CN202331571U - Crossed body calibration block for solving internal parameters of video camera - Google Patents
Crossed body calibration block for solving internal parameters of video camera Download PDFInfo
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- CN202331571U CN202331571U CN2011204480866U CN201120448086U CN202331571U CN 202331571 U CN202331571 U CN 202331571U CN 2011204480866 U CN2011204480866 U CN 2011204480866U CN 201120448086 U CN201120448086 U CN 201120448086U CN 202331571 U CN202331571 U CN 202331571U
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- calibration block
- video camera
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- 238000004519 manufacturing process Methods 0.000 abstract 1
- 238000000034 method Methods 0.000 description 4
- PCTMTFRHKVHKIS-BMFZQQSSSA-N (1s,3r,4e,6e,8e,10e,12e,14e,16e,18s,19r,20r,21s,25r,27r,30r,31r,33s,35r,37s,38r)-3-[(2r,3s,4s,5s,6r)-4-amino-3,5-dihydroxy-6-methyloxan-2-yl]oxy-19,25,27,30,31,33,35,37-octahydroxy-18,20,21-trimethyl-23-oxo-22,39-dioxabicyclo[33.3.1]nonatriaconta-4,6,8,10 Chemical compound C1C=C2C[C@@H](OS(O)(=O)=O)CC[C@]2(C)[C@@H]2[C@@H]1[C@@H]1CC[C@H]([C@H](C)CCCC(C)C)[C@@]1(C)CC2.O[C@H]1[C@@H](N)[C@H](O)[C@@H](C)O[C@H]1O[C@H]1/C=C/C=C/C=C/C=C/C=C/C=C/C=C/[C@H](C)[C@@H](O)[C@@H](C)[C@H](C)OC(=O)C[C@H](O)C[C@H](O)CC[C@@H](O)[C@H](O)C[C@H](O)C[C@](O)(C[C@H](O)[C@H]2C(O)=O)O[C@H]2C1 PCTMTFRHKVHKIS-BMFZQQSSSA-N 0.000 description 2
- 239000004744 fabric Substances 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
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Abstract
The utility model discloses a calibration block for linearly solving five internal parameters of a video camera. The calibration block is characterized in that: the calibration block is a crossed body, and is perpendicularly bisected to form two cuboids which are completely the same, wherein sections vertical to long edges in each cuboid are square. The geometrical information of the calibration block and the physical coordinates of a point are not required to be known in actual application. The calibration block has the characteristics of wide application, high stability, simple operation and the like, and is easy to manufacture.
Description
Technical field
The utility model relates to a kind of cross body 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 confirm the three-dimensional geometry position of space object point and the mutual relationship between the corresponding point in its image, and this relation to be geometric model by video camera imaging determine that the parameter of these geometric models is exactly a camera parameters.In most of the cases, these parameters all obtain through 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 relation certain the linear relation 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 demarcation thing that is used to find the solution camera intrinsic parameter of good stability.This demarcation thing is vertically to divide the cross body that constitutes equally by two identical rectangular parallelepipeds, and the cross section perpendicular to longitudinal edge is a square in each rectangular parallelepiped.
The utility model adopts following technical scheme:
The utility model is vertically to be divided equally by two identical rectangular parallelepipeds to constitute, and the cross section perpendicular to longitudinal edge is a square in each rectangular parallelepiped, is used for the calibrating block of camera self-calibration, does not do requirement for the size of two rectangular parallelepipeds.In finding the solution the process of camera intrinsic parameter, only need video camera to choose proper orientation and photograph 3 different surface that comprise square surface in the calibrating block, piece image can linearity solve 5 intrinsic parameters in the video camera.
The utility model advantage:
(1) physical size to this calibrating block does not require, and need not to know the world coordinates of each point.
(2) good stability uses extensively, as long as calibrating block is positioned at camera field of view, can conveniently photographs calibrating block and contain the image that 1 width of cloth of square surface can be used for demarcating.
(3) simplify the operation, choose suitable angle, can photograph and contain 3 surfaces of square surface, piece image can linearity solve 5 intrinsic parameters.
Description of drawings
Fig. 1 is the structural representation of calibrating block.
Fig. 2 is the surperficial annulus point resolution principle figure of of calibrating block.
Embodiment
A kind of calibrating block that is used for camera self-calibration, it is vertically to divide the cross body that constitutes equally by two identical rectangular parallelepipeds, and the cross section perpendicular to longitudinal edge is a square in each rectangular parallelepiped, the size of its rectangular parallelepiped is not done requirement.Detect the foursquare four edges of cross end face on the image, calculate disappear shadow point and 4 angle points on the end face square parallel edges direction.Utilize the shadow point that disappears on the orthogonal directions to the constraint of absolute conic, set up the equation about absolute conic, again by the straight line of two groups of vertical direction, utilize Laguerre theorem to find the solution the picture of one group of annulus point on the plane, simultaneous calculates 5 intrinsic parameters of video camera.
The calibrating block structural representation is as shown in Figure 1, two rectangular parallelepipeds vertically divide equally and length identical respectively, face ABCD and face EFGH are square; On face ABCD, AB, CD meet at an O, on face EFGH; EG, FH meet at a R; On face ADMN, obviously EN//DL, AF//MK and AF ⊥ DL are convenient to find the solution disappear shadow point and absolute conic equation.Find the solution annulus dot image coordinate principle on the plane: like Fig. 2, planar graph is the square of random length, l
∞Be line at infinity, p
1, p
2, p
3, p
4Be respectively square-shaped image limit ab, bc, the intersection point of diagonal line ac, bd place straight line and line at infinity, o is the intersection point of square diagonal line ac, bd, m
i, m
jIt is square place planar circular dot image.Have the harmonic conjugates property of collimation or mid point to try to achieve the end point on all directions earlier, again by two groups of vertical direction, utilize Laguerre theorem to find the solution the picture of one group of annulus point on the plane, simultaneous solves 5 intrinsic parameters of video camera.
Claims (1)
1. a cross body calibrating block that is used to find the solution camera intrinsic parameter is characterized in that calibrating block is vertically to be divided equally by two identical rectangular parallelepipeds to constitute, and the cross section perpendicular to longitudinal edge is a square in each rectangular parallelepiped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011204480866U CN202331571U (en) | 2011-11-14 | 2011-11-14 | Crossed body calibration block for solving internal parameters of video camera |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011204480866U CN202331571U (en) | 2011-11-14 | 2011-11-14 | Crossed body calibration block for solving internal parameters of video camera |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202331571U true CN202331571U (en) | 2012-07-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011204480866U Expired - Fee Related CN202331571U (en) | 2011-11-14 | 2011-11-14 | Crossed body calibration block for solving internal parameters of video camera |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202331571U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109724531A (en) * | 2018-10-18 | 2019-05-07 | 苏州光图智能科技有限公司 | 360 ° of contour measuring methods |
| CN112284292A (en) * | 2020-12-01 | 2021-01-29 | 吉林大学 | Automobile morphology measurement system distortion coefficient measuring instrument based on equal rocker arm mechanism |
-
2011
- 2011-11-14 CN CN2011204480866U patent/CN202331571U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109724531A (en) * | 2018-10-18 | 2019-05-07 | 苏州光图智能科技有限公司 | 360 ° of contour measuring methods |
| CN112284292A (en) * | 2020-12-01 | 2021-01-29 | 吉林大学 | Automobile morphology measurement system distortion coefficient measuring instrument based on equal rocker arm mechanism |
| CN112284292B (en) * | 2020-12-01 | 2021-07-30 | 吉林大学 | Distortion coefficient measuring instrument of automobile topography measurement system based on equal rocker mechanism |
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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: 20120711 Termination date: 20121114 |