CN115393445A - Self-calibration method for positioning camera installation parameters in virtual reality equipment - Google Patents

Self-calibration method for positioning camera installation parameters in virtual reality equipment Download PDF

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CN115393445A
CN115393445A CN202210873468.6A CN202210873468A CN115393445A CN 115393445 A CN115393445 A CN 115393445A CN 202210873468 A CN202210873468 A CN 202210873468A CN 115393445 A CN115393445 A CN 115393445A
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display
positioning camera
coordinate system
coordinate
installation parameters
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沈晶晶
宋宣晓
杨冉
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Luoyang Institute of Electro Optical Equipment AVIC
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    • 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
    • G06T7/85—Stereo camera calibration
    • G—PHYSICS
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    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T19/00—Manipulating 3D models or images for computer graphics
    • G06T19/20—Editing of 3D images, e.g. changing shapes or colours, aligning objects or positioning parts
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2219/00—Indexing scheme for manipulating 3D models or images for computer graphics
    • G06T2219/20—Indexing scheme for editing of 3D models
    • G06T2219/2004—Aligning objects, relative positioning of parts
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2219/00—Indexing scheme for manipulating 3D models or images for computer graphics
    • G06T2219/20—Indexing scheme for editing of 3D models
    • G06T2219/2016—Rotation, translation, scaling

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Abstract

The invention relates to a self-calibration method for installation parameters of a positioning camera in virtual reality equipment, which can realize calibration of the installation parameters of the positioning camera in a system by utilizing a 3D display, 3D glasses or an interactive pen and a visual positioning component in the system without external calibration equipment. Firstly, displaying a mark point on a display and recording a coordinate position, then solving the coordinate of the mark point under a coordinate system of a positioning camera based on a vision measurement principle, and calibrating the installation parameters of the positioning camera in the system according to the corresponding relation of at least 3 groups of space points under the coordinate system of the display and the coordinate system of the camera. The calibration method has the advantages that the environment is conveniently built, the assistance of professionals and professional equipment is not needed, the operation steps are simple, the calibration precision meets the application requirements, and the practicability and maintainability of the desktop-level virtual reality system are enhanced.

Description

Self-calibration method for positioning camera installation parameters in virtual reality equipment
Technical Field
The invention belongs to the technical field of virtual reality, and relates to a self-calibration method for positioning camera installation parameters in virtual reality equipment.
Background
Virtual Reality (VR) technique is an important direction of present science and technology development, desktop level virtual reality product is an important branch in the virtual reality field, the system mainly comprises parts such as 3D display, the figure workstation, 3D glasses, interactive pen, locating component, the product during operation, the system passes through locating component real-time tracking user's visual angle information, and the action information of user operation interactive pen, produce corresponding 3D figure according to user's visual angle and action, show through the 3D display, can reach good human-computer interaction experience effect. The desktop-level virtual reality system usually tracks and positions user operation information in a vision measurement mode, a positioning assembly consists of a plurality of cameras and is distributed around a display, positioning mark points are arranged on the 3D glasses and the interactive pen, the system controls the cameras to shoot mark point images and process the mark point images, and the position and posture information of the 3D glasses and the interactive pen can be solved according to a computer vision theory so as to obtain the user operation information.
For a desktop-level virtual reality system, 3D image display is based on a display coordinate system, and pose data captured by a positioning assembly is based on a visual system coordinate system, so that to realize correct virtual interaction operation, the calibration of positioning camera installation parameters in the system, namely the pose relationship of a positioning camera relative to the display, must be completed first. For the parameter calibration, a corresponding relation is usually established between two coordinate systems by means of a special target body or an external camera, but the calibration methods require professionals and special equipment, the environment is complex to build, the steps are complex, the comprehensive calibration cost is high, and the popularization and application of the desktop-level virtual reality system are influenced to a certain extent.
Disclosure of Invention
Technical problem to be solved
In order to avoid the defects of the prior art, the invention provides a self-calibration method of the installation parameters of the positioning camera in the virtual reality equipment, which combines the self characteristics of a desktop-level virtual reality system, and provides the self-calibration method of the installation parameters of the positioning camera, so that the calibration of the installation parameters of the positioning camera can be automatically completed by a user without an external target or other equipment, the operation is simple and rapid, and the calibration precision meets the requirement of virtual interaction.
Technical scheme
A self-calibration method for positioning camera installation parameters in virtual reality equipment is characterized by comprising the following steps:
step 1: establishing a display coordinate system O D -X D Y D Z D With the display center as the coordinate center O D The display plane is X D Y D The coordinate perpendicular to the plane of the display being Z D (ii) a Establishing a visual system coordinate system O V -X V Y V Z V Using the center of the positioning camera as the coordinate center O V Positioning the lens plane of the camera as X D Y D The coordinate perpendicular to the lens plane being Z V ；
Step 2: taking any point on the display plane as a mark point, wherein the coordinate of the point in the display coordinate system is (x) D0 ,y D0 ,z D0 )；
And step 3: aiming at the mark point on the display in the visual axis direction of the 3D glasses or the pen axis direction of the interactive pen;
and 4, step 4: obtaining a visual system coordinate system O by using a visual positioning component to align the visual axis of the glasses or the axis of the interactive pen V -X V Y V Z V The parameter equation of the lower axis, and the attitude parameters are solved,
and 5: changing the positions of the 3D glasses or the interactive pen, repeating the step 3-4, and solving and recording at least 10 groups of axis position posture parameters;
step 6: calculating the coordinates of the intersection points of all the axes by using an optimization method, namely the coordinates of the mark points under a coordinate system of the positioning camera;
and 7: changing the display positions of the mark points on the display for n times, repeating the steps 2-6 for n times to obtain the coordinates of the mark points under the display coordinate system and the positioning camera coordinate system, and completing a position posture relation matrix between the display coordinate system and the positioning camera coordinate system according to a solid analytic geometry theory, namely the installation parameters of the positioning camera.
The visual system coordinate system O of the step 4 V -X V Y V Z V The parametric equation for the lower axis is:
Figure BDA0003760508290000021
Figure BDA0003760508290000022
i＝1,2…m，p i、 q i 、r i are coefficients of a parametric equation.
Step 6, coordinates (x) of the mark point in the coordinate system of the positioning camera V0 ,y V0 ,z V0 ) The calculation of (c): establishing distances to all axes at the intersection point and establishing an objective function:
Figure BDA0003760508290000031
wherein
Figure BDA0003760508290000032
Figure BDA0003760508290000033
Using L-M or other optimization algorithm pairs (x) V0 ,y V0 ,z V0 ) And carrying out optimization solution.
The step 7 of obtaining the calculation of the installation parameters of the positioning camera: the position posture relation matrix between the display coordinate system and the positioning camera coordinate system is [ R ] VD |T VD ]Wherein R is VD Is a 3 x 3 matrix, is a rotation relation of two coordinate systems, T VD Is a 3 multiplied by 1 vector which is a translation relation of two coordinate systems; coordinate values (x) of the plurality of mark points in the display coordinate system Di ,y Di ,z Di ) And its coordinate value (x) corresponding to the coordinate system of the positioning camera Vi ,y Vi ,z Vi ) Substitution of [ x Vi ,y Vi ,z Vi ] T ＝R VD [x Di ,y Di ,z Di ] T +T VD And solving a position and attitude relation matrix between the positioning camera and the display coordinate system by using an optimization algorithm, namely the installation parameters of the positioning camera.
N is more than or equal to 3 in the n times.
Said m is greater than 10.
Advantageous effects
The self-calibration method for the installation parameters of the positioning camera in the virtual reality equipment provided by the invention can realize the calibration of the installation parameters of the positioning camera in the system by utilizing the 3D display, the 3D glasses or the interactive pen and the visual positioning component in the system without the help of external calibration equipment. Firstly, displaying a mark point on a display and recording a coordinate position, then solving the coordinate of the mark point under a coordinate system of a positioning camera based on a vision measurement principle, and calibrating the installation parameters of the positioning camera in the system according to the corresponding relation of at least 3 groups of space points under the coordinate system of the display and the coordinate system of the camera. The calibration method has the advantages that the environment is conveniently built, the assistance of professionals and professional equipment is not needed, the operation steps are simple, the calibration precision meets the application requirements, and the practicability and maintainability of the desktop-level virtual reality system are enhanced.
The method fully combines the characteristics of the desktop-level virtual reality system, and can quickly and conveniently finish the calibration of the installation parameters of the positioning camera by utilizing the components of the system, thereby enhancing the practicability and maintainability of the system.
Drawings
Fig. 1 is a schematic diagram of a typical desktop-level virtual reality system.
Fig. 2 is a schematic diagram of a display displaying a landmark.
Fig. 3 is a schematic diagram of the self-calibration of parameters based on 3D glasses.
FIG. 4 is a diagram of stylus-based parameter self-calibration.
The system comprises a display, a camera, 3.3D glasses, 4 glasses mark points, 5 interactive pens, 6 interactive pen mark points, 7 mark points displayed by the display, 8 glasses visual axis and 9 stylus axis.
Detailed Description
The invention will now be further described with reference to the following examples, and the accompanying drawings:
the method for self-calibrating the installation parameters of the positioning camera in the virtual reality equipment mainly utilizes display equipment, 3D glasses or an interactive pen in a system, and does not need to use external equipment to finish the calibration of the installation parameters of the positioning camera. By displaying the mark points on the display, a user operates the 3D glasses or the interactive pen, and based on a vision measurement theory, the corresponding relation of a plurality of space point coordinates in a display coordinate system and a positioning camera coordinate system is established, so that the calibration and solution of attitude parameters between the display and the positioning camera coordinate system are completed.
A typical desktop-level virtual reality system shown in fig. 1 includes a visual positioning component composed of a 3D display, 3D glasses, an interactive pen, and 4 cameras, where the 3D glasses and the interactive pen are arranged with positioning mark points. The self-calibration method proposed by the present invention is specifically described below with reference to fig. 3 and 4.
The calibration steps are as follows:
1. displaying a distinct marking point on the display, as shown in FIG. 2, recording the point in the display coordinate system O D -X D Y D Z D Coordinates of lower (x) D0 ,y D0 ,z D0 )；
2. The operator wears the 3D glasses and changes the head posture to align the visual axis direction with the mark point on the visual display as shown in fig. 3, or the operator manipulates the interactive pen to align the pen axis direction with the mark point on the display as shown in fig. 4;
3. solving the position of the visual axis or the interactive pen axis of the glasses by using the visual positioning assembly to obtain a visual system coordinate system O V -X V Y V Z V A parametric equation for the lower axis;
4. an operator moves the position of the 3D glasses or the touch pen, repeats the step 2-3, and records a plurality of groups of parameter equations with different pose axes
Figure BDA0003760508290000051
i =1,2 \8230n, n, recommended n is not less than 10,x Vi 、y Vi 、z Vi 、p i 、q i 、r i Is a space linear equation parameter;
5. solving the coordinates (x) of the intersection point of the axes V0 ,y V0 ,z V0 ) I.e. coordinate values of the display marker point in the positioning camera coordinate system, the theoretical intersection point (x) V0 ,y V0 ,z V0 ) Satisfy the requirement of
Figure BDA0003760508290000052
But due to measurement errors, the objective function is established with the sum of the distances of the intersection points to all axes:
Figure BDA0003760508290000053
wherein
Figure BDA0003760508290000054
Using L-M or other optimization algorithm pairs (x) V0 ,y V0 ,z V0 ) Carrying out optimization solution, wherein the more the number of axes is, the more accurate the result is;
6. changing the display position of the mark point on the display, repeating the above steps 1-5, and recording at least 3 groups of coordinate values (x) of the mark point in the display coordinate system Di ,y Di ,z Di ) And its coordinate value (x) corresponding to the coordinate system of the positioning camera Vi ,y Vi ,z Vi ) (ii) a Let the position posture relation matrix between the display coordinate system and the positioning camera coordinate system be [ R ] VD |T VD ]Wherein R is VD Is a 3 x 3 matrix, and describes the rotation relationship of two coordinate systems, T VD The translation relation of two coordinate systems is described as a 3 multiplied by 1 vector; substituting the coordinate value into [ x ] Vi ,y Vi ,z Vi ] T ＝R VD [x Di ,y Di ,z Di ] T +T VD And by utilizing an optimization algorithm, a position and posture relation matrix between the positioning camera and the display coordinate system can be solved, namely the installation parameters of the positioning camera are more, and the calibration result is more accurate as the number of coordinate logarithms is more.
And completing self-calibration of system parameters.
The above description is only an example of the present invention, and is not intended to limit the scope of the present invention, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (6)

1. A self-calibration method for positioning camera installation parameters in virtual reality equipment is characterized by comprising the following steps:
step 1: establishing a display coordinate system O D -X D Y D Z D With the display center as the coordinate center O D The display plane is X D Y D The coordinate perpendicular to the plane of the display being Z D (ii) a Establishing a visual system coordinate system O V -X V Y V Z V Using the center of the positioning camera as the coordinate center O V Positioning the lens plane of the camera as X D Y D The coordinate perpendicular to the lens plane being Z V ；
And 2, step: taking any point on the display plane as a mark point, wherein the coordinate of the point in the display coordinate system is (x) D0 ，y D0 ，z D0 )；
And step 3: aiming at the mark point on the display in the visual axis direction of the 3D glasses or the pen axis direction of the interactive pen;
and 4, step 4: obtaining a visual system coordinate system O by using a visual positioning component to align the visual axis of the glasses or the axis of the interactive pen V -X V Y V Z V The parameter equation of the lower axis, and the attitude parameters are solved,
and 5: changing the positions of the 3D glasses or the interactive pen, repeating the step 3-4, and solving and recording at least 10 groups of axis position posture parameters;
step 6: solving the coordinates of the intersection points of all the axes by using an optimization method, namely the coordinates of the mark points in a positioning camera coordinate system;
and 7: changing the display positions of the mark points on the display for n times, repeating the steps 2-6 for n times to obtain the coordinates of the mark points under the coordinate system of the display and the coordinate system of the positioning camera, and finishing a position posture relation matrix between the coordinate system of the display and the coordinate system of the positioning camera according to a solid analytic geometry theory, namely the installation parameters of the positioning camera.
2. The self-calibration method for positioning camera installation parameters in virtual reality equipment according to claim 1, wherein: the visual system coordinate system of the step 4O V -X V Y V Z V The parametric equations for the lower axis are:
Figure FDA0003760508280000011
Figure FDA0003760508280000012
p i 、q i 、r i are the coefficients of a parametric equation.
3. The self-calibration method for positioning camera installation parameters in virtual reality equipment according to claim 1, wherein: the step 6 is that the coordinate (x) of the mark point in the coordinate system of the positioning camera V0 ，y V0 ，z V0 ) The calculation of (2): establishing distances to all axes at the intersection point and establishing an objective function:
Figure FDA0003760508280000021
wherein
Figure FDA0003760508280000022
Using L-M or other optimization algorithm pairs (x) V0 ，y V0 ，z V0 ) And carrying out optimization solution.
4. The self-calibration method for positioning camera installation parameters in virtual reality equipment according to claim 1, wherein: the step 7 of obtaining the calculation of the installation parameters of the positioning camera: the position and attitude relationship matrix between the display coordinate system and the positioning camera coordinate system is [ R ] VD |T VD ]Wherein R is VD Is a 3 x 3 matrix, is a rotation relation of two coordinate systems, T VD Is a 3 multiplied by 1 vector which is a translation relation of two coordinate systems; coordinate values (x) of the plurality of mark points in the display coordinate system Di ，y Di ，z Di ) And its coordinate value (x) corresponding to the coordinate system of the positioning camera Vi ，y Vi ，z Vi ) Substitution of [ x Vi ，y Vi ，z Vi ] T ＝R VD [x Di ，y Di ，z Di ] T +T VD And solving a position and attitude relation matrix between the positioning camera and the display coordinate system by using an optimization algorithm, namely the installation parameters of the positioning camera.
5. The self-calibration method for positioning camera installation parameters in virtual reality equipment according to claim 1, wherein: n is more than or equal to 3 in the n times.
6. The self-calibration method for positioning camera installation parameters in virtual reality equipment according to claim 1, wherein: said m is greater than 10.
CN202210873468.6A 2022-07-22 2022-07-22 Self-calibration method for positioning camera installation parameters in virtual reality equipment Pending CN115393445A (en)

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