CN116091626A - Double-camera calibration system and method for non-overlapping visual field - Google Patents
Double-camera calibration system and method for non-overlapping visual field Download PDFInfo
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Abstract
The invention provides a dual camera calibration system and method for non-overlapping visual field, comprising the following steps: the camera-calibration object module comprises a two-dimensional industrial camera, a dot calibration plate and a calibration needle which are fixed on the same bottom plate; the number of the camera-calibration object modules is two, one camera-calibration object module is fixed, and the other camera-calibration object module is movable; the two-dimensional industrial camera is used for shooting images of a dot calibration plate and a calibration needle of the other camera-calibration object module; the robot module comprises a robot body and a connecting piece, wherein the tail end of the robot body is connected with the movable camera-calibration object module through the connecting piece, so that the robot module can move along with the tail end of the robot body, and the pose adjustment of the movable camera-calibration object module is realized; and the calibration calculation module is used for identifying the information of the calibration object according to the multiple shooting results of the two camera-calibration object modules and calibrating the pose relation between the cameras in the two camera-calibration object modules and the dot calibration plate. The invention has convenient deployment and wide application.
Description
Technical Field
The invention relates to the technical field of multi-camera system calibration in industrial scenes, in particular to a non-overlapping visual field oriented dual-camera calibration system and method.
Background
With the development of industrial technology, the advantages of price, precision, speed and the like of a two-dimensional camera are more obvious, and the two-dimensional camera is used for replacing expensive measuring instruments such as theodolites, laser rangefinders, structured light cameras and the like, so that the two-dimensional camera has become a research hotspot in the fields of large-scale measurement, large-component gesture adjustment control and the like. Considering that the monocular two-dimensional camera has limited measurement visual field, the vision measurement work under the complex scene can not be completed independently, and a multi-camera system needs to be built to solve the problem.
There are three methods for calibrating a multi-camera system without overlapping fields of view commonly used at present, namely, by means of optical instruments such as reflectors, the fields of view of the camera are adjusted by means of the instruments, so that overlapping fields of view are obtained to realize pose calibration of the camera; in the other method, by means of the additional cameras, a plurality of cameras or calibration plates of a target are shot at the same time, additional pose information is provided, and the dual-camera calibration is realized; the last method is to provide pose constraint information by fixedly connecting two cameras or two calibration plates by means of a fixing piece, and convert the problem into AX=XB equation solving problem. All three methods are limited by application scenes, for example, in a large-component docking scene, an additional optical instrument or camera cannot be installed, and a dual camera or a calibration plate cannot be fixed. Therefore, a fast, versatile and low cost multi-camera calibration system without overlapping fields of view is of great importance.
The invention with the application number of CN201910951950.5 discloses a multi-camera calibration method and device without overlapping view fields. The device comprises the steps of placing a calibration plate in the visual field of each camera, calculating the pose relation from each camera coordinate system to the calibration plate coordinate system, respectively measuring three-dimensional coordinates of any n points on each calibration plate under the theodolite coordinates by using a double-theodolite three-dimensional coordinate measuring system, knowing the coordinates of the selected n points under the calibration plate coordinate system, and then solving the pose relation between the calibration plate coordinate system and the theodolite coordinates by using a 3D-3D pose estimation iteration closest point method, so as to obtain the pose relation between the two calibration plates; and calculating the pose relationship between the two cameras by using the pose relationship between the cameras and the calibration plates measured by the cameras and the pose relationship between the two calibration plates calibrated by the theodolite.
The invention with the application number of CN202111511234.9 discloses a method for calibrating multiple cameras and unifying coordinates under a non-overlapping area through searching the prior art. The operation method of the invention comprises five steps, namely, the step one: calibrating internal parameters to obtain an internal parameter matrix and a distortion coefficient of the camera; step two: obtaining image coordinates of the feature points; step three: obtaining world coordinates of the feature points; step four: obtaining a rotation matrix and a translation vector of the camera coordinate system and a world coordinate system; step five: obtaining the rotation and translation relation between each camera coordinate system and the world coordinate system; step six: and taking one camera as a reference camera, and unifying other cameras to a camera coordinate system of the reference camera. The multi-camera calibration and coordinate unification method under the non-overlapping area considers the high cost of the large complex calibration device and the practical factors of inconvenient use, selects the calibration plate which is easier to obtain for camera calibration, and unifies the coordinate systems without complicated calculation process.
The two patents have certain disadvantages, one requirement is to use a theodolite, and an additional calibration tool is introduced, so that the calibration cost is increased; another requirement is to use an additional camera that can capture multiple calibration plates, which is not a strict multi-camera calibration method without overlapping fields of view, which is not well-suited.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a dual camera calibration system and method for non-overlapping visual field.
According to one aspect of the present invention, there is provided a dual camera calibration system for non-overlapping field of view, comprising:
the camera-calibration object module comprises a two-dimensional industrial camera, a dot calibration plate and a highly fixed calibration needle, wherein the two-dimensional industrial camera, the dot calibration plate and the highly fixed calibration needle are fixed on the same bottom plate; the number of the camera-calibration object modules is two, one camera-calibration object module is fixed, and the other camera-calibration object module is movable; the two-dimensional industrial camera is used for shooting images of a dot calibration plate and a calibration needle of the other camera-calibration object module;
the robot module comprises a robot body and a connecting piece, wherein the tail end of the robot body is connected with the movable camera-calibration object module through the connecting piece, so that the robot module can move along with the tail end of the robot body, and the pose adjustment of the movable camera-calibration object module is realized;
and the calibration calculation module is used for identifying information of the calibration plate and the calibration needle according to the multiple shooting results of the two camera-calibration object modules and calibrating the pose relation between the two-dimensional industrial cameras respectively positioned in the different camera-calibration object modules and the dot calibration plate.
Preferably, the two-dimensional industrial camera adopts a lens with a focal length of 8.5mm, and shoots object images within 1 meter, wherein the images are gray images; the shooting object is a dot calibration plate and a calibration needle of the other camera-calibration object module;
the round dot calibration plate is fixed on the bottom plate; the bottom surface of the dot calibration plate is white and comprises black circles of an array;
the calibration needle is fixedly connected with the bottom plate, the bottom of the calibration needle is a cylinder, the top of the calibration needle is a cone, and the height range is 120-160mm.
Preferably, the dot calibration plate has a size of 0.16m by 0.16m, a white bottom surface, 7*7 black circles with a radius of 0.01m and a center distance of 0.02m
Preferably, the robot module moves in space with a movable camera-marker module;
the robot module is provided with a calibration unit, the calibration needle point points to a position for many times, and the pose of the calibration needle under the robot coordinate system is calculated;
the pose is used for verifying the precision of the dual camera calibration system.
Preferably, the calibration calculation module includes:
the camera internal parameter calibration unit calculates a camera model of the module according to the round dot calibration plates of the opposite module shot for many times, wherein the camera model comprises internal parameters and a distortion model; the camera model obtained by calibration can be used for subsequent image distortion correction and calibration;
the calibration plate identification unit calculates the pose relationship between the camera of the module and the dot calibration plate of the opposite module according to the known camera model of the module and the dot calibration plate of the opposite module;
the calibration unit is used for acquiring the pose relation between a plurality of groups of opposite side module cameras and the module calibration plate by using a calibration plate identification method based on the multi-time common shooting results of the two modules, constructing an equation and solving the pose relation between the opposite side module cameras and the dot calibration plate of the module and the pose relation between the camera of the module and the dot calibration plate of the opposite side module;
the verification unit shoots the calibration needle again and identifies the needle point position of each camera-calibration object module based on the calibration of the cameras of the two modules and the dot calibration plate of the opposite template; the robot module drives the mobile camera-calibration object module to complete the butt joint of the two needle points, and whether the calibration precision of the camera of the two modules and the dot calibration plate of the opposite template meets the requirement can be verified according to the butt joint error.
Preferably, in the camera internal reference calibration unit, the calibration plate identification unit and the calibration unit all use open source codes to complete calibration.
Preferably, in the verification unit, the accuracy of the system is estimated according to the needle tip butt joint condition, that is, the smaller the butt joint error is, the greater the accuracy is.
According to a second aspect of the present invention, there is provided a dual camera calibration method for non-overlapping fields of view, comprising:
s01, operating a movable camera-calibration object module through a robot module,
s02, the camera calibration object module shoots a dot calibration plate and a calibration needle of the other module by using an industrial camera;
s03, calling the camera of the module to shoot the calibration plate of the opposite module, and calculating the pose relation between the camera of the module and the round dot calibration plate of the opposite module;
s04, executing the steps S01-S03 for multiple times, and solving the pose relation between the cameras in the two modules and the calibration plate by utilizing multiple groups of data.
Preferably, the method further comprises verifying the pose relation between cameras in the two modules and the calibration plate, and comprises the following steps:
shooting a calibration needle and identifying the needle point position of each camera-calibration object module;
the robot module drives the mobile camera-calibration object module to finish the butt joint of the two needle points, and whether the calibration precision of the camera of the two modules and the dot calibration plate of the opposite template meets the requirement is verified according to the butt joint error.
According to a third aspect of the present invention, there is provided a dual camera calibration apparatus for non-overlapping fields of view, using the system described above, or using the method described above.
Compared with the prior art, the invention has the following beneficial effects:
the system and the method for calibrating the double camera facing the non-overlapping visual field are suitable for calibrating the non-overlapping camera system for camera viewing; the method has the advantages of convenient deployment, low cost and wide application, can be rapidly deployed in a multi-camera system formed by two-dimensional industrial cameras of any model, and has important significance in promoting the development of manufacturing industry, reducing the production cost of enterprises and improving the production efficiency.
In the butt joint work of rockets, ship sections and the like, one end is usually fixed and moves to a certain extent, the structural characteristics of the rocket and the ship sections are adapted to a butt joint scene, and the rocket and the ship sections can be directly applied without modification.
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Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is a schematic diagram of a camera-calibration plate module relationship in accordance with a preferred embodiment of the present invention;
FIG. 2 is a flow chart of a dual camera calibration method for non-overlapping field of view in a preferred embodiment of the invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
The invention provides an embodiment, a dual camera calibration system for non-overlapping visual field, comprising a camera-calibration object module, a robot module and a calibration calculation module; the camera-calibration object module comprises a two-dimensional industrial camera, a dot calibration plate and a highly fixed calibration needle which are fixed on the same bottom plate; the number of the camera-calibration object modules is two, one is fixed and the other is movable; the two-dimensional industrial camera is used for shooting images of the dot calibration plate and the calibration needle of the opposite side template; the robot module comprises a robot body and a connecting piece, wherein the tail end of the robot body is connected with the movable camera-calibration object module through the connecting piece, so that the robot module can move along with the tail end of the robot body, and the pose adjustment of the movable camera-calibration object module is realized; and the calibration calculation module identifies the information of the calibration object according to the multiple shooting results of the two camera-calibration object modules and calibrates the pose relation between the cameras in the two camera-calibration object modules and the dot calibration plate.
The embodiment is convenient to deploy, low in cost and wide in application, can be rapidly deployed in a multi-camera system formed by two-dimensional industrial cameras of any model, and has important significance in promoting the development of manufacturing industry, reducing the production cost of enterprises and improving the production efficiency.
In a preferred embodiment of the invention, a preferred structure of the camera-calibration module is provided, which is in particular: the two-dimensional industrial camera uses a lens with a focal length of 8.5mm, can shoot object images within 1 meter, wherein the images are gray images, and main acquisition objects are dot calibration plates and calibration needles. The shooting illumination condition has no excessive requirements, natural light or indoor light sources are used, and additional light sources are not required to be configured for the system.
The dot calibration plate is printed by A4 paper and is adhered to a bottom plate of the camera-calibration object module, the size of the calibration plate is 0.16m x 0.16m, the bottom surface is white, the dot calibration plate totally contains 7*7 black circles with the radius of 0.01m, the circle center distance is 0.02m, and the pose of the calibration plate can be identified by the camera by utilizing a visual method;
the calibration needle is fixedly connected with the base plate of the camera-calibration object module, the bottom of the calibration needle is a cylinder, the top of the calibration needle is a cone, the heights of the cone top and the calibration needle base are known, and the heights of the needle points need to be known in the follow-up calibration precision verification link.
In the butt joint work of rockets, ship sections and the like, one end is usually fixed and moves to a certain extent, and in the implementation, the structural characteristics of the camera-calibration object module are adapted to a butt joint scene and can be directly applied without modification.
In a preferred embodiment of the present invention, a preferred structure of a robot module is provided, in particular, the robot module comprises: industrial robot/co-robot that can install specific end effectors to perform specific industrial production tasks; after the mobile camera-calibration object module is installed, the camera-calibration object module can be carried to move in space, in addition, the robot can calculate the position of the calibration needle point under the robot coordinate system according to an internal calibration method, and the information can be used for verification of a subsequent calibration method. Before accuracy verification, the calibration needle is completely butted by manual operation, and the coordinates of the calibration needle at the moment are recorded; when the accuracy is verified, the coordinates of the current calibration needle point can be calculated according to the known pose of the calibration needle under the robot coordinate system, and the coordinate is compared with the theoretical value to obtain the butt joint error information.
In this embodiment, the robot module may control the movement of the module to adapt to the docking scenario.
In a preferred embodiment of the present invention, a preferred structure of a calibration calculation module is provided, and in particular, the calibration calculation module includes a camera internal reference calibration unit, a calibration plate identification unit, a calibration unit, and a verification unit.
The built-in parameter calibration unit shoots the round dot calibration plate with known model for many times, and calculates the internal parameters and distortion model of the camera. The camera model obtained through calibration can be used for subsequent image distortion correction and calibration.
The calibration plate identification unit calculates the pose relation between the camera of the module and the dot calibration plate of the other module according to the known camera model and the calibration plate model;
the calibration unit obtains pose relations of a plurality of groups of cameras and calibration plates by using a calibration plate identification method based on the multi-shooting result, constructs an equation and solves the pose relations of the cameras of each module and the round dot calibration plates;
after the calibration method is completed, the verification unit shoots the calibration needle again and identifies the needle point position of each camera-calibration object module. The robot drives the mobile camera-calibration object module to complete the butt joint of the two needle points, and whether the precision of the calibration method meets the requirement can be verified according to the butt joint error.
In a preferred embodiment, the camera internal reference calibration unit, the calibration plate identification unit and the calibration unit are all realized by open source codes.
In a preferred embodiment, the verification unit shoots the calibration pins again and identifies the positions of the pin tips of the camera-calibration object modules based on the calibration of the cameras of the two modules and the dot calibration plate of the opposite template; the robot module drives the mobile camera-calibration object module to complete the butt joint of the two needle points, and whether the calibration precision of the camera of the two modules and the dot calibration plate of the opposite template meets the requirement can be verified according to the butt joint error. I.e. the smaller the docking error the greater the accuracy.
Referring to fig. 2, based on the same inventive concept, in other embodiments of the present invention, a dual camera calibration method for non-overlapping fields of view is provided, including:
s01, operating a movable camera-calibration object module through a robot module,
s02, the camera calibration object module shoots a dot calibration plate and a calibration needle of the other module by using an industrial camera;
s03, calling the camera of the module to shoot the calibration plate of the opposite module, and calculating the pose relation between the camera of the module and the round dot calibration plate of the opposite module;
s04, executing the steps S01-S03 for multiple times, and solving the pose relation between the cameras in the two modules and the calibration plate by utilizing multiple groups of data.
In a preferred embodiment, there is also provided verification of camera and calibration plate pose relationship within two modules, comprising:
shooting a calibration needle and identifying the needle point position of each camera-calibration object module;
calculating the distance to be moved according to the identified needle point position;
the robot module drives the mobile camera-calibration object module to finish the butt joint of the two needle points according to the calculated distance, and verifies whether the calibration precision of the camera of the two modules and the dot calibration plate of the opposite template meets the requirement according to the butt joint error.
Based on the same inventive concept, in other embodiments of the present invention, a dual camera calibration apparatus facing a non-overlapping field of view is provided, and the above system is adopted, or the above method is adopted.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present application without departing from the spirit or scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims and the equivalents thereof, the present application is intended to cover such modifications and variations.
Claims (10)
1. A dual camera calibration system for non-overlapping fields of view, comprising:
the camera-calibration object module comprises a two-dimensional industrial camera, a dot calibration plate and a highly fixed calibration needle, wherein the two-dimensional industrial camera, the dot calibration plate and the highly fixed calibration needle are fixed on the same bottom plate; the number of the camera-calibration object modules is two, one camera-calibration object module is fixed, and the other camera-calibration object module is movable; the two-dimensional industrial camera is used for shooting images of a dot calibration plate and a calibration needle of the other camera-calibration object module;
the robot module comprises a robot body and a connecting piece, wherein the tail end of the robot body is connected with the movable camera-calibration object module through the connecting piece, so that the robot module can move along with the tail end of the robot body, and the pose adjustment of the movable camera-calibration object module is realized;
and the calibration calculation module is used for identifying information of the calibration plate and the calibration needle according to the multiple shooting results of the two camera-calibration object modules and calibrating the pose relation between the two-dimensional industrial cameras respectively positioned in the different camera-calibration object modules and the dot calibration plate.
2. The dual camera calibration system for non-overlapping visual field of claim 1, wherein the two-dimensional industrial camera uses a lens with a focal length of 8.5mm to shoot object images within 1 meter, and the images are gray images; the shooting object is a dot calibration plate and a calibration needle of the other camera-calibration object module;
the round dot calibration plate is fixed on the bottom plate; the bottom surface of the dot calibration plate is white and comprises black circles of an array;
the calibration needle is fixedly connected with the bottom plate, the bottom of the calibration needle is a cylinder, the top of the calibration needle is a cone, and the height range is 120-160mm.
3. A dual camera calibration system for a non-overlapping field of view as claimed in claim 2,
the size of the dot calibration plate is 0.16m which is 0.16m, the bottom surface is white, 7*7 black circles with the radius of 0.01m are contained, and the center distance is 0.02m.
4. A dual camera calibration system for a non-overlapping field of view as claimed in claim 1,
the robot module carries a movable camera-calibration object module to move in space;
the robot module is provided with a calibration unit, the calibration needle point points to a position for many times, and the pose of the calibration needle under the robot coordinate system is calculated;
the pose is used for verifying the precision of the dual camera calibration system.
5. A dual camera calibration system for a non-overlapping field of view as claimed in claim 1,
the calibration calculation module comprises:
the camera internal parameter calibration unit calculates a camera model of the module according to the round dot calibration plates of the opposite module shot for many times, wherein the camera model comprises internal parameters and a distortion model; the camera model obtained by calibration can be used for subsequent image distortion correction and calibration;
the calibration plate identification unit calculates the pose relationship between the camera of the module and the dot calibration plate of the opposite module according to the known camera model of the module and the dot calibration plate of the opposite module;
the calibration unit is used for acquiring the pose relation between a plurality of groups of cameras of the opposite side modules and the calibration plate of the opposite side module by using the calibration plate identification unit based on the multi-time common shooting results of the two modules, constructing an equation and solving the pose relation between the cameras of the opposite side modules and the round dot calibration plate of the opposite side module and the pose relation between the cameras of the opposite side modules and the round dot calibration plate of the opposite side module;
the verification unit shoots the calibration needle again and identifies the needle point position of each camera-calibration object module based on the calibration of the cameras of the two modules and the dot calibration plate of the opposite template; the robot module drives the mobile camera-calibration object module to complete the butt joint of the two needle points, and whether the calibration precision of the camera of the two modules and the dot calibration plate of the opposite template meets the requirement can be verified according to the butt joint error.
6. A dual camera calibration system for a non-overlapping field of view as claimed in claim 5,
and in the camera internal reference calibration unit, the calibration plate identification unit and the calibration unit all use open source codes to complete calibration.
7. A dual camera calibration system for a non-overlapping field of view as claimed in claim 5,
in the verification unit, the accuracy of the system is estimated according to the pinpoint butt joint condition, namely, the accuracy is larger as the butt joint error is smaller.
8. A dual camera calibration method facing to non-overlapping visual fields is characterized by comprising the following steps:
s01, operating a movable camera-calibration object module through a robot module,
s02, the camera calibration object module shoots a dot calibration plate and a calibration needle of the other module by using an industrial camera;
s03, calling the camera of the module to shoot the calibration plate of the opposite module, and calculating the pose relation between the camera of the module and the round dot calibration plate of the opposite module;
s04, executing the steps S01-S03 for multiple times, and solving the pose relation between the cameras in the two modules and the calibration plate by utilizing multiple groups of data.
9. The dual camera calibration method for non-overlapping field of view of claim 8, further comprising verifying a pose relationship between cameras and calibration plates in two modules, comprising:
shooting a calibration needle and identifying the needle point position of each camera-calibration object module;
the robot module drives the mobile camera-calibration object module to finish the butt joint of the two needle points, and whether the calibration precision of the camera of the two modules and the dot calibration plate of the opposite template meets the requirement is verified according to the butt joint error.
10. A dual camera calibration apparatus oriented in a non-overlapping field of view, characterized in that a system according to any one of claims 1-7, or a method according to any one of claims 8-9 is used.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310096005.8A CN116091626A (en) | 2023-02-07 | 2023-02-07 | Double-camera calibration system and method for non-overlapping visual field |
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| CN202310096005.8A CN116091626A (en) | 2023-02-07 | 2023-02-07 | Double-camera calibration system and method for non-overlapping visual field |
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| CN202310096005.8A Pending CN116091626A (en) | 2023-02-07 | 2023-02-07 | Double-camera calibration system and method for non-overlapping visual field |
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