CN201616119U - Regular tetrahedron calibrating block capable of solving internal parameters of camera - Google Patents
Regular tetrahedron calibrating block capable of solving internal parameters of camera Download PDFInfo
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- CN201616119U CN201616119U CN2009202944394U CN200920294439U CN201616119U CN 201616119 U CN201616119 U CN 201616119U CN 2009202944394 U CN2009202944394 U CN 2009202944394U CN 200920294439 U CN200920294439 U CN 200920294439U CN 201616119 U CN201616119 U CN 201616119U
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- camera
- calibrating block
- regular tetrahedron
- internal parameters
- block capable
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Abstract
The utility model discloses a calibrating block for linearly solving 5 internal parameters of a camera. The calibrating block comprises a regular tetrahedron with an arbitrary edge length, the triangle of each surface is divided into three identical parts by three lines from the center to the midpoints of the sides of the triangle, and the three identical parts are colored in different colors. The regular tetrahedron calibrating block capable of solving internal parameter of the camera has the advantages of simple fabrication, extensive application, good stability and simple operation.
Description
Technical field
The utility model relates to a kind of positive tetrahedron calibrating block that is used to find the solution camera intrinsic parameter.
Background technology
One of basic task of computer vision recovers the geological information of object three dimensions from the two-dimensional image information that video camera obtains exactly, thus the geometric configuration of object in identification and the reconstruction of three-dimensional space.In this process, must determine the three-dimensional geometry position of space object point and the mutual relationship between the corresponding point in its image, and this relation determines that by the geometric model of video camera imaging the parameter of these geometric models is exactly a camera parameters.Under most of conditions, these parameters all obtain by experiment, Here it is camera calibration.It generally is divided into tradition and demarcates and demarcate certainly two kinds of methods, which kind of scaling method no matter, and demarcating object all is to adopt some special geometric models, for example: plane square, triangle, circle, space cube, cylinder or the like.How setting up the relation relation of certain linearity especially between these geometric models and the camera parameters, is the target that present camera calibration is pursued, and also is one of focus of present computer vision field research.
Summary of the invention
The utility model provides a kind of making simple, widely applicable, the calibrating block of the camera self-calibration of good stability.
The utility model adopts following technical scheme:
The calibrating block of camera self-calibration, it is the tetrahedron that is made of 4 any length of sides and congruent equilateral triangle, for convenience of feature point extraction, to each face, with the line of each limit mid point it is divided into three parts that equate fully with this leg-of-mutton center, and draws different colors respectively.
The utility model advantage:
(1) this calibrating block is made simply, has ruler and compasses to make the triangular plate of four congruences, and each triangle is drawn different colors respectively, and these four triangular plates combinations are got final product.
(2) physical size to this calibrating block does not require, and need not to know the world coordinates of each point.
(3) good stability uses extensively, as long as calibrating block is positioned at camera field of view, any angle all can photograph a triangular surface that can be used for demarcating at least.
(4) simplify the operation, choose suitable angle, can photograph 3 surfaces, piece image can linearity solve whole intrinsic parameters.
Description of drawings
Fig. 1 is the surperficial annulus point resolution principle figure of of calibrating block.
Fig. 2 is the structural representation of calibrating block.
Embodiment
A kind of calibrating block that is used for camera self-calibration, it is the tetrahedron that is made of 4 any length of sides and congruent equilateral triangle, for convenience of feature point extraction, to each face, with the line of each limit mid point it is divided into three parts that equate fully with this leg-of-mutton center, and draws different colors respectively.
Find the solution planar circular dot image coordinate principle: as Fig. 1, the equilateral triangle that the leg-of-mutton length of side can random length, l
∞Be line at infinity, p
1, p
2, p
3Be each limit ab of triangular image, ac, the intersection point of bc place straight line and line at infinity, m
i, m
jIt is triangle place planar circular dot image.Demarcate among target result schematic diagram Fig. 2, positive tetrahedron ABCD, E, F, G, P, Q are respectively the mid points of each rib, get mid point and are convenient to calculate end point coordinate on each limit.
Claims (1)
1. tetrahedron calibrating block that is used to find the solution camera intrinsic parameter is characterized in that calibrating block is made up of the equilateral triangle of four congruences.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202944394U CN201616119U (en) | 2009-12-21 | 2009-12-21 | Regular tetrahedron calibrating block capable of solving internal parameters of camera |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202944394U CN201616119U (en) | 2009-12-21 | 2009-12-21 | Regular tetrahedron calibrating block capable of solving internal parameters of camera |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201616119U true CN201616119U (en) | 2010-10-27 |
Family
ID=43002484
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009202944394U Expired - Fee Related CN201616119U (en) | 2009-12-21 | 2009-12-21 | Regular tetrahedron calibrating block capable of solving internal parameters of camera |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201616119U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103985118A (en) * | 2014-04-28 | 2014-08-13 | 无锡观智视觉科技有限公司 | Parameter calibration method for cameras of vehicle-mounted all-round view system |
| CN104021551B (en) * | 2014-05-27 | 2017-07-18 | 无锡维森智能传感技术有限公司 | A kind of calibration mark thing for vehicle-mounted viewing system camera parameter calibration |
-
2009
- 2009-12-21 CN CN2009202944394U patent/CN201616119U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103985118A (en) * | 2014-04-28 | 2014-08-13 | 无锡观智视觉科技有限公司 | Parameter calibration method for cameras of vehicle-mounted all-round view system |
| CN104021551B (en) * | 2014-05-27 | 2017-07-18 | 无锡维森智能传感技术有限公司 | A kind of calibration mark thing for vehicle-mounted viewing system camera parameter calibration |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20101027 Termination date: 20111221 |