CN114910076A - Outdoor camera positioning method and device based on GPS and IMU information - Google Patents
Outdoor camera positioning method and device based on GPS and IMU information Download PDFInfo
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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Abstract
The invention provides an outdoor camera positioning method and device based on GPS and IMU information, the method needs to provide a checkerboard calibration plate provided with a GPS device and an IMU device, black and white lattices with consistent sizes are arranged on the surface of the checkerboard calibration plate, and the method comprises the following steps: step S1, acquiring a chessboard pattern calibration board motion video through a camera, and extracting and screening chessboard pattern images in different positions and directions from the video to be used as first chessboard pattern images; step S2, calibrating the first checkerboard image by using a Zhang calibration method to obtain a calibrated internal reference matrix and a calibrated external reference matrix of the camera; step S3, calculating the GPS position information of the camera according to the plurality of groups of first checkerboard images and the checkerboard GPS position information by utilizing the coordinate conversion relation. By adopting the technical scheme of the invention, the camera which is far away or difficult to approach can be accurately positioned, and the related positioning equipment has a simple structure and is easy to realize.
Description
Technical Field
The invention relates to the technical field of camera positioning, in particular to an outdoor camera positioning method and device based on GPS and IMU information.
Background
The camera is accurately positioned, so that the accident condition occurring in the monitoring picture can be timely mastered, the target camera and the region position are accurately locked, and the video monitoring manager can timely and effectively handle the accident condition. The existing method for positioning the camera mainly scans the position of the camera in the image building process by using the SLAM, the positioning of the method has the problem of low precision, and for a camera which is far away or is difficult to be close in position, the traditional positioning method for building the image by using the SLAM cannot meet the positioning requirement.
Disclosure of Invention
The invention aims to provide an outdoor camera positioning method and device based on GPS and IMU information, and solve the problem that a long-distance or difficult-to-approach camera cannot be accurately positioned in the prior art.
In a first aspect, the present invention provides an outdoor camera positioning method based on GPS and IMU information, which requires providing a checkerboard calibration board provided with a GPS device and an IMU device, wherein black and white checks with consistent sizes are provided on the surface of the checkerboard calibration board, and the method includes:
step S1, acquiring a chessboard pattern calibration board motion video through a camera, and extracting and screening chessboard pattern images in different positions and directions from the video to be used as first chessboard pattern images;
step S2, calibrating the first checkerboard image by using a Zhang calibration method to obtain a calibrated internal reference matrix and an external reference matrix of the camera, wherein the external reference matrix is the coordinate transformation relation of the checkerboard relative to the camera;
step S3, calculating the GPS position information of the camera according to the plurality of groups of first checkerboard images and the checkerboard GPS position information by utilizing the coordinate conversion relation.
Furthermore, the GPS device and the IMU device on the checkerboard calibration plate are both arranged at the center of the checkerboard calibration plate, the position information of the checkerboard calibration plate is obtained through the GPS device, the angular velocity and the acceleration of the checkerboard calibration plate in a three-dimensional space are measured through the IMU device, the position and the posture of the checkerboard calibration plate are obtained through the angular velocity and the acceleration, the surface of the checkerboard calibration plate is smooth, and the checkerboard on the checkerboard calibration plate is right-angled.
Further, the step S1 of "acquiring the checkerboard calibration board motion video by the camera" specifically includes:
the chessboard pattern calibration plate is horizontally placed at the top of the automobile, the automobile moves in a visual field range below the video monitoring camera, the camera can shoot the chessboard pattern calibration plate on the surface of the trolley, and the video of the chessboard pattern calibration plate in the motion process is recorded by the camera;
or the chessboard pattern calibration plate is placed below the visual field of the camera by holding, the chessboard pattern calibration plate is changed into different angles to move stably, and the video of the chessboard pattern calibration plate in the motion process is recorded by the camera.
Further, the step S2 specifically includes:
step S21, establishing a coordinate system (X) of the chessboard pattern calibration plate for the known chessboard pattern calibration plate b ,Y b ,Z b ) According to the Zhang calibration method, a calibration program in a computer is used for executing calibration operation on a plurality of first checkerboard images, and the checkerboard grids are calibrated to a board coordinate system (X) b ,Y b ,Z b ) Transformation to camera coordinate System (X) C ,Y C ,Z C ) And solving a transformation matrix, wherein the transformation matrix is linearly expressed as follows:
wherein R is b2C Scaling the rotation matrix, T, from board to camera for checkerboard b2C For marking chessboardA plate to camera translation matrix;
step S22, setting the equation to be fitted as:
wherein (u, v) is a pixel label of an angular point photographed by a camera, (X) b ,Y b ,Z b ) For calibrating the coordinates of the corresponding corner points known under the coordinate system of the board, M 1 Representing the internal reference matrix of the camera, M 2 Representing the camera's external reference matrix.
Step S23, calibrating a camera calibration function in the calibration tool box by using OpenCV or Matlab, introducing various postures of the checkerboard calibration plate into the calibration tool box as samples, inputting the size of a first checkerboard image, the number of grid points in the transverse direction and the longitudinal direction of the calibration plate and the length of grids, and training to obtain values corresponding to all parameters, wherein the parameters comprise f x ,f y ,u 0 ,v 0 R, t, and then obtaining a calibrated camera internal reference matrix M 1 And an external parameter matrix M 2 。
Further, the step S3 specifically includes:
step S31, according to the coordinate transformation relation of the calibration plate coordinate system to the camera coordinate system, namely the external reference matrix, the coordinates of each corner point under the calibration plate coordinate system and the coordinates of the corner points under the camera coordinate system are in one-to-one correspondence;
step S32, obtaining the GPS position information of the camera by using the GPS position information corresponding to the corner points and the coordinate conversion relation, namely the external reference matrix;
and step S33, obtaining the accurate GPS position information of the camera by adopting the principle of taking the median from the obtained GPS position information of all the cameras.
In a second aspect, the present invention provides an outdoor camera positioning device based on GPS and IMU information, which needs to provide a checkerboard calibration board provided with a GPS device and an IMU device, wherein black and white checks with the same size are provided on the surface of the checkerboard calibration board, and the device includes:
the data acquisition module is used for acquiring a chessboard pattern calibration board motion video through a camera, and extracting and screening chessboard pattern images in different positions and directions from the video to be used as first chessboard pattern images;
the conversion relation calculation module is used for calibrating the first checkerboard image by using a Zhang calibration method to obtain a calibrated internal reference matrix and a calibrated external reference matrix of the camera; and
and the camera position calculation module is used for calculating the GPS position information of the camera according to the plurality of groups of first checkerboard images and the checkerboard GPS position information by utilizing a coordinate conversion relation.
Furthermore, the GPS device and the IMU device on the checkerboard calibration plate are both arranged at the center of the checkerboard calibration plate, the position information of the checkerboard calibration plate is obtained through the GPS device, the angular velocity and the acceleration of the checkerboard calibration plate in a three-dimensional space are measured through the IMU device, the position and the posture of the checkerboard calibration plate are obtained through the angular velocity and the acceleration, the surface of the checkerboard calibration plate is smooth, and the checkerboard on the checkerboard calibration plate is right-angled.
Further, the step of "acquiring the motion video of the checkerboard calibration plate by the camera" in the data acquisition module specifically comprises:
the chessboard pattern calibration plate is horizontally placed at the top of the automobile, the automobile moves in a visual field range below the video monitoring camera, the camera can shoot the chessboard pattern calibration plate on the surface of the trolley, and the video of the chessboard pattern calibration plate in the motion process is recorded by the camera;
or the chessboard pattern calibration plate is placed below the visual field of the camera by holding, the chessboard pattern calibration plate is changed into different angles to move stably, and the video of the chessboard pattern calibration plate in the motion process is recorded by the camera.
Further, the conversion relation calculation module specifically includes:
establishing a chessboard pattern calibration plate coordinate system (X) for a known chessboard pattern calibration plate b ,Y b ,Z b ) According to the Zhang calibration method, a calibration program in a computer is used for executing calibration operation on a plurality of first checkerboard images, and the checkerboard grids are calibrated to a board coordinate system (X) b ,Y b ,Z b ) Transformation to camera coordinate System (X) C ,Y C ,Z C ) And solving a transformation matrix, wherein the transformation matrix is linearly expressed as follows:
wherein R is b2C Scaling the rotation matrix, T, from board to camera for checkerboard b2C Calibrating a translation matrix from the board to the camera for the checkerboard;
the equation to be fitted is set to:
wherein (u, v) is the pixel label of the corner point photographed on the camera, (X) b ,Y b ,Z b ) For calibrating the coordinates of the corresponding corner points known under the coordinate system of the board, M 1 Representing the internal reference matrix of the camera, M 2 An external reference matrix representing the camera;
calibrating the camera calibration function in the tool box by using OpenCV or Matlab to calibrate the boardIntroducing various postures as samples into a calibration tool box, inputting the size of a first checkerboard image, the number of grid points in the transverse direction and the longitudinal direction of a calibration board and the length of a grid, training to obtain values corresponding to all parameters, wherein the parameters comprise f x ,f y ,u 0 ,v 0 R, t, and then obtaining a calibrated camera internal reference matrix M 1 And an external parameter matrix M 2 。
Further, the camera position calculation module specifically includes:
according to a coordinate conversion relation, namely an external reference matrix, converted to a camera coordinate system by a calibration plate coordinate system, the coordinates of each angular point under the calibration plate coordinate system and the coordinates of the angular points under the camera coordinate system are in one-to-one correspondence;
then, the GPS position information of the camera is obtained by utilizing the GPS position information corresponding to the angular points and the coordinate conversion relation, namely an external parameter matrix;
and obtaining the accurate GPS position information of the camera by adopting a median principle for the obtained GPS position information of all the cameras.
One or more technical schemes provided by the invention at least have the following technical effects or advantages:
the checkerboard, GPS and IMU information are combined, the checkerboard is used for calibrating an outdoor long-distance or inaccessible video camera to obtain a coordinate conversion relation from a coordinate system of a calibration plate to a coordinate system of the camera, and the GPS and IMU information is used for accurately positioning the calibration plate, so that the video camera can be accurately positioned; the device adopted by the invention has simple structure, easy realization, high positioning precision and easy operation of the positioning method.
Drawings
The invention will be further described with reference to the following examples with reference to the accompanying drawings.
FIG. 1 is a flowchart illustrating an implementation of an outdoor camera positioning method based on GPS and IMU information according to the present invention;
FIG. 2 is a schematic diagram of an outdoor camera positioning device based on GPS and IMU information according to the present invention;
FIG. 3 is a schematic structural diagram of a chessboard pattern calibration plate according to the present invention.
Detailed Description
As shown in fig. 1 and 3, the present invention provides an outdoor camera positioning method based on GPS and IMU information, which requires providing a checkerboard calibration board provided with a GPS device and an IMU device, wherein black and white grids with consistent sizes are provided on the surface of the checkerboard calibration board, and the method includes:
s1, acquiring a chessboard pattern calibration board motion video through a camera, extracting and screening chessboard pattern images in different positions and directions from the video to be used as first chessboard pattern images, wherein the number of collected images is about 10-20;
step S2, calibrating the first checkerboard image by using a Zhang calibration method to obtain a calibrated internal reference matrix and an external reference matrix of the camera, wherein the external reference matrix is the coordinate conversion relation of the checkerboard relative to the camera;
step S3, calculating the GPS position information of the camera according to the plurality of groups of first checkerboard images and the checkerboard GPS position information by utilizing the coordinate conversion relation.
Preferably, the GPS and IMU devices on the checkerboard calibration plate are both disposed at the center of the checkerboard calibration plate, the GPS device is used to obtain the position information of the checkerboard calibration plate, the IMU device is used to measure the angular velocity and acceleration of the checkerboard calibration plate in the three-dimensional space, and the pose of the checkerboard calibration plate is obtained by this, the surface of the checkerboard calibration plate is flat, and the checkerboard on the checkerboard calibration plate is right-angled.
Preferably, the step S1 of "acquiring the chessboard pattern calibration board motion video by the camera" includes:
the chessboard pattern calibration plate is horizontally placed at the top of the automobile, the automobile moves in a visual field range below the video monitoring camera, the camera can shoot the chessboard pattern calibration plate on the surface of the trolley, and the video of the chessboard pattern calibration plate in the motion process is recorded by the camera;
or the chessboard pattern calibration plate is placed below the visual field of the camera by holding, the chessboard pattern calibration plate is changed into different angles to move stably, and the video of the chessboard pattern calibration plate in the motion process is recorded by the camera.
Preferably, the step S2 specifically includes:
step S21, establishing a chessboard pattern calibration plate coordinate system (X) for the known chessboard pattern calibration plate b ,Y b ,Z b ) According to the Zhang calibration method, a calibration program in a computer is used for executing calibration operation on a plurality of first checkerboard images, and the checkerboard grids are calibrated to a board coordinate system (X) b ,Y b ,Z b ) Transformation to camera coordinate System (X) C ,Y C ,Z C ) And solving a transformation matrix, wherein the transformation matrix is linearly expressed as follows:
wherein R is b2C Scaling the rotation matrix, T, from board to camera for checkerboard b2C Calibrating a translation matrix from the board to the camera for the checkerboard;
step S22, setting the equation to be fitted as:
wherein (u, v) is a pixel label of an angular point photographed by a camera, (X) b ,Y b ,Z b ) For calibrating the coordinates of the corresponding corner points known under the coordinate system of the board, M 1 Representing the internal reference matrix of the camera, M 2 Representing the camera's external reference matrix.
Step S23, calibrating the camera calibration function in the tool box by using OpenCV or Matlab to calibrate the chessIntroducing various postures of the grid calibration plate into a calibration tool box as samples, inputting the size of a first checkerboard image, the number of grid points in the transverse direction and the longitudinal direction of the calibration plate and the length of the grid, training to obtain values corresponding to all parameters, wherein the parameters comprise f x ,f y ,u 0 ,v 0 R, t, and then obtaining a calibrated camera internal reference matrix M 1 And an external parameter matrix M 2 。
Preferably, step S3 specifically includes:
step S31, according to the coordinate transformation relation of the calibration plate coordinate system to the camera coordinate system, namely the external reference matrix, the coordinates of each corner point under the calibration plate coordinate system and the coordinates of the corner points under the camera coordinate system are in one-to-one correspondence;
step S32, reusing GPS position information (X) corresponding to corner point p ,Y p ,Z p ) And coordinate transformation relation, i.e. external reference matrix M 2 Determining GPS position information (X) of the camera q ,Y q ,Z q )；
And step S33, obtaining the accurate GPS position information of the camera by adopting the principle of taking the median from the obtained GPS position information of all the cameras.
As shown in fig. 2 and 3, the present invention provides an outdoor camera positioning device based on GPS and IMU information, which needs to provide a checkerboard calibration board provided with a GPS device and an IMU device, wherein black and white grids with consistent sizes are arranged on the surface of the checkerboard calibration board, and the device comprises:
the data acquisition module is used for acquiring a chessboard pattern calibration board motion video through a camera, and extracting and screening chessboard pattern images in different positions and directions from the video to be used as first chessboard pattern images; the number of collected images is about 10-20;
the conversion relation calculation module is used for calibrating the first checkerboard image by using a Zhang calibration method to obtain a calibrated internal reference matrix and external reference matrix of the camera, wherein the external reference matrix is a coordinate conversion relation of the checkerboard relative to the camera; and
and the camera position calculation module is used for calculating the GPS position information of the camera according to the plurality of groups of first checkerboard images and the checkerboard GPS position information by utilizing a coordinate conversion relation.
Furthermore, the GPS device and the IMU device on the checkerboard calibration plate are both arranged at the center of the checkerboard calibration plate, the position information of the checkerboard calibration plate is obtained through the GPS device, the angular velocity and the acceleration of the checkerboard calibration plate in a three-dimensional space are measured through the IMU device, the position and the posture of the checkerboard calibration plate are obtained through the angular velocity and the acceleration, the surface of the checkerboard calibration plate is smooth, and the checkerboard on the checkerboard calibration plate is right-angled.
Preferably, the step of "acquiring the motion video of the checkerboard calibration board by the camera" in the data acquisition module specifically includes:
the chessboard pattern calibration plate is horizontally placed at the top of the automobile, the automobile moves in a visual field range below the video monitoring camera, the camera can shoot the chessboard pattern calibration plate on the surface of the trolley, and the video of the chessboard pattern calibration plate in the motion process is recorded by the camera;
or the chessboard pattern calibration plate is placed below the visual field of the camera by hand, the chessboard pattern calibration plate is changed into different angles to move stably, and the camera records the video of the chessboard pattern calibration plate in the motion process.
Preferably, the conversion relation calculating module specifically includes:
establishing a chessboard pattern calibration plate coordinate system (X) for a known chessboard pattern calibration plate b ,Y b ,Z b ) According to the Zhang calibration method, a calibration program in a computer is used for executing calibration operation on a plurality of first checkerboard images, and the checkerboard grids are calibrated to a board coordinate system (X) b ,Y b ,Z b ) Transformation to camera coordinate System (X) C ,Y C ,Z C ) And solving a transformation matrix, wherein the transformation matrix is linearly expressed as follows:
wherein R is b2C Scaling the rotation matrix, T, from board to camera for checkerboard b2C Calibrating a translation matrix from the board to the camera for the checkerboard;
the equation to be fitted is set to:
wherein (u, v) is a pixel label of an angular point photographed by a camera, (X) b ,Y b ,Z b ) For calibrating the coordinates of the corresponding corner points known under the coordinate system of the board, M 1 Representing the internal reference matrix of the camera, M 2 Representing the camera's external reference matrix.
Calibrating a camera calibration function in an OpenCV or Matlab calibration tool box, introducing various postures of a checkerboard calibration board into the calibration tool box as samples, inputting the size of a first checkerboard image, the number of transverse and longitudinal lattice points and the length of a lattice of the calibration board, and training to obtain values corresponding to all parameters, wherein the parameters comprise f x ,f y ,u 0 ,v 0 R, t, and then obtaining a calibrated camera internal reference matrix M 1 And an external parameter matrix M 2 。
Preferably, the camera position calculating module specifically includes:
according to a coordinate conversion relation, namely an external reference matrix, converted to a camera coordinate system by a calibration plate coordinate system, the coordinates of each angular point under the calibration plate coordinate system and the coordinates of the angular points under the camera coordinate system are in one-to-one correspondence;
then, GPS position information (X) corresponding to the angular point is utilized p ,Y p ,Z p ) And coordinate transformation relation, i.e. external reference matrix M 2 Determining GPS position information (X) of the camera q ,Y q ,Z q )；
And obtaining the accurate GPS position information of the camera by adopting a median principle for the obtained GPS position information of all the cameras.
One or more technical schemes provided by the invention at least have the following technical effects or advantages: the checkerboard, the GPS and the IMU information are combined, the checkerboard is used for calibrating the outdoor long-distance or inaccessible video camera to obtain the coordinate conversion relation from the coordinate system of the calibration board to the coordinate system of the camera, and the GPS and the IMU information are used for accurately positioning the calibration board, so that the video camera can be accurately positioned; the device adopted by the invention has simple structure, easy realization, high positioning precision and easy operation of the positioning method.
Although specific embodiments of the invention have been described above, it will be understood by those skilled in the art that the specific embodiments described are illustrative only and are not limiting upon the scope of the invention, and that equivalent modifications and variations can be made by those skilled in the art without departing from the spirit of the invention, which is to be limited only by the appended claims.
Claims (10)
1. An outdoor camera positioning method based on GPS and IMU information is characterized in that: providing a checkerboard provided with a GPS device and an IMU device, wherein black and white grids with consistent sizes are arranged on the surface of the checkerboard, and the method comprises the following steps:
step S1, acquiring a chessboard pattern calibration board motion video through a camera, and extracting and screening chessboard pattern images in different positions and directions from the video to be used as first chessboard pattern images;
step S2, calibrating the first checkerboard image by using a Zhang calibration method to obtain a calibrated internal reference matrix and an external reference matrix of the camera;
step S3, calculating the GPS position information of the camera according to the plurality of groups of first checkerboard images and the checkerboard GPS position information by utilizing the coordinate conversion relation.
2. The method of claim 1, wherein: the GPS device and the IMU device on the checkerboard calibration plate are both arranged at the center of the checkerboard calibration plate, the position information of the checkerboard calibration plate is obtained through the GPS device, the angular velocity and the acceleration of the checkerboard calibration plate in a three-dimensional space are measured through the IMU device, the pose of the checkerboard calibration plate is obtained through the angular velocity and the acceleration, the surface of the checkerboard calibration plate is smooth, and the checkerboard on the checkerboard calibration plate is right-angled.
3. The method of claim 1, wherein: the step S1 of "acquiring the chessboard pattern calibration board motion video by the camera" is specifically:
the chessboard pattern calibration plate is horizontally placed at the top of the automobile, the automobile moves in a visual field range below the video monitoring camera, the camera can shoot the chessboard pattern calibration plate on the surface of the trolley, and the video of the chessboard pattern calibration plate in the motion process is recorded by the camera;
or the chessboard pattern calibration plate is placed below the visual field of the camera by holding, the chessboard pattern calibration plate is changed into different angles to move stably, and the video of the chessboard pattern calibration plate in the motion process is recorded by the camera.
4. The method of claim 1, wherein: the step S2 specifically includes:
step S21, establishing a chessboard pattern calibration plate coordinate system (X) for the known chessboard pattern calibration plate b ,Y b ,Z b ) According to Zhang's calibration method, utilize calibration program in computer to make a plurality of first checkerboard graphsCalibrating the coordinate system (X) of the board by the chessboard grids b ,Y b ,Z b ) Transformation to camera coordinate System (X) C ,Y C ,Z C ) And solving a transformation matrix, wherein the transformation matrix is linearly expressed as follows:
wherein R is b2C Scaling the rotation matrix, T, from board to camera for checkerboard b2C Calibrating a translation matrix from the board to the camera for the checkerboard;
step S22, setting the equation to be fitted as:
wherein (u, v) is a pixel label of an angular point photographed by a camera, (X) b ,Y b ,Z b ) For calibrating the coordinates of the corresponding corner points known under the coordinate system of the board, M 1 Representing the internal reference matrix of the camera, M 2 An external reference matrix representing the camera;
step S23, calibrating a camera calibration function in the calibration tool box by using OpenCV or Matlab, introducing various postures of the checkerboard calibration plate into the calibration tool box as samples, inputting the size of a first checkerboard image, the number of grid points in the transverse direction and the longitudinal direction of the calibration plate and the length of grids, and training to obtain values corresponding to all parameters, wherein the parameters comprise f x ,f y ,u 0 ,v 0 R, t, and then obtaining calibrated camera internal parametersMatrix M 1 And an external parameter matrix M 2 。
5. The method of claim 1, wherein: the step S3 specifically includes:
step S31, according to the coordinate transformation relation of the calibration plate coordinate system to the camera coordinate system, namely the external reference matrix, the coordinates of each corner point under the calibration plate coordinate system and the coordinates of the corner points under the camera coordinate system are in one-to-one correspondence;
step S32, obtaining the GPS position information of the camera by using the GPS position information corresponding to the corner points and the coordinate conversion relation, namely the external reference matrix;
and step S33, obtaining the accurate GPS position information of the camera by adopting the principle of taking the median from the obtained GPS position information of all the cameras.
6. The utility model provides an outdoor camera positioner based on GPS and IMU information which characterized in that: a checkerboard calibration board provided with a GPS device and an IMU device is required to be provided, black and white lattices with consistent sizes are provided on the surface of the checkerboard calibration board, and the checkerboard calibration board comprises:
the data acquisition module is used for acquiring a chessboard pattern calibration board motion video through a camera, and extracting and screening chessboard pattern images in different positions and directions from the video to be used as first chessboard pattern images;
the conversion relation calculation module is used for calibrating the first checkerboard image by using a Zhang calibration method to obtain a calibrated internal reference matrix and a calibrated external reference matrix of the camera; and
and the camera position calculation module is used for calculating the GPS position information of the camera according to the plurality of groups of first checkerboard images and the checkerboard GPS position information by utilizing a coordinate conversion relation.
7. The apparatus of claim 6, wherein: the GPS device and the IMU device on the checkerboard calibration plate are both arranged at the center of the checkerboard calibration plate, the position information of the checkerboard calibration plate is obtained through the GPS device, the angular velocity and the acceleration of the checkerboard calibration plate in a three-dimensional space are measured through the IMU device, the pose of the checkerboard calibration plate is obtained through the angular velocity and the acceleration, the surface of the checkerboard calibration plate is smooth, and the checkerboard on the checkerboard calibration plate is right-angled.
8. The apparatus of claim 6, wherein: the data acquisition module for acquiring the motion video of the chessboard pattern calibration plate through the camera specifically comprises the following steps:
the chessboard pattern calibration plate is horizontally placed at the top of the automobile, the automobile moves in a visual field range below the video monitoring camera, the camera can shoot the chessboard pattern calibration plate on the surface of the trolley, and the video of the chessboard pattern calibration plate in the motion process is recorded by the camera;
or the chessboard pattern calibration plate is placed below the visual field of the camera by holding, the chessboard pattern calibration plate is changed into different angles to move stably, and the video of the chessboard pattern calibration plate in the motion process is recorded by the camera.
9. The apparatus of claim 6, wherein: the conversion relation calculation module specifically includes:
establishing a chessboard pattern calibration plate coordinate system (X) for a known chessboard pattern calibration plate b ,Y b ,Z b ) According to the Zhang calibration method, a calibration program in a computer is used for executing calibration operation on a plurality of first checkerboard images, and the checkerboard grids are calibrated to a board coordinate system (X) b ,Y b ,Z b ) Transformation to camera coordinate System (X) C ,Y C ,Z C ) And solving a transformation matrix, wherein the transformation matrix is linearly expressed as follows:
wherein R is b2C Scaling the rotation matrix, T, from board to camera for checkerboard b2C Calibrating a translation matrix from the board to the camera for the checkerboard;
the equation to be fitted is set to:
wherein (u, v) is a pixel label of an angular point photographed by a camera, (X) b ,Y b ,Z b ) For calibrating the coordinates of the corresponding corner points known under the coordinate system of the board, M 1 Representing the internal reference matrix of the camera, M 2 An external reference matrix representing the camera;
calibrating a camera calibration function in an OpenCV or Matlab calibration tool box, introducing various postures of a checkerboard calibration board into the calibration tool box as samples, inputting the size of a first checkerboard image, the number of transverse and longitudinal lattice points and the length of a lattice of the calibration board, and training to obtain values corresponding to all parameters, wherein the parameters comprise f x ,f y ,u 0 ,v 0 R, t, and then obtaining a calibrated camera internal reference matrix M 1 And an external parameter matrix M 2 。
10. The apparatus of claim 6, wherein: the camera position calculation module specifically includes:
according to a coordinate conversion relation, namely an external reference matrix, converted to a camera coordinate system by a calibration plate coordinate system, the coordinates of each angular point under the calibration plate coordinate system and the coordinates of the angular points under the camera coordinate system are in one-to-one correspondence;
then, the GPS position information of the camera is obtained by utilizing the GPS position information corresponding to the angular point and a coordinate conversion relation, namely an external parameter matrix;
and obtaining the accurate GPS position information of the camera by adopting a median-taking principle for the obtained GPS position information of all the cameras.
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