CN116051651A - Equivalent multi-vision model of variable-vision imaging system and calibration method thereof - Google Patents
Equivalent multi-vision model of variable-vision imaging system and calibration method thereof Download PDFInfo
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- G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
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Abstract
The invention discloses an equivalent multi-vision model of a variable-vision imaging system and a parameter calibration method thereof, when the variable-vision imaging system works, two-dimensional deflection of a camera vision in the system through an optical reflector is equivalent to pose parameters generated by transforming a camera through a specific rigid body, each group of two-dimensional deflection angles corresponds to an equivalent camera pose, and the camera in the variable-vision imaging system forms an equivalent multi-vision imaging model of the variable-vision imaging system under each equivalent pose. Controlling the optical reflection lens to deflect to N pairs of two-dimensional deflection angles (alpha, beta) which are determined in advance in sequence n The camera collects images of the target calibrated under the corresponding vision, and the imaging parameters of the camera and the deflection angles (alpha, beta) of each group are calculated by utilizing the matching relation between the three-dimensional information of the target and the two-dimensional information of the image n Corresponding virtual pose [ R|t ]] n Results of (2); establishing a lookup table of deflection angles and corresponding pose parameters, and obtaining the position and orientation parameters fromAnd modeling and calibration of the variable line-of-sight imaging system are completed.
Description
Technical Field
The invention belongs to the technical field of machine vision, and particularly relates to an equivalent multi-vision model of a variable-vision imaging system combining a camera and a two-dimensional deflection optical reflector and a high-precision calibration method thereof.
Background
The two-dimensional vibrating mirror is a vector scanning device which is characterized in that two special swinging motors respectively drive two optical lenses to rapidly deflect around respective rotating shafts (the two rotating shafts are generally perpendicular to each other), and deflection of light rays in the two-dimensional direction can be realized by changing the deflection angles of the two rotating shafts. Two-dimensional deflection of the light can also be achieved by rotating a total reflection mirror about two mutually perpendicular axes. These two-dimensional light deflection devices may be collectively referred to as two-dimensional deflection optical mirrors. Along with the continuous development of the two-dimensional deflection optical reflector manufacturing technology, the positioning precision, the repetition precision and the scanning speed of the two-dimensional deflection optical reflector are greatly improved, and the two-dimensional deflection optical reflector is widely applied in a plurality of fields. For example, changing the outgoing direction of an incident laser beam by high-speed axial deflection of two optical lenses has been widely used in laser marking, laser processing, laser marking, laser medical cosmetology, and the like. In recent years, two-dimensional galvanometers have also been used in combination with vision imaging systems to change the line of sight of the imaging system and expand the field of view of the camera. For example, liu Chenyi [ 1 ] Liu Chenyi. Large field small target visual tracking technology research [ Shuoshi thesis ]. University of science and technology, 2019) studied the tracking technology of a galvanometer-camera combined system in a large field of view; zhou Kai (Zhou Kai, 2), remote large field iris recognition technology research based on galvanometer scanning [ Shuoshi thesis ]. Western electronic technology university, 2019) applies galvanometer-camera systems to high resolution imaging of local small areas. In these studies, the two-dimensional galvanometer is only used to change the imaging area of the camera when shooting each time, and no quantitative relationship between the three-dimensional scene and each point on the imaging plane of the camera under different deflection angles of the galvanometer is established. In various applications related to three-dimensional vision, the establishment of a three-dimensional imaging model of an imaging system is an indispensable premise and foundation. However, for a variable line-of-sight imaging system in which a camera is combined with an optical reflector, many uncertain factors such as the position and direction of the incident light are difficult to determine, the specific angle of deflection is difficult to determine, the distance and angle between two rotating shafts are uncertain, and it is difficult to model the reflection process more accurately. Therefore, the imaging position of the three-dimensional scene on the imaging plane is related to imaging parameters including nonlinear distortion of the three-dimensional scene and the camera, and has a complex relationship with two deflection angles of the two-dimensional deflection optical reflector, and the factors are combined together, so that the difficulty of establishing an accurate working model of the sight-changing imaging system is great. Currently, only Han Zidong et al (Han Zidong, zhang Liyan) provide a three-dimensional imaging model and a calibration method for a variable-line-of-sight system by combining a camera and a galvanometer, and the Chinese patent invention, ZL 202110469560.1) provides the three-dimensional imaging model and the calibration method for the variable-line-of-sight system. However, the three-dimensional imaging model in document [ 3 ] takes a quadruple formed by a two-dimensional deflection control signal of the vibrating mirror and the pixel coordinates of the imaging plane of the camera as input, takes a space linear equation parameter of incident light rays at the corresponding pixel coordinates as output, and adopts a single hidden layer neural network to represent the imaging relation of the variable line-of-sight imaging system. Because of the lack of practical significance of parameters in the neural network model, structural changes in the neural network model can have an impact on the performance of the imaging model.
Aiming at the importance and technical difficulties of modeling problems of a variable-vision imaging system, the invention provides a brand new equivalent multi-vision model of the variable-vision imaging system by combining a camera with a two-dimensional deflection optical reflector and a calibration method thereof. The equivalent multiview vision model is simple and visual, and has definite physical meaning. By establishing and calibrating a model of a variable-line-of-sight imaging system combining the camera and the two-dimensional deflection optical reflecting mirror, the variable-line-of-sight imaging system combined by one camera and one two-dimensional deflection optical reflecting mirror can be equivalent to a multi-visual system formed by a large number of cameras (up to hundreds in the embodiment) with different directions under a unified world coordinate system, so that the three-dimensional visual application can be well supported. In addition, the imaging model and the calibration method do not need to have an accurate position relationship between a camera in the variable-line-of-sight imaging system and the two-dimensional deflection optical reflector, are very convenient for system construction, and therefore have wide application prospects.
Disclosure of Invention
Aiming at the problems, the invention provides an equivalent multi-vision model of a variable-vision imaging system and a calibration method thereof, which finish modeling and calibration of the camera-two-dimensional deflection optical reflector variable-vision imaging system and facilitate construction of the system.
The technical scheme of the invention is as follows:
an equivalent multi-vision imaging model of a variable vision system based on a two-dimensional deflection optical reflector, wherein the variable vision system comprises the two-dimensional deflection optical reflector, an area array camera, an optical lens, a controller and a computer host;
the computer host is connected with the two-dimensional deflection optical reflecting mirror through the controller, and two digital quantity signals (alpha, beta) sent by the computer host are used as the rotation angle control quantity of the two-dimensional deflection optical reflecting mirror; the two-dimensional deflection optical reflecting mirror comprises one or two optical total reflecting mirrors, is rapidly deflected around an axis under the control of a rotation angle control amount and is used for changing the sight line direction and a corresponding imaging area of an image sensor formed by the area array camera and the optical lens, and the two-dimensional deflection angle of the optical total reflecting mirror is respectively and uniquely determined by alpha and beta;
after the deflection of the optical total reflecting mirror is controlled by the digital quantity signals (alpha, beta), the equivalent position and the equivalent direction of a camera in a variable-vision imaging system formed by the camera and the two-dimensional deflection optical reflecting mirror are changed, and the method is particularly equivalent to carrying out translation and rotation operation on the camera; can be represented by a translation vector t and a rotation matrix R, which are abbreviated as R|t;
determining the equivalent camera pose [ R|t ] of a variable line-of-sight imaging system under different angular control amounts (alpha, beta)]And intrinsic parameters of the camera, the equivalent multi-vision imaging model of the variable line-of-sight imaging system is based on the intrinsic parameters of the camera and
is expressed by the correspondence of (a) and (b).
Preferably, the camera comprises an area array image sensor and a set of optical lenses.
Preferably, the camera self-imaging model used includes an ideal pinhole camera imaging model and a pinhole camera model with distortion, and the camera self-imaging parameters K include the principal point coordinates of the image plane, the unit pixel size, the lens focal length, and the distortion parameters in the model with distortion.
Preferably, the two-dimensional deflection optical reflecting mirror comprises two optical total reflecting mirrors with mutually perpendicular rotation axes, the two optical total reflecting mirrors can respectively receive control signals to rapidly deflect around the axes, and the two-axis deflection can be uniquely determined by two-dimensional control quantities (alpha, beta).
Preferably, the two-dimensional deflection optical mirror comprises a sheet of optical total reflection mirror which can be deflected rapidly about two mutually perpendicular axes of rotation, the two-axis deflection of which can be determined exclusively by the two-dimensional control variable (α, β).
Preferably, a series of deflection angles (α, β) of the two-dimensional deflection optical mirror are determined according to the scanning angle range of the two-dimensional deflection optical mirror, the field angle of the camera itself, and the specific application scene n N=1, 2,..n, with rotation matrix R n And translation vector t n Expressing the relative deflection angle (alpha, beta) of the camera n Equivalent pose relative to world coordinate system; deflection angles (alpha, beta) n Corresponding N equivalent camera poses [ R|t ]] n Forming a multi-vision imaging system, and forming imaging parameters K of the camera and deflection angles (alpha, beta) thereof n Corresponding equivalent pose [ R|t ]] n Is the parameter that the model needs to be calibrated.
The invention also provides an equivalent multi-vision imaging model calibration method of the variable vision imaging system, which comprises the following steps:
(1) Sampling deflection control signals of the two-dimensional deflection optical reflecting mirrors, determining a required imaging range and overlapping proportion of adjacent fields of view under each deflection position of the two-dimensional deflection optical reflecting mirrors according to application requirements, and sampling control amounts to obtain deflection control amounts (alpha, beta) of N two-dimensional deflection optical reflecting mirrors n ,n＝1,2,...,N；
(2) In all deflection control amounts (. Alpha.,. Beta.) n N=1, 2, where, collecting image I of calibration object under N-controlled deflection position n N=1, 2, N, extracting the image coordinates of each calibration target point in each image
Three-dimensional coordinates (x, y, z) of corresponding calibration target points on a calibration object in space id Matching, wherein id is the number of the mark point;
(3) According to spaceMarker and matched mark point in N images
The method is used for completing the control of N deflection control quantities (alpha, beta) of a two-dimensional deflection optical reflecting mirror on the intrinsic parameter K of the camera n Corresponding equivalent camera pose parameter [ R|t ]] n N=1, 2,..calibration of N;
(4) Based on the obtained model parameters, a control quantity (alpha, beta) is established n To [ R|t ]] n Corresponding relation (alpha, beta) n →[R|t] n ,n＝1,2,...,N。
Preferably, when the deflection control amount of the sampling is such that there is a coincident field of view between the respective equivalent camera poses, the parameters K, [ R|t ] obtained in (3) are used] n N=1, 2., N is an initial value, and the sum of squares of re-projection errors of the mark points on the calibration object on each calibration image is used as an optimization target, so that the whole model is globally optimized to obtain a final camera intrinsic parameter K and N deflection control amounts (alpha, beta) of the two-dimensional deflection optical reflecting mirror n And equivalent camera pose parameter [ R|t ]] n N=1, 2,..correspondence between N.
The beneficial effects of the invention are as follows:
(1) The equivalent multi-vision imaging model of the two-dimensional deflection optical reflector and camera combined variable-vision imaging system provided by the invention has very clear physical meaning, and the model parameters are concise and clear.
(2) The imaging model and the calibration method do not need to have an accurate position relationship between a camera in the variable-line-of-sight imaging system and the two-dimensional deflection optical reflector, and are very convenient for the construction of a hardware system.
(3) By establishing and calibrating the model of the variable vision imaging system combining the camera and the two-dimensional deflection optical reflector, the variable vision imaging system combining one camera and one two-dimensional deflection optical reflector can be equivalent to a multi-view stereoscopic vision system consisting of a large number of cameras with different directions under a unified world coordinate system, thereby better supporting three-dimensional vision application and having wide application prospect.
Drawings
FIG. 1 is a schematic diagram of an equivalent multi-vision imaging model of a variable line-of-sight imaging system of the present invention.
FIG. 2 is a schematic diagram of a system model calibration method according to an embodiment of the present invention.
FIG. 3 is a schematic diagram of a second embodiment of a system model calibration method according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
The invention discloses an equivalent multi-vision imaging model of a variable vision imaging system and a calibration method thereof, as shown in figure 1, a reflector is controlled to sequentially deflect to N pairs of predetermined deflection angles (alpha, beta) n The camera collects images of the target calibrated under the corresponding vision, and the imaging parameters of the camera and the deflection angles (alpha, beta) of each group are calculated by utilizing the matching relation between the three-dimensional information of the target and the two-dimensional information of the image n Corresponding virtual pose [ R|t ]] n Results of (2); recording parameters in a camera and camera pose parameters corresponding to each deflection angle, and establishing a lookup table of the deflection angles and the corresponding pose parameters, thereby completing modeling and calibration of the variable-vision imaging system based on the camera-two-dimensional deflection optical reflector.
The two-dimensional deflection optical reflector can be a piece of optical total reflector which can respectively and rapidly deflect around two mutually perpendicular rotation shafts; or two optical total reflection mirrors, which are respectively deflected around the axes and the rotation axes of the two optical total reflection mirrors are mutually perpendicular. The two-dimensional deflecting optical mirror used in the following examples was a two-piece optical total reflection mirror, i.e., a two-dimensional galvanometer. The present embodiment is only for explaining the technical scheme and is not limited to the present invention.
Example 1
As shown in fig. 2, the hardware of the camera-galvanometer combined variable-line-of-sight imaging system of this embodiment is configured as follows: the system comprises a two-dimensional vibrating mirror, a CCD area array camera, a group of lenses, a vibrating mirror controller and a computer host. The computer host is connected with the area array camera and controls the camera to collect images. The computer host is connected with the two-dimensional vibrating mirror through the vibrating mirror controller, the two-dimensional vibrating mirror comprises two optical total reflection mirrors, the two optical total reflection mirrors can respectively and rapidly deflect around the shaft under the control of two digital quantity signals (alpha, beta) sent by the computer, and therefore the sight line direction and the corresponding imaging area of an image sensor formed by a camera and a lens are changed, and the deflection angles of the two optical total reflection mirrors are respectively and uniquely determined by alpha and beta. The calibration object is a large calibration plate which is fully distributed with coding mark points.
In this embodiment, the calibration method includes the steps of:
(1) The maximum deflection angle of the vibrating mirror in the vibrating mirror-camera variable vision system is uniformly separated according to the visual field angle of the camera, for example, the maximum deflection angle of the vibrating mirror in the x and y directions is +/-delta x And + -delta y The view angles of the camera in the x and y directions are gamma x And gamma y According to the principle that deflection angles are uniformly distributed and have partial coincidence, the deflection angle sigma of each time x Sum sigma y The range of (2) should be gamma x /2＜σ x ＜γ x And gamma y /2＜σ y ＜γ y N groups of deflection control amounts (alpha, beta) are obtained by deflection intervals n Sampling of (n=1, 2,., N) such that the variable line of sight system can completely cover the field of view of the entire variable line of sight system under these control amounts;
(2) Positioning a calibration plate with densely distributed code points at a position of the variable vision system capable of covering the whole visual field range, and passing (alpha, beta) n (n=1, 2,.,. N.) controlling the line of sight deflection of the line of sight changing system, and sequentially taking a calibration plate at each deflected line of sight position to obtain a picture I n (n=1, 2,., N), extracting the coding point coordinates in the picture, and matching with the spatial coding point coordinates to obtain an image coordinate and spatial coordinate pair
id is the code point sequence number;
(3) Based on spatial calibration on objects and in imagesThe matched mark points are selected to be a pinhole camera model with radial distortion and tangential distortion, and the Zhang Zhengyou camera calibration algorithm is utilized to finish the imaging of the camera inner parameter K and the camera imaging outer parameter [ R|t ] under N vibrating mirror deflection positions] n N=1, 2,..calibration of N;
(4) Parameters K and [ R|t ] obtained in 3)] n N=1, 2..n is an initial value, global re-projection error minimum optimization is performed on the whole model, and a final calibration parameter K is obtained opt And AND (. Alpha.,. Beta.) n N=1, 2,..
As final calibration parameters of the model;
(5) Establishing (alpha, beta) according to the optimized result obtained in the step 4) n →[R|t] n N=1, 2,..n.
It is worth noting that the control amount sampling principle in (1) can enable a large number of coincident fields of view to be available for the positions of adjacent equivalent cameras under the positions of the equivalent cameras, and the control amount sampling principle can be directly used as a multi-view reconstruction system for three-dimensional reconstruction.
Example two
As shown in fig. 3, the hardware of the camera-galvanometer combined variable-line-of-sight imaging system of this embodiment is configured as follows: the system comprises a two-dimensional vibrating mirror, a CCD area array camera, a group of lenses, a vibrating mirror controller and a computer host. The computer host is connected with the area array camera and controls the camera to collect images. The computer host is connected with the two-dimensional vibrating mirror through the vibrating mirror controller, the two-dimensional vibrating mirror comprises two optical total reflection mirrors, the two optical total reflection mirrors can respectively and rapidly deflect around the shaft under the control of two digital quantity signals (alpha, beta) sent by the computer, and therefore the sight line direction and the corresponding imaging area of an image sensor formed by a camera and a lens are changed, and the deflection angles of the two optical total reflection mirrors are respectively and uniquely determined by alpha and beta. The calibration object is a small calibration plate which is fully distributed with coding mark points.
In this embodiment, the calibration method includes the steps of:
(1) According to the size of the view angle of the camera, the maximum deflection angles of the vibrating mirror in the vibrating mirror-camera variable view system are uniformly separated, and the maximum deflection angles of the vibrating mirror in the x and y directions are respectively + -delta x And + -delta y The view angles of the camera in the x and y directions are gamma x And gamma y According to the principle that deflection angles are uniformly distributed and partially overlapped, the deflection angle sigma of each time in the embodiment x Sum sigma y Is taken as gamma x /2＜ασ x ＜γ x And gamma y /2＜ασ y ＜γ y N groups of deflection control amounts (alpha, beta) are obtained by deflection intervals n Sampling of (n=1, 2,., N) so that the variable line of sight imaging system can fully cover the field of view of the entire variable line of sight system under these control amounts.
(2) Positioning the calibration plate with densely-distributed coding points at positions Pos of the variable vision system capable of covering the whole visual field m M=1, 2, … M, pass (α, β) n N=1, 2, where, N controls the line of sight deflection of the line of sight changing system, shooting the calibration plate at each deflection line-of-sight position in sequence to obtain an image I mn (m=1, 2, …, M; n=1, 2, …, N), extracting the coordinates of the encoding points in the image
(3) At each calibration plate position Pos m Measuring the pose transformation matrix T of the current calibration plate relative to a fixed reference coordinate system through external measuring equipment m ；
(4) Will be
Coordinate with spatial coding point->
Matching and coordinate transforming the space coordinate points, and utilizing a transformation matrix T m Converting into a fixed reference coordinate system to obtain image coordinates and space coordinatesFor a pair of
(5) According to the matched mark points on the space calibration object and in the image, the embodiment utilizes Zhang Zhengyou camera calibration algorithm to complete calibration of camera imaging external parameters [ R|t ] under the deflection positions of the K and N vibrating mirrors of the camera internal parameters] n ,n＝1,2,...,N；
(6) Parameters K and [ R|t ] obtained in 5)] n N=1, 2, …, N is an initial value, and global optimization is performed on the whole model to obtain a final calibration parameter K opt And AND (. Alpha.,. Beta.) n N=1, 2, …, N corresponding extrinsic matrices
(7) Establishing (alpha, beta) according to the optimized result obtained in the step 6) n →[R|t] n (n=1, 2, …, N).
It is worth noting that the control amount sampling principle in (1) can enable a large number of coincident fields of view to be formed between each equivalent camera pose and the adjacent equivalent camera pose, and the variable line-of-sight imaging system can be directly applied to three-dimensional reconstruction as a multi-view stereoscopic vision system.
Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention
Claims (10)
1. An equivalent multi-vision model of a variable line-of-sight imaging system, characterized in thatWhen the imaging system works, the camera sight generates sight deflection through the two-dimensional deflection optical reflector, the deflection is equivalent to pose parameters generated by the camera through specific rigid body transformation, and a two-dimensional deflection angle (alpha, beta) and an equivalent camera pose [ R|t ] are established]Corresponding relation of (3)
Wherein t is a translation vector, R is a rotation matrix, and the camera is imaged under each equivalent pose to construct an equivalent multi-vision model of the variable-vision imaging system.
2. The equivalent multiview imaging model of a variable line of sight imaging system of claim 1, wherein the camera comprises an area array image sensor and a set of optical lenses.
3. The equivalent multiview imaging model of a variable line of sight imaging system according to claim 2, wherein the camera self imaging model used comprises an ideal pinhole camera imaging model and a pinhole camera model with distortion, and the camera self imaging parameters K comprise the image plane principal point coordinates, the unit pixel size, the lens focal length and the distortion parameters in the model with distortion.
4. An equivalent multiview imaging model of a variable line of sight imaging system according to claim 3, characterized in that the two-dimensional deflection optical mirror used comprises two optical total reflection mirrors with mutually perpendicular axes of rotation, which can each receive a control signal and rapidly deflect around the respective axis of rotation, the two-axis deflection of which can be uniquely determined by the two-dimensional control quantity (α, β).
5. A variable-line-of-sight imaging system equivalent multiview imaging model as claimed in claim 3, characterized in that the two-dimensional deflection optical mirror used comprises a sheet of optical total reflection mirror which can be deflected rapidly about two mutually perpendicular axes of rotation, respectively, whose two-axis deflection can be determined exclusively by the two-dimensional control quantity (α, β).
6. The model of any one of claims 1 to 5, wherein the incident light in the three-dimensional scene enters the camera after being reflected by the optical total reflection mirror and is imaged on the imaging plane of the camera, and the equivalent position and direction of the imaging of the camera are changed after the optical total reflection mirror receives the deflection control signals (α, β) to generate deflection, which is specifically equivalent to performing translation and rotation operations on the camera, represented by a translation vector t and a rotation matrix R, abbreviated as r|t, and the model of equivalent multi-vision imaging describes the relationship between a given deflection control signal (α, β) and an equivalent camera pose r|t.
7. The model of claim 6, wherein the set of optical mirror deflection angles (α, β) is determined based on the angular deflection range of the two-dimensional deflection optical mirror, the camera's own field angle, and the specific application scenario n N=1, 2,..n, with rotation matrix R n And translation vector t n Expressing the relative deflection angle (alpha, beta) of the camera n Equivalent pose relative to world coordinate system; deflection angles (alpha, beta) n Corresponding N equivalent camera poses [ R|t ]] n Forming a multi-vision imaging system, and forming imaging parameters K of the camera and deflection angles (alpha, beta) thereof n Corresponding equivalent pose [ R|t ]] n Is the parameter that the model needs to be calibrated.
8. An equivalent multi-vision imaging model calibration method of a variable vision imaging system, which is characterized in that the calibration method is used for calibrating an imaging model as claimed in claim 1, and is specifically characterized in that: controlling the optical reflection lens to deflect to N pairs of deflection angles (alpha, beta) which are determined in advance in sequence n The camera collects images of the target calibrated under the corresponding vision, and the imaging parameters of the camera and deflection angles of each group are calculated by utilizing the matching relation between the three-dimensional information of the target and the two-dimensional information of the image(α，β) n Corresponding virtual pose [ R|t ]] n Results of (2); recording parameters in the camera and camera pose parameters corresponding to each deflection angle, and establishing a lookup table of the deflection angles and the corresponding pose parameters, thereby completing modeling and calibration of the variable-line-of-sight imaging system.
9. The equivalent multiview imaging model calibration method of claim 8, comprising the steps of:
(1) Sampling the deflection control amount of the optical reflector according to the application requirement of the variable line-of-sight imaging system to obtain N two-dimensional deflection control amounts (alpha, beta) of the optical reflector n, n＝1，2，...，N；
(2) The variable-line-of-sight imaging system deflects under the control of N optical mirror deflection control amounts, and captures a series of distinguishable target point images I with known coordinate values in the space in each deflection state n N=1, 2, N, extracting each target point in each image
And with corresponding spatial points (x, y, z) id Matching to obtain the correspondence between the target point and the space point on each image
id is the number of the target point;
(3) By either deflection control quantity doublet (alpha, beta) n Corresponding relation between matched image points and space points under corresponding vision
Solving model parameters K and deflection control amounts (alpha, beta) of a camera itself in the variable line-of-sight imaging system n Lower equivalent camera pose [ R|t ]] n ；
(4) Based on the obtained model parameters, a control quantity (alpha, beta) is established n To [ R|t ]] n Corresponding relation (alpha, beta) n →[R|t] n ，n＝1，2，...，N。
10. The method for calibrating an equivalent multiview imaging model according to claim 9, wherein when the images in the respective equivalent camera poses corresponding to the sampled deflection control amounts have overlapping fields of view, the parameters K, [ r|t ] obtained in the step (3) are used] n (n=1, 2,., N) is an initial value of an optimization variable to mark points on the calibration object on each calibration image I n And (2) performing global optimization by taking the minimum sum of squares of the re-projection errors in the N as an optimization target to obtain final K and [ R|t ]] n And finally establishes the control quantity (alpha, beta) n To the equivalent pose of camera [ R|t ]] n Corresponding relation (alpha, beta) n →[R|t] n ，n＝1，2，...，N。
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| CN117146711A (en) * | 2023-10-30 | 2023-12-01 | 中国科学院自动化研究所 | Large-range dynamic laser reconstruction method, system and equipment based on double-galvanometer system |
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| CN117146711B (en) * | 2023-10-30 | 2024-02-13 | 中国科学院自动化研究所 | Large-range dynamic laser reconstruction method, system and equipment based on double-galvanometer system |
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