CN115170672A - 一种用于多相机系统的标定方法、装置及可读存储介质 - Google Patents
一种用于多相机系统的标定方法、装置及可读存储介质 Download PDFInfo
- Publication number
- CN115170672A CN115170672A CN202210783501.6A CN202210783501A CN115170672A CN 115170672 A CN115170672 A CN 115170672A CN 202210783501 A CN202210783501 A CN 202210783501A CN 115170672 A CN115170672 A CN 115170672A
- Authority
- CN
- China
- Prior art keywords
- coordinate system
- calibration
- feature points
- depth camera
- optical navigator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 55
- 230000003287 optical effect Effects 0.000 claims abstract description 96
- 239000011159 matrix material Substances 0.000 claims abstract description 32
- 230000009466 transformation Effects 0.000 claims abstract description 22
- 239000003550 marker Substances 0.000 claims description 21
- 238000000354 decomposition reaction Methods 0.000 claims description 13
- 238000006243 chemical reaction Methods 0.000 claims description 11
- 238000004590 computer program Methods 0.000 claims description 5
- 238000006073 displacement reaction Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 6
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 238000013519 translation Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000003238 somatosensory effect Effects 0.000 description 1
Images
Classifications
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Theoretical Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
Description
Claims (9)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202210783501.6A CN115170672A (zh) | 2022-06-27 | 2022-06-27 | 一种用于多相机系统的标定方法、装置及可读存储介质 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202210783501.6A CN115170672A (zh) | 2022-06-27 | 2022-06-27 | 一种用于多相机系统的标定方法、装置及可读存储介质 |
Publications (1)
Publication Number | Publication Date |
---|---|
CN115170672A true CN115170672A (zh) | 2022-10-11 |
Family
ID=83490496
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202210783501.6A Pending CN115170672A (zh) | 2022-06-27 | 2022-06-27 | 一种用于多相机系统的标定方法、装置及可读存储介质 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN115170672A (zh) |
-
2022
- 2022-06-27 CN CN202210783501.6A patent/CN115170672A/zh active Pending
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN110695993B (zh) | 一种柔性机械臂同步测量方法、系统及装置 | |
CN111210468A (zh) | 一种图像深度信息获取方法及装置 | |
US10499038B2 (en) | Method and system for recalibrating sensing devices without familiar targets | |
Samper et al. | Analysis of Tsai calibration method using two-and three-dimensional calibration objects | |
JP6855491B2 (ja) | ロボットシステム、ロボットシステム制御装置、およびロボットシステム制御方法 | |
CN110695982A (zh) | 一种基于三维视觉的机械臂手眼标定方法和装置 | |
CN111781894A (zh) | 利用机器视觉进行装配工具空间定位及姿态导航的方法 | |
CN111890356A (zh) | 机械臂坐标系和相机坐标系标定方法、装置、设备及介质 | |
KR101597163B1 (ko) | 스테레오 카메라 교정 방법 및 장치 | |
CN114459345B (zh) | 基于视觉空间定位的飞机机身位置姿态检测系统及方法 | |
CN110044266B (zh) | 基于散斑投影的摄影测量系统 | |
CN111256592A (zh) | 结构光传感器的外参标定装置及方法 | |
CN105571491A (zh) | 基于双目视觉的汽车底盘数据测量系统及其方法 | |
CN111998823B (zh) | 基于双目异光源测距装置的目标测距方法 | |
Yamauchi et al. | Calibration of a structured light system by observing planar object from unknown viewpoints | |
US9804252B2 (en) | System and method for measuring tracker system accuracy | |
CN111199576A (zh) | 一种基于移动平台的室外大范围人体姿态重建方法 | |
CN115170672A (zh) | 一种用于多相机系统的标定方法、装置及可读存储介质 | |
Karan | Accuracy improvements of consumer-grade 3D sensors for robotic applications | |
CN114279326A (zh) | 一种三维扫描设备的全局定位方法 | |
CN114926542A (zh) | 基于光学定位系统的混合现实固定参考系校准方法 | |
CN112258562A (zh) | 一种基于图像特征的配准系统及配准方法 | |
CN205352310U (zh) | 基于双目视觉的汽车底盘数据测量系统 | |
Strobl et al. | On the issue of camera calibration with narrow angular field of view | |
CN117406185B (zh) | 雷达与相机间的外参标定方法、装置、设备及存储介质 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
TA01 | Transfer of patent application right | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20240430 Address after: Room 504, floor 5, building 2, hospital 9, Yiyi Road, Life Science Park, Changping District, Beijing 102206 Applicant after: Beijing Yinhe Fangyuan Technology Co.,Ltd. Country or region after: China Address before: Room 504, floor 5, building 2, hospital 9, Yiyi Road, Life Science Park, Changping District, Beijing 102206 Applicant before: Beijing Yinhe Fangyuan Technology Co.,Ltd. Country or region before: China Applicant before: Beijing yone Galaxy Technology Co.,Ltd. |