, where both the edge information of the grid lines and other edge information irrelevant to calibration are contained, and therefore, fig. 5 needs to be further simplified to only reserve necessary grid line edges.
Fig. 6 shows the effect after extracting the grid line edge pixels, and the non-grid line edge pixels, the pixels near the grid line end points, and the pixels near the grid line intersection points are deleted, and only the grid line edge pixels with more stable information are retained.
Fig. 7 shows the result of numerically describing the extracted grid-line edge pixels, where each grid-line edge pixel is represented by a corresponding two-dimensional coordinate point.
Fig. 8 shows the result of straight line fitting on two-dimensional scatter, and the positions of line segment intersections are indicated by "o" symbols. The coordinate values of the grid corner points can be obtained by calculating the average value of the coordinates of the four intersection points near the intersection point of each grid line.
Fig. 9 shows a mapping of the positions of the corner point coordinates obtained from fig. 8 in fig. 4, where the corner point positions are indicated by an "x" sign. The infrared image acquired by the grid calibration board can accurately extract the corner coordinates at the intersection of the grids, and can meet the requirements of the existing calibration algorithm on image processing.
It will be appreciated that the entire gridline pixels may be fitted as a straight line or a curve, or the entire gridline pixels may be fitted as a plurality of straight lines or a plurality of curves or a combination of a plurality of straight lines and a plurality of curves in a segmented manner.
Or extracting coordinates of 4 corner points near the intersection point of the grid lines by using a corner point extraction algorithm, and then representing the coordinates of the corner points of the intersection point by using the average value of the coordinates.
From the above description, a specific calibration method using the calibration plate of the grid-type thermal infrared camera is shown in fig. 10.
Although the embodiments of the present disclosure have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present disclosure, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive changes in the technical solutions of the present disclosure.
Claims (8)
1. A calibration plate for a grid-type thermal infrared camera is characterized by comprising a square-shaped bottom plate, wherein each side edge of the bottom plate is provided with a scale plate and a conductive bar which have the same extending direction as the scale plate and the conductive bar, so that the scale plate and the conductive bars are distributed in a square shape;
a plurality of carbon fiber heating wires are respectively arranged between two conductive bars which are parallel to each other, and the extending direction of each carbon fiber heating wire is vertical to the conductive bars at two ends of the carbon fiber heating wire, so that the carbon fiber heating wires are distributed in a grid manner on the bottom plate;
two through grooves and two through holes which are opposite to each other are respectively arranged on the conductive bar and the bottom plate, a plurality of first bolts penetrate through the through grooves, and second bolts are arranged in the through holes;
the first bolt is used for fixing the carbon fiber heating wire, and the second bolt is used for fixing an external input power line;
a plurality of carbon fiber heater strips that are parallel to each other form carbon fiber heater strip group, and the supply voltage of two carbon fiber heater strip groups can independently be adjusted to change carbon fiber heater strip's temperature.
2. The calibration plate of a mesh-type thermal infrared camera according to claim 1, wherein the surface of the scale plate is provided with scale lines to realize positioning when the carbon fiber heating wire is installed.
3. A calibration plate for a grid-type thermal infrared camera according to claim 1, wherein the conductive strip is provided with a first through groove, the extending direction of the first through groove is the same as the extending direction of the conductive strip, and two ends of the first through groove are respectively provided with a first through hole;
a second through groove is formed in each side edge of the bottom plate, the extending direction of the second through grooves is the same as the extending direction of the side edges, and second through holes are formed in two ends of each second through groove respectively; the first through hole is opposite to the second through hole, and the first through groove is opposite to the second through groove.
4. A calibration plate for a mesh-type thermal infrared camera according to claim 1, wherein said conductive strips are aluminum foil tape.
5. The calibration plate of a mesh-type thermal infrared camera according to claim 1, wherein a temperature sensor is disposed at one side of the carbon fiber heating wire, and the temperature sensor can sense the temperature of the carbon fiber heating wire.
6. A calibration method of a thermal infrared camera based on the calibration plate of a grid type thermal infrared camera according to any one of claims 1 to 5, characterized by comprising the following steps:
arranging carbon fiber heating wires according to a set interval;
collecting a thermal infrared image of the heated grid calibration plate;
carrying out image edge detection, extracting grid edge pixels and carrying out linear fitting to obtain grid lines;
calculating coordinates of four intersection points near the intersection points of the grid lines, calculating an average value of the coordinates, and recording the average value as coordinates of corner points of the grid;
and inputting the coordinates of the angular points into the existing algorithm to calibrate the infrared camera.
7. The calibration method of the thermal infrared camera as claimed in claim 6, wherein before the thermal infrared image is collected, the heating power supply is adjusted so that the heating temperatures of the carbon fiber heating wires are consistent.
8. A calibration method for a thermal infrared camera according to claim 6, characterized in that each grid line pixel is fitted in a straight line or a curve;
or fitting the whole grid line pixel into a plurality of straight lines or a plurality of curves or a combination of the plurality of straight lines and the plurality of curves in a segmented mode.
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| CN113390514B (en) * | 2021-06-16 | 2022-11-11 | 中国人民解放军军事科学院国防工程研究院 | Three-dimensional infrared temperature measurement method based on multi-sensor array |
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