CN114910076B - 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 PDF

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CN114910076B
CN114910076B CN202210554830.3A CN202210554830A CN114910076B CN 114910076 B CN114910076 B CN 114910076B CN 202210554830 A CN202210554830 A CN 202210554830A CN 114910076 B CN114910076 B CN 114910076B
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checkerboard
camera
calibration plate
gps
coordinate system
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CN114910076A (en
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巢建树
明瑞成
赵伟杰
王新文
邱创一
顾明珠
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Quanzhou Institute of Equipment Manufacturing
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—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
    • G01C21/16—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
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Studio Devices (AREA)

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, the surface of the checkerboard calibration plate is provided with black and white lattices with consistent size, the method comprises the following steps: step S1, acquiring a checkerboard calibration plate motion video through a camera, and extracting and screening checkerboard images with different positions and directions from the video to serve as a first checkerboard image; s2, calibrating the first checkerboard image by using a Zhang calibration method to obtain a calibrated camera internal reference matrix and a calibrated camera external reference matrix; and S3, calculating GPS position information of the camera according to the first checkerboard image and the GPS position information of the checkerboard by utilizing a coordinate conversion relation. By adopting the technical scheme of the invention, the accurate positioning of the remote or inaccessible camera can be realized, and the related positioning equipment has a simple structure and is easy to realize.

Description

Outdoor camera positioning method and device based on GPS and IMU information
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 accidents in a monitoring picture can be mastered in time, the target camera and the region position are accurately locked, and video monitoring management staff can conveniently and effectively process the accidents in time. The existing method for positioning the camera mainly scans the position of the camera in the SLAM mapping process, the problem of low accuracy exists in the positioning of the method, and the positioning requirement of the traditional SLAM mapping positioning method cannot be met for cameras with far distances or difficult positions to be close to each other.
Disclosure of Invention
The invention aims to solve the technical problem of providing an outdoor camera positioning method and device based on GPS and IMU information, and solves the problem that the existing camera cannot be accurately positioned in a long distance or inaccessible.
In a first aspect, the present invention provides a positioning method for an outdoor camera based on GPS and IMU information, where a checkerboard calibration plate provided with a GPS device and an IMU device is provided, and a black-and-white grid with a consistent size is provided on a surface of the checkerboard calibration plate, and the method includes:
step S1, acquiring a checkerboard calibration plate motion video through a camera, and extracting and screening checkerboard images with different positions and directions from the video to serve as a first checkerboard image;
s2, calibrating the first checkerboard image by using a Zhang' S calibration method to obtain a calibrated camera internal reference matrix and an external reference matrix, wherein the external reference matrix is the coordinate transformation relation of the checkerboard relative to the camera;
and S3, calculating GPS position information of the camera according to the first checkerboard image and the GPS position information of the checkerboard by utilizing a coordinate conversion relation.
Furthermore, the GPS and the IMU devices on the checkerboard calibration plate are arranged at the central position of the checkerboard calibration plate, the GPS device is used for acquiring the position information of the checkerboard calibration plate, the IMU device is used for measuring the angular speed and the acceleration of the checkerboard calibration plate in a three-dimensional space, the pose of the checkerboard calibration plate is obtained, the surface of the checkerboard calibration plate is flat, and the checkerboard on the checkerboard calibration plate is right-angled.
Further, in the step S1, "obtaining the motion video of the checkerboard calibration plate by the camera" specifically includes:
the method comprises the steps that a checkerboard calibration plate is horizontally placed on the top of an automobile, the automobile moves in a visual field range below a video monitoring camera, the camera is ensured to shoot the checkerboard calibration plate on the surface of a trolley, and video of the movement process of the checkerboard calibration plate is recorded by the camera;
or the checkerboard calibration plate is placed below the visual field of the camera by hand, different angles of the checkerboard calibration plate are changed to move stably, and the video of the movement process of the checkerboard calibration plate is recorded by the camera.
Further, the step S2 specifically includes:
step S21, establishing a checkerboard calibration plate coordinate system (X b ,Y b ,Z b ) According to the Zhang's calibration method, a calibration operation is performed on a plurality of Zhang Diyi checkerboard images by using a calibration program in a computer, and a checkerboard calibration plate coordinate system (X b ,Y b ,Z b ) Conversion to camera coordinate system (X C ,Y C ,Z C ) And solving a transformation matrix, wherein the linearity of the transformation matrix is expressed as follows:
wherein R is b2C Calibrating the rotation matrix of the plate to the camera for the checkerboard, T b2C Calibrating a translation matrix from the board to the camera for the checkerboard;
step S22, setting an equation to be fitted as follows:
wherein, (u, v) is the pixel label of the corner shot on the camera, (X) b ,Y b ,Z b ) For calibrating the coordinates of the known corresponding corner points in the coordinate system of the plate, M 1 An internal reference matrix representing a camera, M 2 Representing the extrinsic matrix of the camera.
S23, calibrating by using a camera calibration function in an OpenCV or Matlab calibration tool box, introducing various postures of a checkerboard calibration plate as samples into the calibration tool box, inputting the first checkerboard image size, the number of transverse and longitudinal grid points of the calibration plate and the grid length, and training to obtain values corresponding to all parameters, wherein the parameters comprise f x ,f y ,u 0 ,v 0 R, t, and further obtaining a calibrated camera internal reference matrix M 1 Sum-outer matrix M 2 。
Further, the step S3 specifically includes:
step S31, according to the coordinate conversion relation from the coordinate system of the calibration plate to the coordinate system of the camera, namely, an external reference matrix, the known coordinates of each corner point under the coordinate system of the calibration plate are in one-to-one correspondence with the coordinates of the corner point under the coordinate system of the camera;
s32, obtaining GPS position information of the camera by utilizing GPS position information corresponding to the angular points and a coordinate conversion relation, namely an external reference matrix;
and S33, obtaining accurate GPS position information of the cameras by adopting a principle of taking the median for 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, where a checkerboard calibration plate provided with a GPS device and an IMU device is provided, and a black-and-white grid with a consistent size is provided on a surface of the checkerboard calibration plate, where the device includes:
the data acquisition module is used for acquiring a checkerboard calibration plate motion video through a camera, and extracting and screening checkerboard images with different positions and directions from the video to serve as a first checkerboard image;
the conversion relation calculation module is used for calibrating the first checkerboard image by using a Zhang calibration method to obtain a calibrated camera internal reference matrix and calibrated camera external reference matrix; and
and the camera position calculation module is used for calculating GPS position information of the camera according to the first checkerboard image and the checkerboard GPS position information by utilizing a coordinate conversion relation.
Furthermore, the GPS and the IMU devices on the checkerboard calibration plate are arranged at the central position of the checkerboard calibration plate, the GPS device is used for acquiring the position information of the checkerboard calibration plate, the IMU device is used for measuring the angular speed and the acceleration of the checkerboard calibration plate in a three-dimensional space, the pose of the checkerboard calibration plate is obtained, the surface of the checkerboard calibration plate is flat, and the checkerboard on the checkerboard calibration plate is right-angled.
Further, in the data acquisition module, the step of acquiring the checkerboard calibration plate motion video through the camera is specifically:
the method comprises the steps that a checkerboard calibration plate is horizontally placed on the top of an automobile, the automobile moves in a visual field range below a video monitoring camera, the camera is ensured to shoot the checkerboard calibration plate on the surface of a trolley, and video of the movement process of the checkerboard calibration plate is recorded by the camera;
or the checkerboard calibration plate is placed below the visual field of the camera by hand, different angles of the checkerboard calibration plate are changed to move stably, and the video of the movement process of the checkerboard calibration plate is recorded by the camera.
Further, the conversion relation calculating module specifically includes:
build up of known checkerboard calibration platesCheckerboard calibration plate coordinate system (X) b ,Y b ,Z b ) According to the Zhang's calibration method, a calibration operation is performed on a plurality of Zhang Diyi checkerboard images by using a calibration program in a computer, and a checkerboard calibration plate coordinate system (X b ,Y b ,Z b ) Conversion to camera coordinate system (X C ,Y C ,Z C ) And solving a transformation matrix, wherein the linearity of the transformation matrix is expressed as follows:
wherein R is b2C Calibrating the rotation matrix of the plate to the camera for the checkerboard, T b2C Calibrating a translation matrix from the board to the camera for the checkerboard;
the equation to be fitted is set as:
wherein, (u, v) is the pixel label of the corner shot on the camera, (X) b ,Y b ,Z b ) For calibrating the coordinates of the known corresponding corner points in the coordinate system of the plate, M 1 An internal reference matrix representing a camera, M 2 An extrinsic matrix representing a camera;
calibrating by using a camera calibration function in an OpenCV or Matlab calibration tool box, introducing various postures of a checkerboard calibration plate as samples into the calibration tool box, inputting the first checkerboard image size, the number of transverse and longitudinal grid points of the calibration plate and the length of the grid, and training to obtain values corresponding to all parameters, wherein the parameters comprise f x ,f y ,u 0 ,v 0 R, t, and further obtaining a calibrated camera internal reference matrix M 1 Sum-outer matrix M 2 。
Further, the camera position calculating module specifically includes:
according to the coordinate conversion relation from the calibration plate coordinate system to the camera coordinate system, namely the external reference matrix, the known coordinates of each corner point under the calibration plate coordinate system are in one-to-one correspondence with the coordinates of the corner points under the camera coordinate system;
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 the external parameter matrix;
and obtaining accurate GPS position information of the cameras by adopting a principle of taking the median for the obtained GPS position information of all the cameras.
The one or more technical schemes provided by the invention have at least the following technical effects or advantages:
combining the checkerboard, GPS and IMU information, calibrating an outdoor remote or inaccessible camera by using the checkerboard to obtain a coordinate conversion relation from a calibration plate coordinate system to a camera coordinate system, and accurately positioning the calibration plate by using the GPS and IMU information, so that the camera can be accurately positioned; the device adopted by the invention has the advantages of simple structure, easy realization, high positioning precision and easy operation of the positioning method.
Drawings
The invention will be further described with reference to examples of embodiments with reference to the accompanying drawings.
FIG. 1 is a flow chart of an outdoor camera positioning method based on GPS and IMU information;
FIG. 2 is a schematic diagram of an outdoor camera positioning device based on GPS and IMU information;
FIG. 3 is a schematic diagram of the structure of the checkerboard calibration plate of the present invention.
Detailed Description
As shown in fig. 1 and fig. 3, the present invention provides an outdoor camera positioning method based on GPS and IMU information, which needs to provide a checkerboard calibration board provided with a GPS device and an IMU device, wherein the surface of the checkerboard calibration board is provided with black and white lattices with consistent dimensions, and the method comprises:
step S1, acquiring checkerboard calibration plate motion videos through a camera, extracting and screening checkerboard images with different positions and directions from the videos to serve as first checkerboard images, wherein the number of acquired images is about 10-20;
s2, calibrating the first checkerboard image by using a Zhang' S calibration method to obtain a calibrated camera internal reference matrix and an external reference matrix, wherein the external reference matrix is the coordinate conversion relation of the checkerboard relative to the camera;
and S3, calculating GPS position information of the camera according to the first checkerboard image and the GPS position information of the checkerboard by utilizing a coordinate conversion relation.
Preferably, the GPS and IMU devices on the checkerboard calibration plate are both disposed at the central position of the checkerboard calibration plate, the GPS device is used to obtain position information of the checkerboard calibration plate, the IMU device is used to measure angular velocity and acceleration of the checkerboard calibration plate in three-dimensional space, and thus the pose of the checkerboard calibration plate is obtained, the surface of the checkerboard calibration plate is flat, and the checkerboard on the checkerboard calibration plate is right-angled.
Preferably, in the step S1, "obtaining the motion video of the checkerboard calibration plate through the camera" specifically includes:
the method comprises the steps that a checkerboard calibration plate is horizontally placed on the top of an automobile, the automobile moves in a visual field range below a video monitoring camera, the camera is ensured to shoot the checkerboard calibration plate on the surface of a trolley, and video of the movement process of the checkerboard calibration plate is recorded by the camera;
or the checkerboard calibration plate is placed below the visual field of the camera by hand, different angles of the checkerboard calibration plate are changed to move stably, and the video of the movement process of the checkerboard calibration plate is recorded by the camera.
Preferably, the step S2 specifically includes:
step S21, establishing a known checkerboard calibration plateCheckerboard calibration plate coordinate system (X) b ,Y b ,Z b ) According to the Zhang's calibration method, a calibration operation is performed on a plurality of Zhang Diyi checkerboard images by using a calibration program in a computer, and a checkerboard calibration plate coordinate system (X b ,Y b ,Z b ) Conversion to camera coordinate system (X C ,Y C ,Z C ) And solving a transformation matrix, wherein the linearity of the transformation matrix is expressed as follows:
wherein R is b2C Calibrating the rotation matrix of the plate to the camera for the checkerboard, T b2C Calibrating a translation matrix from the board to the camera for the checkerboard;
step S22, setting an equation to be fitted as follows:
wherein, (u, v) is the pixel label of the corner shot on the camera, (X) b ,Y b ,Z b ) For calibrating the coordinates of the known corresponding corner points in the coordinate system of the plate, M 1 An internal reference matrix representing a camera, M 2 Representing the extrinsic matrix of the camera.
S23, calibrating by using a camera calibration function in an OpenCV or Matlab calibration tool box, introducing various postures of a checkerboard calibration plate as samples into the calibration tool box, inputting the first checkerboard image size, the number of transverse and longitudinal grid points of the calibration plate and the grid length, and training to obtain values corresponding to all parameters, wherein the parameters comprise f x ,f y ,u 0 ,v 0 R, t, and further obtaining a calibrated camera internal reference matrix M 1 Sum-outer matrix M 2 。
Preferably, the step S3 specifically includes:
step S31, according to the coordinate conversion relation from the coordinate system of the calibration plate to the coordinate system of the camera, namely, an external reference matrix, the known coordinates of each corner point under the coordinate system of the calibration plate are in one-to-one correspondence with the coordinates of the corner point under the coordinate system of the camera;
step S32, reusing GPS position information (X) corresponding to the corner point p ,Y p ,Z p ) And coordinate conversion relation, i.e. external reference matrix M 2 GPS position information (X) of the camera is obtained q ,Y q ,Z q )；
And S33, obtaining accurate GPS position information of the cameras by adopting a principle of taking the median for 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 plate provided with a GPS device and an IMU device, where the surface of the checkerboard calibration plate is provided with black and white lattices with consistent dimensions, and the device includes:
the data acquisition module is used for acquiring a checkerboard calibration plate motion video through a camera, and extracting and screening checkerboard images with different positions and directions from the video to serve as a first checkerboard image; the number of the acquired 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 camera internal reference matrix and a calibrated external reference matrix, wherein the external reference matrix is the coordinate conversion relation of the checkerboard relative to the camera; and
and the camera position calculation module is used for calculating GPS position information of the camera according to the first checkerboard image and the checkerboard GPS position information by utilizing a coordinate conversion relation.
Furthermore, the GPS and the IMU devices on the checkerboard calibration plate are arranged at the central position of the checkerboard calibration plate, the GPS device is used for acquiring the position information of the checkerboard calibration plate, the IMU device is used for measuring the angular speed and the acceleration of the checkerboard calibration plate in a three-dimensional space, the pose of the checkerboard calibration plate is obtained, the surface of the checkerboard calibration plate is flat, and the checkerboard on the checkerboard calibration plate is right-angled.
Preferably, in the data acquisition module, "acquiring the checkerboard calibration plate motion video through the camera" specifically includes:
the method comprises the steps that a checkerboard calibration plate is horizontally placed on the top of an automobile, the automobile moves in a visual field range below a video monitoring camera, the camera is ensured to shoot the checkerboard calibration plate on the surface of a trolley, and video of the movement process of the checkerboard calibration plate is recorded by the camera;
or the checkerboard calibration plate is placed below the visual field of the camera by hand, different angles of the checkerboard calibration plate are changed to move stably, and the video of the movement process of the checkerboard calibration plate is recorded by the camera.
Preferably, the conversion relation calculating module specifically includes:
for the known checkerboard calibration plate, a checkerboard calibration plate coordinate system (X b ,Y b ,Z b ) According to the Zhang's calibration method, a calibration operation is performed on a plurality of Zhang Diyi checkerboard images by using a calibration program in a computer, and a checkerboard calibration plate coordinate system (X b ,Y b ,Z b ) Conversion to camera coordinate system (X C ,Y C ,Z C ) And solving a transformation matrix, wherein the linearity of the transformation matrix is expressed as follows:
wherein R is b2C Calibrating the rotation matrix of the plate to the camera for the checkerboard, T b2C Calibrating a translation matrix from the board to the camera for the checkerboard;
the equation to be fitted is set as:
wherein, (u, v) is the pixel label of the corner shot on the camera, (X) b ,Y b ,Z b ) For calibrating the coordinates of the known corresponding corner points in the coordinate system of the plate, M 1 An internal reference matrix representing a camera, M 2 Representing the extrinsic matrix of the camera.
Calibrating by using a camera calibration function in an OpenCV or Matlab calibration tool box, introducing various postures of a checkerboard calibration plate as samples into the calibration tool box, inputting the first checkerboard image size, the number of transverse and longitudinal grid points of the calibration plate and the length of the grid, and training to obtain values corresponding to all parameters, wherein the parameters comprise f x ,f y ,u 0 ,v 0 R, t, and further obtaining a calibrated camera internal reference matrix M 1 Sum-outer matrix M 2 。
Preferably, the camera position calculating module specifically includes:
according to the coordinate conversion relation from the calibration plate coordinate system to the camera coordinate system, namely the external reference matrix, the known coordinates of each corner point under the calibration plate coordinate system are in one-to-one correspondence with the coordinates of the corner points under the camera coordinate system;
reuse of GPS position information (X) corresponding to corner points p ,Y p ,Z p ) And coordinate conversion relation, i.e. external reference matrix M 2 GPS position information (X) of the camera is obtained q ,Y q ,Z q )；
And obtaining accurate GPS position information of the cameras by adopting a principle of taking the median for the obtained GPS position information of all the cameras.
The one or more technical schemes provided by the invention have at least the following technical effects or advantages: according to the invention, the checkerboard, the GPS and the IMU information are combined, the outdoor remote or inaccessible camera is calibrated by using the checkerboard, so that the coordinate conversion relation from the coordinate system of the calibration board to the coordinate system of the camera is obtained, and the GPS and the IMU information are utilized to accurately position the calibration board, so that the accurate positioning of the camera can be realized; the device adopted by the invention has the advantages of simple structure, easy realization, high positioning precision and easy operation of the positioning method.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that the specific embodiments described are illustrative only and not intended to limit the scope of the invention, and that equivalent modifications and variations of the invention in light of the spirit of the invention will be covered by the claims of the present invention.

Claims (4)

1. An outdoor camera positioning method based on GPS and IMU information is characterized in that: the method comprises the steps of providing a checkerboard calibration plate provided with a GPS device and an IMU device, wherein 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 checkerboard calibration plate motion video through a camera, and extracting and screening checkerboard images with different positions and directions from the video to serve as a first checkerboard image;
s2, calibrating the first checkerboard image by using a Zhang calibration method to obtain a calibrated camera internal reference matrix and a calibrated camera external reference matrix;
s3, calculating GPS position information of the camera according to the first checkerboard image and the GPS position information of the checkerboard by utilizing a coordinate conversion relation;
the step S2 specifically includes:
step S21, establishing a checkerboard calibration plate coordinate system (X b ,Y b ,Z b ) According to the Zhang's calibration method, a calibration operation is performed on a plurality of Zhang Diyi checkerboard images by using a calibration program in a computer, and a checkerboard calibration plate coordinate system (X b ,Y b ,Z b ) Conversion to camera coordinate system (X C ,Y C ,Z C ) And solving a transformation matrix, wherein the linearity of the transformation matrix is expressed as follows:
wherein R is b2C Calibrating the rotation matrix of the plate to the camera for the checkerboard, T b2C Calibrating a translation matrix from the board to the camera for the checkerboard;
step S22, setting an equation to be fitted as follows:
wherein, (u, v) is the pixel label of the corner shot on the camera, (X) b ,Y b ,Z b ) For calibrating the coordinates of the known corresponding corner points in the coordinate system of the plate, M 1 An internal reference matrix representing a camera, M 2 An extrinsic matrix representing a camera;
step S23 of usingThe camera calibration function in the OpenCV or Matlab calibration tool box is calibrated, various postures of the checkerboard calibration plate are used as samples to be led into the calibration tool box, the first checkerboard image size, the number of grid points of the transverse and longitudinal directions of the calibration plate and the length of the grid are input, the values corresponding to all parameters are obtained through training, and the parameters comprise f x ,f y ,u 0 ,v 0 R, t, and further obtaining a calibrated camera internal reference matrix M 1 Sum-outer matrix M 2 ；
The step S3 specifically includes:
step S31, according to the coordinate conversion relation from the coordinate system of the calibration plate to the coordinate system of the camera, namely, an external reference matrix, the known coordinates of each corner point under the coordinate system of the calibration plate are in one-to-one correspondence with the coordinates of the corner point under the coordinate system of the camera;
s32, obtaining GPS position information of the camera by utilizing GPS position information corresponding to the angular points and a coordinate conversion relation, namely an external reference matrix;
step S33, obtaining accurate GPS position information of the cameras by adopting a principle of taking the median for the obtained GPS position information of all the cameras;
the GPS device and the IMU device on the checkerboard calibration plate are arranged at the central position of the checkerboard calibration plate, the GPS device is used for acquiring the position information of the checkerboard calibration plate, the IMU device is used for measuring the angular speed and the acceleration of the checkerboard calibration plate in a three-dimensional space, the pose of the checkerboard calibration plate is obtained, the surface of the checkerboard calibration plate is flat, and the checkerboard on the checkerboard calibration plate is right-angled.
2. The method according to claim 1, characterized in that: in the step S1, the step of acquiring the checkerboard calibration plate motion video by the camera is specifically:
the method comprises the steps that a checkerboard calibration plate is horizontally placed on the top of an automobile, the automobile moves in a visual field range below a video monitoring camera, the camera is ensured to shoot the checkerboard calibration plate on the surface of a trolley, and video of the movement process of the checkerboard calibration plate is recorded by the camera;
or the checkerboard calibration plate is placed below the visual field of the camera by hand, different angles of the checkerboard calibration plate are changed to move stably, and the video of the movement process of the checkerboard calibration plate is recorded by the camera.
3. An outdoor camera positioner based on GPS and IMU information, its characterized in that: the method comprises the steps that a checkerboard calibration plate provided with a GPS device and an IMU device is provided, black and white lattices with consistent sizes are arranged on the surface of the checkerboard calibration plate, and the device comprises:
the data acquisition module is used for acquiring a checkerboard calibration plate motion video through a camera, and extracting and screening checkerboard images with different positions and directions from the video to serve as a first checkerboard image;
the conversion relation calculation module is used for calibrating the first checkerboard image by using a Zhang calibration method to obtain a calibrated camera internal reference matrix and calibrated camera external reference matrix; and
the camera position calculating module is used for calculating GPS position information of the camera according to the first checkerboard image and the checkerboard GPS position information by utilizing a coordinate conversion relation;
the GPS device and the IMU device on the checkerboard calibration plate are arranged at the central position of the checkerboard calibration plate, the position information of the checkerboard calibration plate is obtained through the GPS device, the angular speed 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, the surface of the checkerboard calibration plate is flat, and the checkerboard on the checkerboard calibration plate is right-angled;
the conversion relation calculation module specifically comprises:
for the known checkerboard calibration plate, a checkerboard calibration plate coordinate system (X b ,Y b ,Z b ) According to the Zhang's calibration method, a calibration operation is performed on a plurality of Zhang Diyi checkerboard images by using a calibration program in a computer, and a checkerboard calibration plate coordinate system (X b ,Y b ,Z b ) Conversion to camera coordinate system (X C ,Y C ,Z C ) And solving a transformation matrix, wherein the linearity of the transformation matrix is expressed as follows:
wherein R is b2C Calibrating the rotation matrix of the plate to the camera for the checkerboard, T b2C Calibrating a translation matrix from the board to the camera for the checkerboard;
the equation to be fitted is set as:
wherein, (u, v) is the pixel label of the corner shot on the camera, (X) b ,Y b ,Z b ) For calibrating the coordinates of the known corresponding corner points in the coordinate system of the plate, M 1 An internal reference matrix representing a camera, M 2 An extrinsic matrix representing a camera;
calibrating by using a camera calibration function in an OpenCV or Matlab calibration tool box, introducing various postures of a checkerboard calibration plate as samples into the calibration tool box, inputting the first checkerboard image size, the number of transverse and longitudinal grid points of the calibration plate and the length of the grid, and training to obtain values corresponding to all parameters, wherein the parameters comprise f x ,f y ,u 0 ,v 0 R, t, and further obtaining a calibrated camera internal reference matrix M 1 Sum-outer matrix M 2 ；
The camera position calculation module specifically comprises:
according to the coordinate conversion relation from the calibration plate coordinate system to the camera coordinate system, namely the external reference matrix, the known coordinates of each corner point under the calibration plate coordinate system are in one-to-one correspondence with the coordinates of the corner points under the camera coordinate system;
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 the external parameter matrix;
and obtaining accurate GPS position information of the cameras by adopting a principle of taking the median for the obtained GPS position information of all the cameras.
4. A device according to claim 3, characterized in that: the data acquisition module is used for acquiring the checkerboard calibration plate motion video through a camera, and specifically comprises the following steps:
the method comprises the steps that a checkerboard calibration plate is horizontally placed on the top of an automobile, the automobile moves in a visual field range below a video monitoring camera, the camera is ensured to shoot the checkerboard calibration plate on the surface of a trolley, and video of the movement process of the checkerboard calibration plate is recorded by the camera;
or the checkerboard calibration plate is placed below the visual field of the camera by hand, different angles of the checkerboard calibration plate are changed to move stably, and the video of the movement process of the checkerboard calibration plate is recorded by the camera.
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