CN114782542A - Annular multi-camera calibration method and system for panoramic measurement of large target - Google Patents
Annular multi-camera calibration method and system for panoramic measurement of large target Download PDFInfo
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Abstract
The invention provides an annular multi-camera calibration method and system for large target panoramic measurement, and relates to the technical field of multi-camera calibration. According to the invention, an annular multi-camera measuring device is built according to the volume of a measured target; then, calibrating every two adjacent cameras based on the one-dimensional calibration target, and acquiring a target image between every two adjacent cameras; acquiring external parameters of each camera according to epipolar geometric constraint based on the target image, and establishing external parameter relationships among all the cameras; and finally, based on the relation between the internal parameters and the external parameters of each camera, realizing the global calibration of the annular multi-camera, and optimizing the parameters after the global calibration. The annular multi-camera calibration method does not need special equipment for assistance, and has high calibration quality; meanwhile, the annular multi-camera array built based on the calibration method can be flexibly built according to the size of the measured target, cannot be influenced by the size of the measured target, and has universality.
Description
Technical Field
The invention relates to the technical field of multi-camera calibration, in particular to an annular multi-camera calibration method and an annular multi-camera calibration system for panoramic measurement of a large target.
Background
In order to meet the needs of social development and technological progress, the requirements of measurement are also improved. Important fields such as high-precision tips and national defense industry play a great role in feedback correction for production, manufacturing and research, and panoramic high-precision related measurement of large-size measured objects in the fields is particularly important. However, the existing panoramic measurement methods have certain defects, such as low calibration precision during measurement, or no universality during measurement, and are incapable of measuring large-volume targets. Therefore, no ideal calibration technology can completely meet the requirement of large-target panoramic measurement so far.
The existing annular multi-camera calibration method generally utilizes a traditional Zhang Zhengyou calibration method to obtain internal parameters of each camera, a cylindrical target with a similar checkerboard is placed in the middle of an annular multi-camera array, each camera shoots a part of patterns of the target, a relationship between the cameras is established according to an overlapping area between adjacent cameras, a target image of the overlapping area of the cameras is identified, and target feature points are extracted; meanwhile, the characteristic points of the overlapping area are solved by adopting a Direct Linear Transformation (DLT) method, so that an external parameter relation between the annular camera arrays is established, global calibration is realized, and the panoramic measurement of a large target is completed.
However, the existing annular multi-camera calibration method can only be used for a measured object which is small in size and easy to move, and the calibration method is not practical for the measured object which is large in size and inconvenient to move; in addition, the existing annular multi-camera calibration method solves the external parameter relationship between the cameras by using a Direct Linear Transformation (DLT) method, and cannot meet the requirement of the development of the prior art on high measurement precision. Therefore, the existing annular multi-camera calibration technology cannot meet the high-precision panoramic measurement of a large target.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides an annular multi-camera calibration method and system for large target panoramic measurement, which solves the problem that the prior art cannot realize high-precision panoramic measurement of a large target object.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme:
in a first aspect, the present invention first provides a circular multi-camera calibration method for panoramic measurement of a large target, where the method includes:
building an annular multi-camera measuring device based on the volume of the measured target; calibrating every two adjacent cameras by using the device based on the one-dimensional calibration target, and acquiring a target image between every two adjacent cameras;
acquiring external parameters of each camera according to epipolar geometric constraint based on the target image, and establishing external parameter relationships among all the cameras;
and realizing global calibration of the annular multi-camera based on the relation between the internal parameters and the external parameters of each camera, and optimizing the parameters after global calibration.
Preferably, the annular multi-camera measuring device includes: the system comprises a plurality of cameras and light sources, wherein the cameras surround a measured object in a circular array, and the light sources are distributed between every two cameras.
Preferably, the optimizing the parameters of the global calibration includes: and optimizing the globally calibrated parameters by utilizing a re-projection error method.
Preferably, the internal parameters of the camera include the principal point and the respective focal lengths of the camera in orthogonal directions; the extrinsic parameters of the camera include a rotation matrix and a translation vector.
In a second aspect, the present invention further provides an annular multi-camera calibration system for panoramic measurement of a large target, the system comprising:
the target image acquisition module is used for calibrating every two adjacent cameras based on the one-dimensional calibration target by utilizing a pre-established annular multi-camera measuring device based on the volume of a measured target and acquiring a target image between every two adjacent cameras;
the camera external parameter acquisition module is used for acquiring external parameters of each camera according to epipolar geometric constraint based on the target image and establishing external parameter relationships among all the cameras;
and the camera calibration result acquisition module is used for realizing the global calibration of the annular multi-camera based on the relation between the internal parameters and the external parameters of each camera and optimizing the parameters after the global calibration.
Preferably, the annular multi-camera measuring device in the target image acquisition module comprises: the system comprises a plurality of cameras and light sources, wherein the cameras surround a measured object in a circular array, and the light sources are distributed between every two cameras.
Preferably, the optimizing the parameters of the global calibration in the camera calibration result obtaining module includes: and optimizing the globally calibrated parameters by utilizing a reprojection error method.
Preferably, the internal parameters of the camera include the principal point and the respective focal lengths of the camera in orthogonal directions; the extrinsic parameters of the camera include a rotation matrix and a translation vector.
(III) advantageous effects
The invention provides an annular multi-camera calibration method and system for large target panoramic measurement. Compared with the prior art, the method has the following beneficial effects:
1. the calibration method of the annular multi-camera is simple, does not need special equipment for assistance, and has high-precision calibration quality; meanwhile, the annular multi-camera array built based on the calibration method can be flexibly built according to the size of the measured target, cannot be influenced by the size of the measured target, and has universality;
2. compared with the conventional 2-dimensional plane target calibration mode, the calibration mode of the invention has the advantages of simpler structure and more convenient operation by adopting the 1-dimensional target for calibration;
3. the multi-camera calibration method can realize panoramic measurement of the target with larger volume, and is particularly suitable for the measurement work of the target to be measured with larger volume in the aerospace field;
4. the invention is based on the epipolar geometric constraint to simultaneously establish each camera, combines the global calibration parameter optimization, can ensure the accuracy and superiority of external parameters, and can improve the overall calibration precision of the whole multi-camera measuring device compared with the external parameter solving method adopting Direct Linear Transformation (DLT) in the prior art.
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, 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 the drawings without creative efforts.
Fig. 1 is an overall flowchart of an annular multi-camera calibration method for panoramic measurement of a large target according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a calibration timing structure of a ring-shaped multi-camera in an embodiment of the present invention;
FIG. 3 is a schematic view of a 1-dimensional calibration target in an embodiment of the present invention;
FIG. 4 is a schematic diagram of a relationship between a 1-dimensional calibration target and each feature point in the embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer and more complete description of the technical solutions in the embodiments of the present invention, it is obvious that the described embodiments are some, but not all, embodiments of the present invention. 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 embodiment of the application solves the problem that the prior art cannot realize high-precision panoramic measurement of a large target object by providing the annular multi-camera calibration method and the annular multi-camera calibration system for the large target panoramic measurement, and achieves the purpose of high-precision panoramic measurement of large-size and inconvenient moving objects.
In order to solve the technical problems, the general idea of the embodiment of the present application is as follows:
in order to meet the panoramic high-precision related measurement work of a large-size measured target in the fields of aerospace and the like, the technical scheme of the invention can utilize a plurality of cameras to build an annular multi-camera measuring device based on the volume of the measured target; and then, calibrating every two adjacent cameras by using the one-dimensional calibration targets, solving external parameters of each camera by using epipolar geometric constraint to complete global calibration of the annular multi-camera array, and finally optimizing the parameters after the global calibration, thereby realizing high-precision panoramic measurement of a large target object.
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
Example 1:
in a first aspect, the present invention first proposes a circular multi-camera calibration method for panoramic measurement of a large target, and referring to fig. 1, the method includes:
s1, building an annular multi-camera measuring device based on the volume of the measured target; the device is used for calibrating every two adjacent cameras based on the one-dimensional calibration target, and target images between every two adjacent cameras are obtained;
s2, acquiring external parameters of each camera according to epipolar geometric constraint based on the target image, and establishing external parameter relations among all cameras;
s3, based on the relation between the internal parameters and the external parameters of each camera, realizing the global calibration of the annular multi-camera, and optimizing the parameters after the global calibration.
Therefore, the calibration method of the annular multi-camera is simpler, does not need special equipment for assistance, and has high-precision calibration quality; meanwhile, the annular multi-camera array built based on the calibration method can be flexibly built according to the size of the measured target, cannot be influenced by the size of the measured target, and has universality.
The following describes the implementation of an embodiment of the present invention in detail with reference to fig. 1-4 and the explanation of the specific steps S1-S3.
The invention provides an annular multi-camera calibration method for large target panoramic measurement, which is mainly used for the panoramic measurement of large targets in the aerospace field (the panoramic measurement of large targets in other fields is also applicable). In practical use, the related accessories are assembled into an annular multi-camera measuring device, and then panoramic measurement is carried out on a large target. Fig. 2 is a schematic diagram of calibration of the annular multi-camera in the embodiment, referring to fig. 2, a specific operation flow of the annular multi-camera measuring device is set up as follows:
s1, building an annular multi-camera measuring device based on the volume of the measured target; the device is used for calibrating every two adjacent cameras based on the one-dimensional calibration target, and target images between every two adjacent cameras are obtained.
And S11, constructing a ring-shaped multi-camera measuring device based on the measured target volume.
This annular multi-camera measuring device includes: the system comprises a plurality of cameras surrounding a measured target by an annular array, a plurality of LED illuminating light sources distributed between every two cameras, a calibration plate, a camera synchronous trigger box, a control computer and the like.
1) According to the size of the measured target object, three or more than three gray-scale cameras are used for forming a ring-shaped camera array, and the ring-shaped camera array surrounds the measured target object. When the cameras are arranged, a certain overlapping area is kept between every two adjacent cameras.
2) A plurality of LED illumination light sources are provided. One LED light source is arranged between every two cameras. Many light sources multi-angle illumination is favorable to guaranteeing that every camera all has sufficient illumination, adopts the mode of little light ring as far as possible in the sufficient environment of illumination, is the camera light filling through the LED light source in the dim environment, and little light ring is favorable to the clear formation of image of camera. The light intensity entering each camera field of view is kept consistent as much as possible, meanwhile, the illumination is not too strong, and the later-stage measurement precision is influenced by an over-exposure point. The focal length of the lens is adjusted until sharp imaging is possible in the field of view of the camera.
S12, calibrating every two adjacent cameras by the built annular multi-camera measuring device based on the one-dimensional calibration target, and acquiring a target image between every two adjacent cameras.
And the targets are used for calibrating every two adjacent cameras, so that each target image can be captured by at least two cameras at the same time, and each camera captures four target images. The target is close to the surface of the measured target as much as possible during setting, so that the calibration precision is improved.
In this embodiment, a 1-dimensional calibration target is designed to calibrate two adjacent cameras, and at least three feature circles on the target can be observed by both the adjacent cameras in the calibration process. Fig. 3-4 are schematic diagrams of the 1-dimensional calibration target designed in this embodiment, and schematic diagrams of the relationship between the 1-dimensional calibration target and each feature point.
And S2, acquiring the extrinsic parameters of each camera according to epipolar geometric constraint based on the target image, and establishing the extrinsic parameter relationship among all cameras.
Each target image may be associated with two adjacent cameras, so taking a week of target images associates all cameras. An essential matrix containing camera extrinsic parameters can be solved from the target image according to Epipolar Geometry (Epipolar Geometry) constraints. Finally, all the camera external parameters are converted into the relation with one camera, and therefore the global calibration of the annular multi-camera array is completed.
Extrinsic parameters between cameras include rotation matrices and translation vectors. The process of solving the rotation matrix and the translation vector is described in detail below:
2.1) solving the characteristic points (circle centers).
And extracting edge points on the circular or elliptical profile by an edge detection algorithm, fitting the edge points into an ellipse, and further acquiring the circle center of the ellipse.
Since all feature points of the 1-dimensional target are theoretically on the same horizontal line at the beginning of design, we can find the extrinsic parameters between cameras based on this premise according to the following correlation formula.
2.2) solving the rotation matrix.
Because the 3-dimensional feature point P1、P2、P3、P4、P5、P6、P7、P8Is collinear, therefore, according to this characteristic, it is assumed that, in the field of view of the camera 1, feature points on the same horizontal line have a relationship as in equation (1):
wherein, P∞Is not provided withThe common linear characteristic points invisible in the poor distance are as follows:
rewriting the above formula can give the following formula (2):
after the space 3-dimensional point is projected to the 2-dimensional image plane, the corresponding relation in the x and y directions is unchanged, and the 2-dimensional image coordinate p of the corresponding characteristic pointiThere is also a relationship of equation (2), namely:
wherein p is1,p2,p3,p∞Are respectively P1、P2、P3、P∞Since the feature point pitch of the corresponding 2-dimensional image point is a known quantity, the vanishing point p with respect to the camera 1 can be solved from the equation (3)∞2-dimensional image coordinates. The 2-dimensional image coordinates of the vanishing points corresponding to all the cameras can be solved by adopting the same method.
Suppose that in the camera coordinate system of the ith camera, the image coordinate of the vanishing point at the k-th movement of the target is recorded as pik∞. Therefore, the unit direction vector of the target corresponding to the camera coordinate system of the i-th camera can be expressed as formula (4):
wherein e isikRepresenting a corresponding unit direction vector when the target moves for the k time under a camera coordinate system of the ith camera;
is an inverse matrix of the i-th sensor's internal parameters, based on the cancellation obtained by each cameraHomogeneous coordinates of vanishing points
The unit direction vector expressed in each camera can be calculated separately. Therefore, the rotation relationship between the camera 2 and the camera 1 can be associated by the unit direction vectors of the two, that is:
e2k＝R21·e1k (5)
wherein R is21Is the rotation matrix of camera 2 relative to camera 1.
Moving the 1-dimensional target twice, the cameras 1,2 have the following equation system relationship:
the rotational relationship between the cameras 1,2 expressed in unit direction vectors is:
R21＝[e21 e22 e21×e22]·[e11 e12 e11×e12]-1 (7)
and the rotation relation between the two cameras can be uniquely solved by moving the target twice.
2.3) solving the translation vector by using inverse rigid transformation.
Point P in camera 23kThe coordinates in the coordinate frame of camera 1 are
Point P3kAnd
the relationship between can be expressed as:
wherein, T21Representing the translation vector between cameras 1, 2.
The distance relationship between the characteristic points is as follows:
Li(i ═ 1,2,3) as known quantities, a further simplification of the above formula was made:
L1、L2、L3is a characteristic point
Are respectively connected with P1k、P2k、P3kSince the distance is known when the target is machined, the translation vector T between the cameras 1 and 2 can be solved by equation (10)21。
When two adjacent cameras are calibrated, only three feature points are needed to calculate the external parameters of the cameras, because every two cameras are calibrated, the relations among all the cameras are established by adopting epipolar geometric constraint (eight feature points are needed).
S3, based on the relation between the internal parameters and the external parameters of each camera, realizing the global calibration of the annular multi-camera, and optimizing the parameters after the global calibration.
In order to ensure the overall high precision of the annular multi-camera measuring device of the embodiment, the global calibration parameters of the annular multi-camera measuring device need to be optimized. The internal parameters of the camera can be obtained in advance by using a conventional checkerboard target (Zhangyingyou calibration method). And setting a constraint function related to the camera external parameters according to the concept of the re-projection error, and taking the corresponding camera external parameters when the re-projection error is minimum as a final calibration result, thus finishing the global optimization of the camera calibration parameters.
The reprojection error is defined by the actual and theoretical image points H, H', and a nonlinear minimization function is defined to complete the global calibration optimization of the system.
M, N respectively indicating the number of cameras and the number of corresponding points of the images; H. h' represents the actual and theoretical image points, respectively.
And globally optimizing the overall calibration precision of the system by adopting a Bundle Adjustment (BA) method so as to improve the overall performance of the system. The Levenberg-Marquardt (LM) algorithm is a common BA optimization algorithm, and is very suitable for optimizing J due to the high calculation speed and no limit of an initial value.
After parameter optimization, the whole high-precision calibration annular multi-camera measuring device can be obtained, and then the optimized device can be used for realizing panoramic measurement of a large-volume target.
Therefore, the whole process of the annular multi-camera calibration method for panoramic measurement of the large target is completed.
Example 2:
in a second aspect, the present invention further provides a circular multi-camera calibration system for panoramic measurement of a large target, the system comprising:
the target image acquisition module is used for calibrating every two adjacent cameras based on a one-dimensional calibration target by utilizing a pre-established annular multi-camera measuring device based on the volume of a measured target and acquiring a target image between every two adjacent cameras;
the camera external parameter acquisition module is used for acquiring external parameters of each camera according to epipolar geometric constraint based on the target image and establishing external parameter relationships among all the cameras;
and the camera calibration result acquisition module is used for realizing the global calibration of the annular multi-camera based on the relation between the internal parameters and the external parameters of each camera and optimizing the parameters after the global calibration.
Optionally, the annular multi-camera measuring device in the target image acquisition module includes: the system comprises a plurality of cameras and light sources, wherein the cameras surround a measured object in a circular array, and the light sources are distributed between every two cameras.
Optionally, the optimizing the parameters of the global calibration in the camera calibration result obtaining module includes: and optimizing the globally calibrated parameters by utilizing a reprojection error method.
Optionally, the internal parameters of the camera include the principal point and respective focal lengths of the camera in orthogonal directions; the extrinsic parameters of the camera include a rotation matrix and a translation vector.
It can be understood that, the annular multi-camera calibration system for large target panoramic measurement provided in the embodiment of the present invention corresponds to the above annular multi-camera calibration method for large target panoramic measurement, and the explanation, examples, and beneficial effects of the relevant contents thereof may refer to the corresponding contents in the annular multi-camera calibration method for large target panoramic measurement, and are not described herein again.
In summary, compared with the prior art, the method has the following beneficial effects:
1. the calibration method of the annular multi-camera is simple, does not need special equipment for assistance, and has high-precision calibration quality; meanwhile, the annular multi-camera array built based on the calibration method can be flexibly built according to the size of the measured target, cannot be influenced by the size of the measured target, and has universality;
2. compared with the conventional 2-dimensional plane target calibration mode, the calibration mode of the invention has the advantages of simpler structure and more convenient operation by adopting the 1-dimensional target for calibration;
3. the multi-camera calibration method can realize panoramic measurement of the target with larger volume, and is particularly suitable for the measurement work of the target to be measured with larger volume in the aerospace field;
4. the invention is based on the epipolar geometric constraint to simultaneously establish each camera, combines the global calibration parameter optimization, can ensure the accuracy and superiority of external parameters, and can improve the overall calibration precision of the whole multi-camera measuring device compared with the external parameter solving method adopting Direct Linear Transformation (DLT) in the prior art.
It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. An annular multi-camera calibration method for panoramic measurement of a large target, which is characterized by comprising the following steps:
building an annular multi-camera measuring device based on the volume of the measured target; calibrating every two adjacent cameras by using the device based on the one-dimensional calibration target, and acquiring a target image between every two adjacent cameras;
acquiring external parameters of each camera according to epipolar geometric constraint based on the target image, and establishing external parameter relationships among all the cameras;
and realizing global calibration of the annular multi-camera based on the relation between the internal parameters and the external parameters of each camera, and optimizing the parameters after the global calibration.
2. The method of claim 1, wherein the annular multi-camera measurement device comprises: the system comprises a plurality of cameras and light sources, wherein the cameras surround a measured object in a circular array, and the light sources are distributed between every two cameras.
3. The method as claimed in claim 1, wherein said optimizing the parameters of the global calibration comprises: and optimizing the globally calibrated parameters by utilizing a re-projection error method.
4. The method of claim 1, wherein the camera's internal parameters include a principal point and respective focal lengths of the camera in orthogonal directions; the extrinsic parameters of the camera include a rotation matrix and a translation vector.
5. An annular multi-camera calibration system for panoramic measurement of a large target, the system comprising:
the target image acquisition module is used for calibrating every two adjacent cameras based on a one-dimensional calibration target by utilizing a pre-established annular multi-camera measuring device based on the volume of a measured target and acquiring a target image between every two adjacent cameras;
the camera external parameter acquisition module is used for acquiring external parameters of each camera according to epipolar geometric constraint based on the target image and establishing external parameter relationships among all the cameras;
and the camera calibration result acquisition module is used for realizing the global calibration of the annular multi-camera based on the relation between the internal parameters and the external parameters of each camera and optimizing the parameters after the global calibration.
6. The system of claim 5, wherein the annular multi-camera measurement device in the target image acquisition module comprises: the system comprises a plurality of cameras and light sources, wherein the cameras surround a measured object in a circular array, and the light sources are distributed between every two cameras.
7. The system of claim 5, wherein the optimizing the parameters of the global calibration in the camera calibration result obtaining module includes: and optimizing the globally calibrated parameters by utilizing a re-projection error method.
8. The system of claim 5, wherein the camera's internal parameters include a principal point and a camera's respective focal lengths in orthogonal directions; the extrinsic parameters of the camera include a rotation matrix and a translation vector.
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