CN114842086A - Camera calibration method, device, equipment, system and storage medium - Google Patents

Abstract

The application provides a camera calibration method, device, equipment, system and storage medium, and relates to the field of camera calibration. The method comprises the steps of obtaining a serial number of a camera to be calibrated, and determining a motion track corresponding to the serial number; controlling a mechanical arm to drive the camera to move according to the motion trail corresponding to the serial number in a preset acquisition time period, and controlling the camera to acquire a calibration image through a shooting calibration plate in the moving process; the camera is mounted on the mechanical arm; and acquiring a calibration image acquired by the camera, and recording the calibration image according to the serial number. The calibration image acquired by the embodiment of the application is acquired by the camera in the motion process, so that the embodiment of the application determines the calibration image according to the calibration image acquired by the camera in motion, determines the calibration parameters of different cameras and reduces the cost of camera calibration.

Description

Camera calibration method, device, equipment, system and storage medium

Technical Field

The present application relates to the field of camera calibration, and in particular, to a camera calibration method, apparatus, device, system, and storage medium.

Background

With the progress of science and technology, image processing technology has also begun to play a significant role in various fields, such as the public transportation field, the agricultural technology field, and the aviation field. With the development of image technology, the requirement on image precision is higher and higher. In the field of artificial intelligence, the position information of the robot in the environment is obtained through the information captured by the camera, fine processing needs to be performed on image data, and especially, the influence caused by small deviation and distortion of the optical center in the camera production process is very large.

Currently, cameras include monocular cameras, and IMU cameras mounted with Inertial Measurement Units (IMUs). The existing camera calibration method does not support the calibration of different types of cameras, and is not suitable for efficiently calibrating the cameras in batches to obtain the calibration parameters of the cameras; therefore, the existing calibration method is not only high in cost, but also low in efficiency.

Disclosure of Invention

In order to solve the existing technical problem, embodiments of the present application provide a camera calibration method, apparatus, device, system, and storage medium, so as to reduce the cost of camera calibration.

In order to achieve the above purpose, the technical solution of the embodiment of the present application is implemented as follows:

in a first aspect, an embodiment of the present application provides a camera calibration method, where the method includes:

acquiring a serial number of a camera to be calibrated, and determining a motion track corresponding to the serial number;

controlling a mechanical arm to drive the camera to move according to the motion trail corresponding to the serial number in a preset acquisition time period, and controlling the camera to acquire a calibration image through a shooting calibration plate in the moving process; the camera is mounted on the mechanical arm;

and acquiring a calibration image acquired by the camera, and recording the calibration image according to the serial number.

According to the embodiment of the application, the motion trail corresponding to the serial number is determined by acquiring the serial number of the camera; controlling the mechanical arm to drive the camera to move according to the motion track corresponding to the serial number in a preset acquisition time period, and controlling the camera to acquire a calibration image through shooting a calibration plate in the moving process; then, calibration images acquired by the camera are acquired, and the calibration images are recorded according to the serial numbers, so that the calibration parameters of different types of cameras are determined according to the calibration images acquired by the camera in a motion state, and the calibration cost is reduced.

In an optional embodiment, after obtaining the calibration image acquired by the camera and recording the calibration image according to the serial number, the method further includes:

in a preset replacement time period, replacing a camera mounted on the mechanical arm with a camera which does not acquire a calibration image, acquiring a serial number of the replaced camera, and determining a motion track corresponding to the replaced camera according to the serial number; the replacement period and the acquisition period alternate continuously and periodically.

According to the camera calibration method and device, after the calibration images collected by the camera are obtained, the camera mounted on the mechanical arm is replaced by the camera which does not collect the calibration images in the preset replacement time period, and the motion track corresponding to the replaced camera is determined according to the obtained serial number of the replaced camera, so that the calibration images collected by the replaced camera in the motion process are obtained when the collection time period begins after the replacement time period is finished, and the collection efficiency of the calibration images is improved.

In an optional embodiment, after obtaining the calibration image acquired by the camera and recording the calibration image according to the serial number, the method further includes:

and sending the calibration image to the calibration equipment so that the calibration equipment determines the calibration parameters corresponding to the camera according to the calibration image.

According to the embodiment of the application, after the calibration image acquired by the camera is acquired and recorded according to the serial number, the calibration image is sent to the calibration equipment, and the calibration parameters corresponding to the camera are determined through the calibration equipment, so that the calibration efficiency is improved.

An optional implementation manner is that, before acquiring a serial number of a camera and determining a motion track corresponding to the serial number, the method further includes:

according to the size of a calibration board, the field angle of the camera and the distance between the camera and the calibration board, respectively determining the position points of the mechanical arm when the calibration board appears at the left lower corner, the right lower corner, the left upper corner, the right upper corner and the center of the field angle of the camera;

and determining the motion range of the mechanical arm according to the determined position point of the mechanical arm.

According to the embodiment of the application, the position points of the mechanical arm are determined when the calibration board appears at the left lower corner, the right lower corner, the left upper corner, the right upper corner and the center of the camera view angle according to the size of the calibration board, the camera view angle and the distance between the camera and the calibration board; determining the motion range of the mechanical arm according to the position point of the mechanical arm; and the mechanical arm moves in the determined movement range according to the preset track, so that the calibration images acquired by the camera in the movement process all contain complete calibration plate images, and the calibration precision is improved when the calibration parameters are determined according to the calibration images containing the complete calibration plate.

In a second aspect, an embodiment of the present application provides a camera calibration apparatus, including:

the determining unit is used for acquiring a serial number of a camera to be calibrated and determining a motion track corresponding to the serial number;

the control unit is used for controlling the mechanical arm to drive the camera to move according to the motion trail corresponding to the serial number in a preset acquisition time period and controlling the camera to acquire a calibration image through a shooting calibration plate in the motion process; the camera is mounted on the mechanical arm;

and the acquisition unit is used for acquiring the calibration image acquired by the camera and recording the calibration image according to the serial number.

An optional implementation manner is that, after acquiring the calibration image acquired by the camera and recording the calibration image according to the serial number, the determining unit is specifically configured to:

in a preset replacing time period, replacing a camera installed on the mechanical arm with a camera which does not acquire a calibration image, acquiring a serial number of the replaced camera, and determining a motion track corresponding to the replaced camera according to the serial number; the replacement period and the acquisition period alternate continuously and periodically.

In an optional embodiment, after acquiring the calibration image acquired by the camera and recording the calibration image according to the serial number, the acquiring unit is further configured to:

and sending the calibration image to the calibration equipment so that the calibration equipment determines the calibration parameters corresponding to the camera according to the calibration image.

An optional embodiment is that, before acquiring a serial number of a camera and determining a motion track corresponding to the serial number, the determining unit is further configured to:

according to the size of a calibration board, the field angle of the camera and the distance between the camera and the calibration board, respectively determining the position points of the mechanical arm when the calibration board appears at the lower left corner, the lower right corner, the upper left corner, the upper right corner and the center of the field angle of the camera;

and determining the motion range of the mechanical arm according to the determined position point of the mechanical arm.

In a third aspect, an embodiment of the present application provides a control device, including a memory and a processor, where the memory stores a computer program executable on the processor, and when the computer program is executed by the processor, the processor is enabled to implement the method for calibrating a camera according to any one of the first aspect.

In a fourth aspect, an embodiment of the present application provides a camera calibration system, including a control device, a calibration device, a mechanical arm, and a camera;

the control equipment is used for acquiring a serial number of a camera to be calibrated and determining a motion track corresponding to the serial number; controlling a mechanical arm to drive the camera to move according to the motion trail corresponding to the serial number in a preset acquisition time period, and controlling the camera to acquire a calibration image through a shooting calibration plate in the moving process; acquiring a calibration image acquired by the camera, and recording the calibration image according to the serial number; sending the calibration image to the calibration equipment, replacing a camera mounted on the mechanical arm with a camera which does not acquire the calibration image in a preset replacement time period, acquiring a serial number of the replaced camera, and determining a motion track corresponding to the replaced camera according to the serial number; the replacement time period and the acquisition time period are periodically and continuously alternated;

the mechanical arm is used for driving the camera to move according to the motion trail corresponding to the serial number;

the camera is used for acquiring a calibration image by shooting the calibration plate in the motion process;

the calibration equipment is used for determining calibration parameters corresponding to the camera according to the received calibration image sent by the control equipment; if the calibration parameters are detected to be unqualified, performing secondary calibration on the camera corresponding to the calibration parameters; and if the calibration parameters are detected to be qualified, storing the calibration parameters according to the serial numbers.

In a fifth aspect, embodiments of the present application provide a computer storage medium, in which computer program instructions are stored, and when the instructions are run on a computer, the instructions cause the computer to execute the camera calibration method in any one of the first aspects.

For technical effects brought by any one implementation manner of the second aspect to the fifth aspect, reference may be made to technical effects brought by a corresponding implementation manner of the first aspect, and details are not described here.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic flow chart of a camera calibration method according to an embodiment of the present application;

FIG. 2 is a diagram illustrating a timing control diagram according to an embodiment of the present disclosure;

fig. 3 is a complete flowchart of a camera calibration method according to an embodiment of the present disclosure;

fig. 4 is a schematic diagram of a camera calibration system according to an embodiment of the present application;

fig. 5 is an interactive information diagram of a camera calibration method according to an embodiment of the present application;

fig. 6 is a block diagram of a camera calibration apparatus according to an embodiment of the present application;

fig. 7 is a schematic structural diagram of a control device according to an embodiment of the present application.

Detailed Description

In order to make the technical solutions of the present disclosure better understood by those of ordinary skill in the art, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

At present, the existing camera calibration method can only calibrate one type of camera, and cannot efficiently calibrate the cameras in batches to determine the calibration parameters of the cameras.

Based on the above problem, as shown in fig. 1, an embodiment of the present application provides a camera calibration method, which is applied to a control device, and includes the following steps:

step S101, obtaining a serial number of a camera to be calibrated, and determining a motion track corresponding to the serial number.

In some embodiments, the control device may obtain the serial number of the camera to be calibrated by scanning the camera to be calibrated.

In other embodiments, the camera to be calibrated may be scanned by another device, and after the serial number of the camera to be calibrated is determined, the determined serial number is sent to the control device.

Step S102, controlling the mechanical arm to drive the camera to move according to a motion track corresponding to the serial number in a preset acquisition time period, and controlling the camera to acquire a calibration image through shooting a calibration plate in the moving process; the camera is mounted on the mechanical arm.

In some embodiments, in a preset acquisition time period, the control device may control the robot arm to drive the camera to move by sending a movement instruction including a movement trajectory to the robot arm; the mechanical arm moves according to a received motion instruction and a preset motion track, and a camera mounted on the mechanical arm moves along with the mechanical arm; and the control equipment sends an image acquisition instruction to the camera while sending a motion instruction to the mechanical arm, controls the camera to be started, and shoots the calibration plate to acquire a calibration image in the motion process.

And step S103, acquiring a calibration image acquired by the camera, and recording the calibration image according to the serial number.

In some embodiments, after acquiring the calibration image acquired by the camera, the control device records the acquired calibration image according to the serial number of the camera.

According to the embodiment of the application, the motion trail corresponding to the serial number is determined by acquiring the serial number of the camera; controlling the mechanical arm to drive the camera to move according to the motion track corresponding to the serial number in a preset acquisition time period, and controlling the camera to acquire a calibration image through shooting a calibration plate in the moving process; then, calibration images acquired by the camera are acquired, and the calibration images are recorded according to the serial numbers, so that the calibration parameters of different types of cameras are determined according to the calibration images acquired by the camera in a motion state, and the calibration cost is reduced.

In some embodiments, the control device determines the motion range of the mechanical arm before acquiring the serial number of the camera to be calibrated and determining the motion track corresponding to the serial number, and then determines the motion track of the mechanical arm according to the motion range of the mechanical arm.

In specific implementation, the motion range of the mechanical arm can be determined by the following modes:

in some embodiments, the control device determines, according to the size of the calibration board, the angle of view of the camera, and the distance between the camera and the calibration board, the position points of the robot arm when the calibration board appears at the lower left corner, lower right corner, upper left corner, upper right corner, and center position of the angle of view of the camera, respectively; and the control equipment determines the motion range of the mechanical arm.

In one embodiment, the camera can be driven to move by fixing the calibration plate and moving the mechanical arm, so that the position of the calibration plate shot by the camera changes, and the position point to which the mechanical arm moves when the calibration plate appears at the lower left corner, the lower right corner, the upper left corner, the upper right corner and the central position of the camera view angle is determined; and determining the motion range of the mechanical arm according to the determined position point of the mechanical arm.

In another embodiment, the camera is fixed, the calibration board is moved, and the position points of the calibration board when the calibration board appears at the lower left corner, the lower right corner, the upper left corner, the upper right corner and the central position of the field angle of view of the camera are respectively determined; determining a position point corresponding to the camera when the calibration plate is fixed according to the position corresponding relation between the calibration plate and the camera; determining the position point of the mechanical arm according to the position of the camera mounted on the mechanical arm and the determined position point of the camera; and determining the motion range of the mechanical arm according to the determined position point of the mechanical arm.

In a specific implementation, the control device may determine a three-dimensional space formed by the position points according to the determined position points of the mechanical arm, and use the determined three-dimensional space as a motion range of the mechanical arm.

The camera in the embodiment of the application can completely shoot the calibration plate in the motion range of the mechanical arm, namely when the camera moves in the motion range of the mechanical arm, the calibration plate is always completely positioned in the field angle of the camera.

It should be noted that, in the embodiment of the present application, the movement range of the robot arm may be determined by the control device, and the movement range of the robot arm may also be determined by other devices, which is not limited herein.

In some embodiments, after determining the motion range of the mechanical arm, the control device determines a motion track corresponding to the serial number according to the acquired serial number of the camera to be calibrated.

In some embodiments, the control device records the movement track of the mechanical arm according to the track information when the mechanical arm moves.

It should be noted that the track information includes position information and angle information.

In one embodiment, the control device selects a plurality of track position points from the periphery of the determined 5 position points of the mechanical arm, controls the mechanical arm to move to each track position point in sequence, and records the motion track of the mechanical arm as the motion track a.

Note that the locus point is within the range of motion of the robot arm. Shooting the calibration plate at a plurality of track position points respectively by a camera, and collecting calibration images; the pixel points representing the calibration plate in the calibration images collected by the camera can completely cover all the pixel points in the calibration images.

In another embodiment, the control device controls the mechanical arm to perform continuous motion by taking a position point of the mechanical arm when the calibration plate is at the central position of the camera view angle as a reference position point, and records a motion track of the mechanical arm as a motion track B. For example, the robot arm may be continuously moved up, down, left, right, and front and back around the reference position point, rotated around the X, Y, and Z axes of the robot arm, or moved around the reference position point in a figure 8 manner.

It should be noted that the camera can always completely shoot the calibration board when the mechanical arm performs continuous motion.

In some embodiments, the control device selects a plurality of trajectory position points from the determined periphery of the 5 position points of the mechanical arm, controls the mechanical arm to move to each trajectory position point in sequence, and records the motion trajectory of the mechanical arm as the motion trajectory C.

The motion trajectory C may be the same as or different from the motion trajectory a, and is not limited herein.

The time of the mechanical arm moving according to the motion track a in the embodiment of the present application is the same as the time of the mechanical arm moving according to the motion track B, C, and is the same as the preset acquisition time period.

In some embodiments, the control device establishes a correspondence table between the serial number and the motion trajectory according to the recorded motion trajectory of the mechanical arm and the serial number of the camera, and sends the determined motion trajectory to the mechanical arm, so that the mechanical arm moves according to the pre-stored motion trajectory after receiving the motion instruction.

In some embodiments, after the serial number of the camera to be calibrated is acquired, the control device determines a motion trajectory corresponding to the serial number according to a preset correspondence table between the serial number and the motion trajectory.

It should be noted that cameras of different models correspond to different motion trajectories, and cameras of the same model correspond to the same motion trajectory.

For example, the control device determines a motion trajectory corresponding to a serial number according to a preset correspondence table between the serial number and the motion trajectory, as shown in table 1:

TABLE 1 Table of the corresponding relationship between the serial number and the motion trail

Wherein D-001 to D-N in Table 1 represent the serial numbers of the multi-view cameras; s-001 to S-N represent serial numbers of monocular cameras, I-001 to I-N are serial numbers of IMU cameras.

In some embodiments, after the control device determines the motion track corresponding to the serial number of the camera, the mechanical arm is controlled to drive the camera to move according to the motion track corresponding to the serial number in a preset acquisition time period, and the camera is controlled to acquire a calibration image through shooting the calibration plate in the moving process.

In specific implementation, the camera in the embodiment of the present application may acquire the calibration image in the following manner:

in some embodiments, when the motion trajectory a is a motion trajectory of the mechanical arm performing smooth continuous motion, the camera continuously acquires the calibration image during the motion process according to the motion trajectory a under the driving of the mechanical arm.

In other embodiments, when the motion trajectory a is a motion trajectory in which the mechanical arm stops for a preset time when moving to each trajectory position point in sequence, the camera collects calibration images within a preset time after reaching the trajectory position point in the process of moving according to the motion trajectory a under the driving of the mechanical arm.

In some embodiments, the camera continuously acquires the calibration image during the movement process according to the movement track B under the driving of the mechanical arm.

The control device in the embodiment of the application acquires the calibration image acquired by the camera after controlling the camera to acquire the calibration image, and records the acquired calibration image according to the serial number of the camera.

In some embodiments, when the motion trajectory corresponding to the serial number is the motion trajectory a, the control device acquires a calibration image acquired by the camera, and records the acquired calibration image as a calibration data set according to the serial number.

For example, when the serial number of the camera is S-001, and the motion track corresponding to S-001 is determined to be the motion track A, the control device records the acquired calibration image as an S-001-A calibration data set.

In other embodiments, when the motion trajectory corresponding to the serial number of the camera is the motion trajectory B, C, the control device acquires the sensor data of the camera during the motion process while acquiring the calibration image acquired by the camera, and records the acquired calibration image and the sensor data as the calibration data set according to the serial number.

It should be noted that the control device controls the robot arm to move according to the sequence of the motion trajectory B, C; or the control device controls the robot arm to move in the order of the movement locus C, B.

For example, when the control device calibrates the IMU camera, after determining that the serial number of the IMU camera is I-001, according to the correspondence table between the serial number and the motion trajectory, determining that the motion trajectory corresponding to I-001 is the motion trajectory B, C; the control equipment records a calibration image I-001-C calibration data set acquired by the camera when the mechanical arm is controlled to move according to the motion track C and records a calibration image acquired by the camera and sensor data acquired by the mechanical arm when the mechanical arm is controlled to move according to the motion track B as an I-001-B calibration data set.

In some embodiments, the control device sends the calibration data set to the calibration device after acquiring the calibration image collected by the camera and recording the calibration image as the calibration data set, and changes the camera mounted on the mechanical arm to the camera which does not collect the calibration image in a preset change time period, acquires the serial number of the changed camera, and determines the motion track corresponding to the changed camera according to the serial number.

The control device in the embodiment of the present application simultaneously executes the two operations after acquiring the calibration image and recording the calibration image according to the serial number, and the two operations are described below.

And operating the first step, and sending the acquired calibration image to the calibration equipment by the control equipment.

In some embodiments, after acquiring the calibration image acquired by the camera and recording the calibration image according to the serial number, the control device sends the calibration image to the calibration device, so that the calibration device determines the calibration parameters corresponding to the camera according to the calibration image.

In specific implementation, the control device sends the calibration data set to the calibration device after acquiring the calibration image acquired by the camera and recording the calibration image as the calibration data set.

In some embodiments, after receiving the calibration data set, the calibration apparatus determines calibration parameters corresponding to the camera according to the calibration data set.

For example, after the calibration device receives the S-001-a calibration data set, the calibration device determines the calibration parameters corresponding to the monocular camera according to the calibration images in the calibration data set.

It should be noted that the calibration parameters include internal parameters and external parameters of the camera.

In some embodiments, the calibration device determines internal parameters corresponding to the camera according to the calibration image in the received calibration data set; and determining external parameters corresponding to the camera according to the determined internal parameters and the calibration image.

For example, after the calibration equipment receives the D-001-A calibration data set, the internal parameters corresponding to the binocular camera are determined according to the calibration images in the calibration data set; and determining images of the vision cross part of the cameras in the binocular camera according to the calibration images, and determining external parameters between the cameras of the binocular camera according to the determined internal parameters.

In other embodiments, the calibration device determines internal parameters corresponding to the camera according to the calibration image in the received calibration data set; the calibration equipment determines camera sensor parameters according to the serial number corresponding to the received calibration data set, and determines external parameters corresponding to the camera according to the determined internal parameters and the sensor parameters of the camera.

For example, after the calibration equipment receives an I-001-A calibration data set and an I-001-B calibration data set, the internal parameters corresponding to the IMU camera are determined according to the calibration images in the I-001-A calibration data set; and determining external parameters corresponding to the IMU camera according to the determined internal parameters, the calibration image in the I-001-B calibration data set and the IMU sensor parameters, such as the relative position relationship between a camera in the IMU camera and the IMU, and the external parameters of a visual optical center coordinate system and an IMU coordinate system of the IMU camera.

It should be noted that the calibration device may process the calibration image in series to determine the calibration parameters corresponding to the camera, or process the calibration image in parallel to determine the calibration parameters corresponding to the camera, which is not limited herein.

In some embodiments, after determining the calibration parameters corresponding to the camera, the calibration device detects the determined calibration parameters.

In specific implementation, the calibration device may detect the calibration parameter in the following manner:

in some embodiments, the calibration device determines a projection error corresponding to the camera according to the determined calibration parameter; if the calibration equipment determines that the projection error is smaller than or equal to a preset threshold value, determining that the calibration parameters are qualified; and if the calibration equipment determines that the projection error is larger than the preset threshold value, determining that the calibration parameter is unqualified.

In some embodiments, after the calibration device detects that the calibration parameters are qualified, the calibration parameters are stored according to the serial number of the camera.

According to the embodiment of the application, the calibration parameters can be input into the camera through a control program of the camera, or the calibration parameters of the camera can be written into hardware of the camera.

In other embodiments, the calibration device sends a notification to the control device after detecting that the calibration parameter is not qualified; and after receiving the notice sent by the calibration equipment, the control equipment performs multiple times of calibration on the camera corresponding to the unqualified calibration parameters, and if the multiple times of calibration parameters are determined to be unqualified, the camera is determined to be an unqualified camera.

And operating II, controlling equipment to replace the camera.

In some embodiments, the control device changes a camera mounted on the mechanical arm to a camera which does not acquire a calibration image in a preset change time period, acquires a serial number of the changed camera, and determines a motion trajectory corresponding to the changed camera according to the serial number.

It should be noted that the replacement period and the acquisition period are periodically and continuously alternated.

In some embodiments, the control device may replace the camera mounted on the robotic arm with a camera that does not acquire calibration images by:

in some embodiments, the control device controls the mechanical arm to replace a camera mounted on the mechanical arm with a camera that does not acquire a calibration image in a preset replacement time period.

In other embodiments, the control device sends a signal for replacing the camera in a preset replacement time period, and the camera mounted on the mechanical arm is manually replaced by the camera which does not acquire the calibration image.

In some embodiments, during the camera calibration process, the control device may control the robot arm, the camera, and the calibration device according to a preset timing control program.

For example, as shown in fig. 2, event P0 is a robot arm movement, event P1 is a camera acquiring calibration images, and event P2 determines calibration parameters for the calibration device; the time periods of 0-t 1 and t 2-t 3 are preset replacement time periods, and the time periods of t 1-t 2 and t 3-t 4 are preset acquisition time periods; the control equipment controls the movement of the mechanical arm and the collection of a calibration image by the camera at t 1-t 2 and t 3-t 4, the control equipment replaces the camera on the mechanical arm at the time periods of 0-t 1 and t 2-t 3, obtains the serial number of the replaced camera, and determines the movement track corresponding to the replaced camera according to the serial number; the calibration device receives the calibration image sent by the control device at t2, determines the calibration parameters corresponding to the camera according to the received calibration image, and receives the calibration image sent by the control device at t 4; the calibration equipment determines calibration parameters according to the received calibration image in the time period from t2 to t5, and detects whether the calibration parameters are qualified in the time period from t5 to t 6; the calibration apparatus determines calibration parameters corresponding to the camera from the received calibration image at t 6.

The control device in the embodiment of the application sends the calibration image to the calibration device after acquiring the calibration image acquired by the camera, so that the camera is replaced while the calibration device determines the calibration parameters according to the received calibration image, and the replaced camera is controlled to acquire the calibration image. According to the embodiment of the application, the calibration image collected by the camera is obtained, and meanwhile, the operation of determining the calibration parameters according to the received calibration image is executed in parallel, namely, the collection of the calibration image and the determination of the calibration parameters are processed in parallel, so that the calibration efficiency is improved.

As shown in fig. 3, the present application provides a complete flowchart of a camera calibration method, which is applied to a control device, and includes the following steps:

step S301, acquiring a serial number of a camera to be calibrated, and determining a motion track corresponding to the serial number;

step S302, controlling the mechanical arm to drive the camera to move according to the motion trail corresponding to the serial number in a preset acquisition time period, and controlling the camera to acquire a calibration image through shooting a calibration plate in the moving process;

it should be noted that the camera is mounted on the mechanical arm;

step S303, acquiring a calibration image acquired by a camera, and recording the calibration image according to a serial number;

step S304, in a preset replacement time period, replacing a camera mounted on the mechanical arm with a camera which does not acquire a calibration image, acquiring a serial number of the replaced camera, and determining a motion track corresponding to the replaced camera according to the serial number;

it should be noted that the replacement time period and the collection time period are periodically and continuously alternated;

step S305, sending the calibration image to calibration equipment so that the calibration equipment determines calibration parameters corresponding to the camera according to the calibration image;

it should be noted that step S304 and step S305 are not in sequence, and are executed simultaneously;

and step S306, receiving a notice that the calibration parameters returned by the calibration equipment are not qualified, determining the camera corresponding to the calibration parameters, and reclassifying the camera into the camera which does not acquire the calibration image.

As shown in fig. 4, the present embodiment provides a camera calibration system, which includes a control device 10, a calibration device 40, a mechanical arm 20, a camera 30, and a calibration plate 50;

the control device 10 is configured to obtain a serial number of the camera 30 to be calibrated, and determine a motion trajectory corresponding to the serial number; controlling the mechanical arm 20 to drive the camera 30 to move according to the motion track corresponding to the serial number in a preset acquisition time period, and controlling the camera 30 to acquire a calibration image through the shooting calibration plate 50 in the moving process; acquiring a calibration image acquired by the camera 30, and recording the calibration image according to the serial number; sending the calibration image to the calibration device 40, replacing the camera 30 mounted on the mechanical arm 20 with the camera 30 which does not acquire the calibration image in a preset replacement time period, acquiring a serial number of the replaced camera 30, and determining a motion track corresponding to the replaced camera 30 according to the serial number; the replacement time period and the acquisition time period are periodically and continuously alternated;

the mechanical arm 20 is used for driving the camera 30 to move according to the motion track corresponding to the serial number;

the camera 30 is used for acquiring a calibration image by shooting the calibration plate 50 in the motion process;

the calibration device 40 is configured to determine calibration parameters corresponding to the camera 30 according to the received calibration image sent by the control device 10; if the calibration parameters are detected to be unqualified, performing secondary calibration on the camera 30 corresponding to the calibration parameters; and if the calibration parameters are detected to be qualified, storing the calibration parameters according to the serial number.

As shown in fig. 5, an embodiment of the present application provides an interaction flowchart of a camera calibration method, where the method includes the following steps:

step S501, a control device installs a camera to be calibrated on a mechanical arm, obtains a serial number of the camera to be calibrated, and determines a motion track corresponding to the serial number;

step S502, in a preset acquisition time period, the control equipment controls the mechanical arm to drive the camera to move according to a motion track corresponding to the serial number, and controls the camera to acquire a calibration image through a shooting calibration plate in the motion process;

step S503, the camera sends the calibration image collected in the motion process to the control equipment;

step S504, the control equipment records the received calibration image according to the serial number;

step S505, in a preset replacement time period, the control equipment replaces a camera mounted on the mechanical arm with a camera which does not acquire a calibration image, obtains a serial number of the replaced camera, and determines a motion track corresponding to the replaced camera according to the serial number;

it should be noted that the replacement time period and the collection time period are periodically and continuously alternated;

step S506, the control equipment sends the calibration image to the calibration equipment;

it should be noted that step S505 and step S506 are not in sequence, and are performed simultaneously;

step S507, the calibration equipment determines the calibration parameters of the camera according to the received calibration image;

and step S508, after the calibration equipment detects that the determined calibration parameters are qualified, the calibration parameters are stored according to the serial numbers.

Based on the same inventive concept, the embodiment of the present application further provides a camera calibration device, and as the principle of the device for solving the problem is similar to that of the camera calibration method in the embodiment of the present application, the implementation of the device can refer to the implementation of the method, and repeated details are not repeated.

As shown in fig. 6, an embodiment of the present application provides a camera calibration apparatus, including:

the determining unit 601 is configured to obtain a serial number of a camera to be calibrated, and determine a motion trajectory corresponding to the serial number;

the control unit 602 is configured to control the mechanical arm to drive the camera to move according to a motion trajectory corresponding to the serial number in a preset acquisition time period, and control the camera to acquire a calibration image by shooting the calibration plate in a moving process; the camera is arranged on the mechanical arm;

an obtaining unit 603, configured to obtain a calibration image collected by the camera, and record the calibration image according to the serial number.

An optional implementation manner is that, after acquiring the calibration image acquired by the camera and recording the calibration image according to the serial number, the determining unit 601 is specifically configured to:

in a preset replacement time period, replacing a camera mounted on the mechanical arm with a camera which does not acquire a calibration image, acquiring a serial number of the replaced camera, and determining a motion track corresponding to the replaced camera according to the serial number; the replacement period and the acquisition period are periodically and continuously alternated.

In an optional embodiment, after acquiring the calibration image acquired by the camera and recording the calibration image according to the serial number, the acquiring unit 603 is further configured to:

and sending the calibration image to calibration equipment so that the calibration equipment determines the calibration parameters corresponding to the camera according to the calibration image.

In an optional embodiment, before acquiring the serial number of the camera and determining the motion track corresponding to the serial number, the determining unit 601 is further configured to:

according to the size of the calibration board, the field angle of the camera and the distance between the camera and the calibration board, respectively determining the position points of the mechanical arm when the calibration board appears at the left lower corner, the right lower corner, the left upper corner, the right upper corner and the center of the field angle of the camera;

and determining the motion range of the mechanical arm according to the determined position point of the mechanical arm.

The camera calibration method shown in fig. 1 is based on the same inventive concept, and the embodiment of the present application further provides a control device. As shown in fig. 7, for convenience of explanation, only the parts related to the embodiments of the present application are shown, and details of the technology are not disclosed, and reference may be made to the parts of the embodiments of the method of the present application. The electronic device is the control device 10 shown in fig. 4. In this embodiment, the control device may be configured as shown in fig. 7, and include a memory 131, a communication module 133, and one or more processors 132.

A memory 131 for storing computer programs executed by the processor 132. The memory 131 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, a program required for running an instant messaging function, and the like; the storage data area can store various instant messaging information, operation instruction sets and the like.

The processor 132 may include one or more Central Processing Units (CPUs), or be a digital processing unit, etc. The processor 132 is configured to implement the camera calibration method when the computer program stored in the memory 131 is called.

The communication module 133 is configured to communicate with the camera to obtain a calibration image.

The specific connection medium among the memory 131, the communication module 133 and the processor 132 is not limited in the embodiments of the present application. In fig. 7, the memory 131 and the processor 132 are connected by a bus 134, the bus 134 is represented by a thick line in fig. 7, and the connection manner between other components is merely illustrative and not limited. The bus 134 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in FIG. 7, but this is not intended to represent only one bus or type of bus.

According to an aspect of the application, a computer program product or computer program is provided, comprising computer instructions, the computer instructions being stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions to make the computer device execute the camera calibration method in any one of the above embodiments.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.

Claims (10)

1. A camera calibration method is characterized by comprising the following steps:

acquiring a serial number of a camera to be calibrated, and determining a motion track corresponding to the serial number;

controlling a mechanical arm to drive the camera to move according to the motion trail corresponding to the serial number in a preset acquisition time period, and controlling the camera to acquire a calibration image through shooting a calibration plate in the motion process; the camera is mounted on the mechanical arm;

and acquiring a calibration image acquired by the camera, and recording the calibration image according to the serial number.

2. The method of claim 1, wherein after acquiring calibration images captured by the camera and recording the calibration images according to the serial number, the method further comprises:

in a preset replacement time period, replacing a camera mounted on the mechanical arm with a camera which does not acquire a calibration image, acquiring a serial number of the replaced camera, and determining a motion track corresponding to the replaced camera according to the serial number; the replacement period and the acquisition period alternate continuously and periodically.

3. The method of claim 1, wherein after acquiring calibration images captured by the camera and recording the calibration images according to the serial number, the method further comprises:

and sending the calibration image to the calibration equipment so that the calibration equipment determines the calibration parameters corresponding to the camera according to the calibration image.

4. The method of claim 1, wherein before obtaining a serial number of a camera and determining a motion trajectory corresponding to the serial number, the method further comprises:

according to the size of a calibration plate, the field angle of the camera and the distance between the camera and the calibration plate, respectively determining the position points of the mechanical arm when the calibration plate appears at the left lower corner, the right lower corner, the left upper corner, the right upper corner and the center of the field angle of the camera;

and determining the motion range of the mechanical arm according to the determined position point of the mechanical arm.

5. A camera calibration device is characterized by comprising:

the determining unit is used for acquiring a serial number of a camera to be calibrated and determining a motion track corresponding to the serial number;

the control unit is used for controlling the mechanical arm to drive the camera to move according to the motion trail corresponding to the serial number in a preset acquisition time period and controlling the camera to acquire a calibration image through a shooting calibration plate in the motion process; the camera is mounted on the mechanical arm;

and the acquisition unit is used for acquiring the calibration image acquired by the camera and recording the calibration image according to the serial number.

6. The apparatus according to claim 5, wherein after acquiring the calibration image acquired by the camera and recording the calibration image according to the serial number, the determining unit is specifically configured to:

in a preset replacing time period, replacing a camera installed on the mechanical arm with a camera which does not acquire a calibration image, acquiring a serial number of the replaced camera, and determining a motion track corresponding to the replaced camera according to the serial number; the replacement period and the acquisition period alternate continuously and periodically.

7. The apparatus according to claim 5, wherein after acquiring the calibration image acquired by the camera and recording the calibration image according to the serial number, the acquiring unit is further configured to:

and sending the calibration image to the calibration equipment so that the calibration equipment determines the calibration parameters corresponding to the camera according to the calibration image.

8. A control device comprising a memory and a processor, the memory having stored thereon a computer program operable on the processor, the computer program, when executed by the processor, causing the processor to carry out the method of any one of claims 1 to 4.

9. The camera calibration system is characterized by comprising control equipment, calibration equipment, a mechanical arm and a camera;

the control equipment is used for acquiring a serial number of a camera to be calibrated and determining a motion track corresponding to the serial number; controlling a mechanical arm to drive the camera to move according to the motion trail corresponding to the serial number in a preset acquisition time period, and controlling the camera to acquire a calibration image through a shooting calibration plate in the moving process; acquiring a calibration image acquired by the camera, and recording the calibration image according to the serial number; sending the calibration image to the calibration equipment, replacing a camera mounted on the mechanical arm with a camera which does not acquire the calibration image in a preset replacement time period, acquiring a serial number of the replaced camera, and determining a motion track corresponding to the replaced camera according to the serial number; the replacement time period and the acquisition time period are periodically and continuously alternated;

the mechanical arm is used for driving the camera to move according to the motion trail corresponding to the serial number;

the camera is used for acquiring a calibration image by shooting the calibration plate in the motion process;

the calibration equipment is used for determining calibration parameters corresponding to the camera according to the received calibration image sent by the control equipment; if the calibration parameters are detected to be unqualified, performing secondary calibration on the camera corresponding to the calibration parameters; and if the calibration parameters are detected to be qualified, storing the calibration parameters according to the serial numbers.

10. A computer storage medium having a computer program stored therein, the computer storage medium characterized by: when the instructions are run on a computer, the instructions cause the computer to perform the method of any of claims 1-4.

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