CN116342716A - Calibration method for external parameters of binocular camera in large-scale scene - Google Patents
Calibration method for external parameters of binocular camera in large-scale scene Download PDFInfo
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Abstract
The invention provides a calibration method of external parameters of a binocular camera in a large-scale scene, which comprises the steps of arranging the binocular camera to be calibrated, a total station and a luminous target array in a calibration field; calibrating internal parameters of a first camera and a second camera in the binocular camera to be calibrated; the luminous target array is moved for a plurality of times, and the target position and the gesture of each luminous target are obtained; the first camera takes a photograph to obtain a first image and the second camera takes a photograph to obtain a second image; extracting the spot centroid coordinates of each luminous target in the first image and the spot centroid coordinates of each luminous target in the second image; and calculating the relative position and the relative posture between the first camera and the second camera according to the positions and the postures of the multiple groups of targets and the spot centroid coordinates acquired by the first camera and the second camera, and completing the calibration of external parameters of the binocular camera to be calibrated. The calibration method provided by the invention realizes accurate calibration of external parameters of the binocular camera, and has the technical advantages of high precision, strong robustness, low cost and easiness in operation.
Description
Technical Field
The invention relates to the technical field of computer vision, in particular to a calibration method for external parameters of a binocular camera in a large-scale scene.
Background
In the modern industrial field, the optical measurement technology is increasingly paid attention to because of the advantages of high precision, low cost, non-contact and the like, and in particular, the optical measurement technology of the binocular camera is suitable for the target positioning requirement of unknown depth of field. In the measurement task of using a binocular camera to measure a long distance (about 30-50 meters, for example), the relative position and posture between the two cameras need to be precisely calibrated first so as to ensure the smooth completion of the optical measurement task.
At present, according to different calibration parameter solving methods and targets adopted, a camera calibration technology comprises a traditional hand-eye calibration method based on the targets, an automatic online calibration method, an active vision method and an intelligent camera calibration method, and the following problems exist in the calibration of the methods:
1. the traditional 'hand-eye' calibration method uses specific experimental conditions and a known target Marker according to a specific model, and calculates internal and external parameters of a camera through image processing and mathematical transformation, wherein the method has the defects of no consideration of distortion of a lens, higher equipment requirement, high calibration cost of a three-dimensional calibration object to be specially made, higher requirement on matching precision of characteristic points on a calibration template and the like;
2. the automatic on-line calibration method is a calibration method which does not need a specific target, and only utilizes various constraints of internal parameters which are irrelevant to camera motion and scenes, and has poor robustness and precision despite strong flexibility;
3. the active vision method is a method for solving relevant parameters according to the motion trail of a camera, and the method can solve the relevant parameters linearly, but needs to ensure that the motion state of the camera is known and controlled, has high requirements on experimental equipment, and needs a specific device (such as an encoder, an displacement table and other external equipment) to control the camera to do special motion;
4. the intelligent camera calibration method is based on an artificial neural network, and can accurately describe that the high-dimensional nonlinear mapping of input and output in Euclidean space is introduced into camera calibration application. The method takes the pixel coordinates of the target point as network input, corresponds to world coordinates as ideal output, corrects the hidden layer neuron weight in the forward and reverse information propagation process so as to minimize the actual and expected output errors and obtain an accurate calibration model, but the method cannot meet the calibration under a large-distortion complex environment, and the method is taken as an implicit correction method and gradually shows the superiority such as real time, universality and the like, but also has the problems of lack of corresponding data sets, poor inclusion, low precision and the like.
Furthermore, conventional binocular camera calibration methods typically employ a small calibration plate, which is suitable for close-up photography. However, when the calibration plate is far away from the binocular camera, the projection area of the calibration plate in the imaging plane of the camera is very small, the number of effective visual features which can be extracted is small, the visual features are unevenly distributed, the extraction precision is low, the external parameters of the binocular camera are relatively poor in calibration precision, and the requirement of accurate measurement of a long-distance large object cannot be met. In addition, the calibration plates adopted by the traditional method are all backlight-free, under the condition of dark illumination intensity (such as indoor), the imaging quality is obviously reduced, the extraction precision of visual features is reduced, and the calibration precision is difficult to ensure.
Therefore, it is necessary to design a binocular camera external parameter calibration method capable of satisfying complex illumination and large scale scenes.
Disclosure of Invention
In order to solve the problems of small target imaging area, less effective visual features and uneven visual feature distribution under a large-scale scene, the invention designs a calibration method of external parameters of a binocular camera under a large-scale scene, which is suitable for accurately calibrating the external parameters of the binocular camera under the conditions of illumination change and long object distance, and has the advantages of high precision, strong robustness and low cost.
The technical scheme for realizing the aim of the invention is as follows: a calibration method for external parameters of a binocular camera in a large-scale scene comprises the following steps:
extracting the spot centroid coordinates of each luminous target in the second image to form a third coordinate set;
step 6, repeating the steps 3 to 5, and moving the luminous target array for a plurality of times to obtain a plurality of groups of first coordinate sets, second coordinate sets and third coordinate sets;
and 7, calculating the relative position and the relative posture between the first camera and the second camera based on a plurality of groups of first coordinate sets, second coordinate sets and third coordinate sets, and completing the calibration of the external parameters of the binocular camera to be calibrated.
The principle of the calibration method of external parameters of the binocular camera in the large-scale scene designed by the invention is as follows: firstly, moving a luminous target array for a plurality of times relative to a binocular camera to be calibrated, and shooting images to obtain a large number of uniformly distributed visual features; secondly, dividing and extracting a light spot area in a shot image by a light spot area detection technology so as to accurately acquire the light spot centroid coordinates (namely a second coordinate set and a third coordinate set) of each light emitting target after movement; thirdly, acquiring target positions and postures (namely a first coordinate set) of all the moved luminous targets through a total station; finally, combining a plurality of groups of first coordinate sets, second coordinate sets and third coordinate sets, and calibrating external parameters (relative positions and relative postures) of the binocular camera to be calibrated.
In one embodiment, in the step 1, the position of the total station in the calibration site is:
in the calibration field, the position set by the total station can observe the binocular camera to be calibrated and the luminous target array at the same time, and the total station does not block the binocular camera to be calibrated from photographing the luminous target array.
In a modified embodiment, in the step 1, the light emitting target array is formed by arranging a plurality of light emitting diode targets in an array manner.
In one embodiment, in the step 2, the calibration method of the internal parameters of the first camera and the second camera in the binocular camera to be calibrated is as follows:
and calibrating the internal parameters of the first camera and the second camera based on a hand-eye calibration method.
In a modified embodiment, the internal parameters of the first and second cameras include focal length, radial distortion parameters, tangential distortion parameters, optical center coordinates.
In one embodiment, in the step 3, the method for moving the light emitting target array is as follows:
and moving the luminous target array in the horizontal direction or the vertical direction relative to the binocular camera to be calibrated.
In an improved embodiment, in the step 3, the method for obtaining the target position and posture of each light emitting target includes:
defining a coordinate system of the position of the total station as a world coordinate system, and observing the position of each light emitting target in the light emitting target array in the world coordinate system by using the total station to obtain the target position and the posture of each light emitting target.
In one embodiment, in the step 5, the method for extracting the centroid coordinates of the light spot of the light emitting target includes:
step 51, dividing the light spot area of each luminous target in the first image and the second image based on an image threshold dividing method;
and 52, estimating and obtaining the spot centroid coordinates of each spot area based on a spot centroid calculation method.
In an embodiment, in step 4, after the first image and the second image are acquired, preprocessing is further performed on the first image and the second image.
In one embodiment, in step 6, the number of movements of the light emitting target array is 3 or more.
Compared with the prior art, the invention has the beneficial effects that: the method for calibrating the external parameters of the binocular camera in the large-scale scene is suitable for calibrating the external parameters of the binocular camera in the visual field, can solve the problems of small target imaging area, few effective visual features, uneven visual feature distribution and the like in the large visual field, calculates the external parameters of the binocular camera to be calibrated with high precision, and has the technical advantages of high precision, strong robustness, low cost and easiness in operation.
Drawings
In order to more clearly illustrate the technical solution of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described.
FIG. 1 is a flow chart of a method for calibrating external parameters of a binocular camera in a large scale scene in an embodiment;
FIG. 2 is a schematic diagram of a luminescent target array in an embodiment;
FIG. 3 is a schematic diagram of the positions of the light emitting target array, the total station and the binocular camera to be calibrated in the calibration field in the specific embodiment;
1, a luminous target array; 2. a luminescent target; 3. a total station; 4. a binocular camera to be calibrated; 5. calibrating a site.
Detailed Description
The invention will be further described with reference to specific embodiments, and advantages and features of the invention will become apparent from the description. These examples are merely exemplary and do not limit the scope of the invention in any way. It will be understood by those skilled in the art that various changes and substitutions of details and forms of the technical solution of the present invention may be made without departing from the spirit and scope of the present invention, but these changes and substitutions fall within the scope of the present invention.
For complex illumination conditions and large-scale scenes, the imaging area of the target is small, effective visual features are few, visual features are unevenly distributed, and therefore external parameters of the binocular camera are difficult to calibrate. In the specific embodiment, firstly, a target array is designed, targets are moved for multiple times and images are shot to obtain a large number of uniformly distributed visual features, and the target position and the gesture of each target are obtained through a total station; secondly, aiming at the problem of unclear light spot edges in the image, adopting a light spot area detection technology to accurately divide a light spot area from a background image; then, aiming at the problem of spot centroid detection, adopting a heavy coordinate positioning method to obtain spot centroid coordinates of each target; and finally, calibrating the external parameters of the binocular camera through the geometric relations among the positions and the postures of the multiple groups of targets and the facula centroid coordinates of the multiple groups of facula centroid, and calculating the external parameters of the binocular camera with high precision.
The following describes, by way of specific embodiments, a calibration method for external parameters of a binocular camera in the above-mentioned large-scale scene, as shown in fig. 1, where the calibration method includes:
extracting the spot centroid coordinates of each luminous target 2 in the second image to form a third coordinate set;
step 6, repeating the steps 3 to 5, and moving the luminous target array 1 for a plurality of times to obtain a plurality of groups of first coordinate sets, second coordinate sets and third coordinate sets;
and 7, calculating the relative position and the relative posture between the first camera and the second camera based on a plurality of groups of first coordinate sets, second coordinate sets and third coordinate sets, and completing the calibration of the external parameters of the binocular camera 4 to be calibrated.
In one embodiment, in the step 1, the position of the total station 3 in the calibration site 5 is:
in the calibration field 5, the position set by the total station 3 can observe the binocular camera 4 to be calibrated and the light-emitting target array 1 at the same time, and the total station 3 does not shade the binocular camera 4 to be calibrated from photographing the light-emitting target array 1.
Meanwhile, in this embodiment, referring to fig. 3, the specification of the calibration field 5 may be a large-scale scene with a depth of 30m, a field width of 8m, and a spatial height of 4.5m, where the object to be measured is located inside the field, and the binocular camera is located outside the field.
The distance between the binocular camera 4 to be calibrated and the luminous target array 1 is more than or equal to 30m.
In an improved embodiment, in the step 1, the light emitting target array 1 is formed by arranging a plurality of light emitting diode targets in an array manner, and referring to fig. 2, the light emitting target array may be a 5×3 circular backlight calibration plate, the light emitting diode targets are 15 white circular spots on the circular backlight calibration plate, the center distance between two adjacent white circular spots is 140mm, the diameters of the circles are fixed and consistent, and the light emission is white visible light. It should be noted that, the 15 white circular spots on the circular backlight calibration plate may also be in a non-uniform layout.
In one embodiment, in the step 2, the calibration method of the internal parameters of the first camera and the second camera in the binocular camera to be calibrated 4 is as follows:
the internal parameters of the first camera and the second camera are calibrated based on a hand-eye calibration method, such as Zhang Zhengyou monocular camera internal parameter calibration method.
In a modified embodiment, the internal parameters of the first and second cameras include focal length, radial distortion parameters, tangential distortion parameters, optical center coordinates.
In one embodiment, in the step 3, the method for moving the light emitting target array 1 is as follows:
the light emitting target array 1 is moved in the horizontal direction or the vertical direction relative to the binocular camera 4 to be calibrated, and specifically, the light emitting target array 1 can be moved from left to right at equal intervals relative to the binocular camera 4 to be calibrated, or the light emitting target array 1 can be moved from right to left at equal intervals.
In an improved embodiment, in the step 3, the method for obtaining the target position and posture of each light emitting target 2 includes:
defining a coordinate system of the position of the total station 3 as a world coordinate system, and observing the position of each light emitting target 2 in the light emitting target array 1 in the world coordinate system by using the total station 3 to obtain the target position and the posture of each light emitting target 2.
In one embodiment, in the step 5, the method for extracting the centroid coordinates of the light spot of the light emitting target 2 is as follows:
step 51, dividing the light spot area of each light emitting target 2 in the first image and the second image based on an image threshold dividing method, for example, a multi-scale threshold dividing method, and simultaneously, assigning 1 to the light spot area obtained by division, assigning 0 to the non-light spot area, and performing pixel binarization processing;
and step 52, estimating and obtaining the spot centroid coordinates of each spot area based on a spot centroid calculation method, such as a gravity center positioning method.
In an embodiment, in step 4, after the first image and the second image are acquired, preprocessing is further performed on the first image and the second image. Secondly, aiming at the problems of image quality degradation caused by ambient illumination change and camera thermal noise, the proposal adopts an image preprocessing technology to improve the signal to noise ratio of images and adopts a light emitting diode array target to improve the saliency of image light spots.
In one embodiment, in the step 6, the number of movements of the light emitting target array 1 is 3 or more.
The principle of the calibration method of external parameters of the binocular camera in the large-scale scene designed by the invention is as follows: firstly, moving a luminous target array for a plurality of times relative to a binocular camera to be calibrated, and shooting images to obtain a large number of uniformly distributed visual features; secondly, dividing and extracting a light spot area in a shot image by a light spot area detection technology so as to accurately acquire the light spot centroid coordinates (namely a second coordinate set and a third coordinate set) of each light emitting target after movement; thirdly, acquiring target positions and postures (namely a first coordinate set) of all the moved luminous targets through a total station; finally, combining a plurality of groups of first coordinate sets, second coordinate sets and third coordinate sets, and calibrating external parameters (relative positions and relative postures) of the binocular camera to be calibrated.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Claims (10)
1. The method for calibrating the external parameters of the binocular camera in the large-scale scene is characterized by comprising the following steps of:
step 1, setting a binocular camera to be calibrated, a total station and a luminous target array in a calibration field;
step 2, calibrating internal parameters of a first camera and a second camera in the binocular camera to be calibrated;
step 3, moving the luminous target array, and acquiring target positions and postures of all luminous targets in the luminous target array to form a first coordinate set;
step 4, photographing the luminous target array by adopting the first camera to obtain a first image, and photographing the luminous target array by adopting the second camera to obtain a second image;
step 5, extracting the spot centroid coordinates of each luminous target in the first image to form a second coordinate set;
extracting the spot centroid coordinates of each luminous target in the second image to form a third coordinate set;
step 6, repeating the steps 3 to 5, and moving the luminous target array for a plurality of times to obtain a plurality of groups of first coordinate sets, second coordinate sets and third coordinate sets;
and 7, calculating the relative position and the relative posture between the first camera and the second camera based on a plurality of groups of first coordinate sets, second coordinate sets and third coordinate sets, and completing the calibration of the external parameters of the binocular camera to be calibrated.
2. The calibration method according to claim 1, characterized in that: in step 1, the position of the total station in the calibration field is as follows:
in the calibration field, the position set by the total station can observe the binocular camera to be calibrated and the luminous target array at the same time, and the total station does not block the binocular camera to be calibrated from photographing the luminous target array.
3. The calibration method according to claim 1 or 2, characterized in that: in step 1, the light emitting target array is formed by arranging a plurality of light emitting diode targets in an array mode.
4. The calibration method according to claim 1, characterized in that: in step 2, the calibration method of the internal parameters of the first camera and the second camera in the binocular camera to be calibrated is as follows:
and calibrating the internal parameters of the first camera and the second camera based on a hand-eye calibration method.
5. The calibration method according to claim 1 or 4, characterized in that: internal parameters of the first and second cameras include focal length, radial distortion parameters, tangential distortion parameters, optical center coordinates.
6. The calibration method according to claim 1, characterized in that: in step 3, the method for moving the light emitting target array comprises the following steps:
and moving the luminous target array in the horizontal direction or the vertical direction relative to the binocular camera to be calibrated.
7. The calibration method according to claim 1 or 6, characterized in that: in step 3, the method for obtaining the target position and posture of each light emitting target comprises the following steps:
defining a coordinate system of the position of the total station as a world coordinate system, and observing the position of each light emitting target in the light emitting target array in the world coordinate system by using the total station to obtain the target position and the posture of each light emitting target.
8. The calibration method according to claim 1, characterized in that: in step 5, the method for extracting the centroid coordinates of the light spot of the light emitting target comprises the following steps:
step 51, dividing the light spot area of each luminous target in the first image and the second image based on an image threshold dividing method;
and 52, estimating and obtaining the spot centroid coordinates of each spot area based on a spot centroid calculation method.
9. The calibration method according to claim 1, characterized in that: in step 4, after the first image and the second image are acquired, preprocessing is further included on the first image and the second image.
10. The calibration method according to claim 1, characterized in that: in step 6, the number of movements of the light emitting target array is 3 or more.
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