CN206892938U - A kind of camera calibration utensil - Google Patents
A kind of camera calibration utensil Download PDFInfo
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- CN206892938U CN206892938U CN201720207638.1U CN201720207638U CN206892938U CN 206892938 U CN206892938 U CN 206892938U CN 201720207638 U CN201720207638 U CN 201720207638U CN 206892938 U CN206892938 U CN 206892938U
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Abstract
The utility model discloses a kind of camera calibration utensil.The demarcation utensil includes：Scaling board, multiple lattice points of array arrangement are provided with scaling board, wherein, it is respectively arranged with index point on the predetermined quantity lattice point in multiple lattice points, any three in predetermined quantity lattice point are not conllinear.Thus, it is possible to convenient and swift, the accurate staking-out work for completing camera.
Description
Technical field
It the utility model is related to camera calibration field, more particularly to a kind of camera calibration utensil.
Background technology
In the virtual reality Multitarget Tracking, to determine that the locus of target object and its are imaged in the picture
Correlation, it is necessary to the geometrical model of camera (or camera) imaging is established, these geometrical model parameters are exactly camera parameter, and
The process for solving parameter is just referred to as camera calibration (or camera calibration).
Demarcation for single camera, its main task are that the inner parameter for calculating camera (includes the throwing of camera
Shadow transformation matrix and lens distortion parameter) and external parameter (comprising relative to some world coordinate system spin matrix and translation
Vector).For two camera combined calibratings, that is, calculate the relative geometry site of two cameras in space and (include
Spin matrix and translation vector), finally the image that two each self-timers of camera obtain is shown in the same horizontal line.
Target following technology of the virtual reality industry based on binocular camera, typically all using " Zhang Zhengyou demarcation " (also referred to as
" Zhang Shi standardizations ") demarcated.Zhang Zhengyou standardizations, it is tessellated in the monoplane proposed in 1998 to refer to that Zhang Zhengyou is taught
Camera calibration method.On the one hand, Zhang Shi standardizations are as tool box or packaged function, using convenient；The opposing party
Face, Zhang Zhengyou demarcation can not need special demarcation thing, it is only necessary to a chessboard ruled paper (as shown in Figure 1) printed,
By the gridiron pattern to a printing, in different directions, repeatedly (more than three times) completely takes pictures, it is not necessary to knows tessellated motion
Mode, the internal reference of camera and outer ginseng are directly obtained by calculating, convenience is provided for camera calibration, and with very high
Precision.
However, the demarcation utensil used in Zhang Shi standardizations is only a chequered with black and white chessboard ruled paper, without other
Reference point or object of reference, comparatively complex operation and technical strong, adds difficulty, without technology for camera calibration
Common staff can not convenient and swift, the accurate staking-out work for completing camera by simply training.
In view of this, the utility model proposes a kind of new scaling scheme, to solve above-mentioned at least one problem.
Utility model content
, can be by quickly identifying multiple marks on demarcation utensil the utility model proposes a kind of camera calibration utensil
Will point, it is convenient and swift, accurately complete so as to realize the automatic correspondence of the picpointed coordinate of index point and space coordinates (object coordinates)
Into the staking-out work of camera.The tracking to target in space can be accurately realized using calibrated camera.
According to the utility model, it is proposed that a kind of camera calibration utensil, the demarcation utensil can include scaling board, demarcation
Multiple lattice points of array arrangement are provided with plate, mark is respectively arranged with the predetermined quantity lattice point in plurality of lattice point
Point, any three in predetermined quantity lattice point are not conllinear.
The alternate checkerboard pattern of dichromatism can be provided with scaling board, lattice point is the grid in checkerboard pattern, the chi of index point
It is very little to be less than grid, and it is arranged on grid element center opening position.
Preferably, the lattice point for being not provided with index point can be multiple luminous points, and index point is the hair that size is more than luminous point
Mating plate, cover the lattice point corresponding to it.
Preferably, luminous point can be infraluminescence point, and light tiles can be infraluminescence piece.
Preferably, the center of index point can be with the center superposition of corresponding lattice point.
Preferably, it is overlapping to can be configured to lattice point not adjacent thereto for index point.
Preferably, predetermined quantity can be more than or equal to 6.
Preferably, scaling board can include two flat boards, and two flat boards can be fixed with each other with predetermined angle, and two
At least one index point is respectively arranged with individual flat board.
Preferably, the index point quantity on two flat boards can be with identical or roughly the same.
Preferably, the demarcation utensil can also include：Support, suitable for placing scaling board.
, can be by quickly identifying multiple marks on demarcation utensil by the non-camera calibration utensil of the utility model
Point, realizes the automatic correspondence of index point picpointed coordinate and space coordinates (object coordinates), and convenient and swift, accurate completion binocular is red
The staking-out work of outer Multitarget Tracking.
Brief description of the drawings
Disclosure illustrative embodiments are described in more detail in conjunction with the accompanying drawings, the disclosure above-mentioned and its
Its purpose, feature and advantage will be apparent, wherein, in disclosure illustrative embodiments, identical reference number
Typically represent same parts.
Fig. 1 shows the schematic diagram of the demarcation thing of Zhang Zhengyou standardizations.
Fig. 2 shows the schematic diagram of the camera calibration utensil according to the utility model one embodiment.
Fig. 3 shows the camera calibration utensil according to the utility model one embodiment.
Fig. 4 shows a flat board of the camera calibration utensil according to the utility model another embodiment.
Embodiment
The preferred embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although the disclosure is shown in accompanying drawing
Preferred embodiment, however, it is to be appreciated that may be realized in various forms the disclosure without the embodiment party that should be illustrated here
Formula is limited.On the contrary, these embodiments are provided so that the disclosure is more thorough and complete, and can be by the disclosure
Scope is intactly communicated to those skilled in the art.
As it was previously stated, in order to rapidly and accurately be demarcated to camera (or camera), the utility model proposes one kind
Camera calibration utensil, it is described in detail below with reference to Fig. 2 to Fig. 4 embodiment.
Fig. 2 shows the camera calibration utensil according to the utility model one embodiment.As shown in Fig. 2 this practicality is new
The camera calibration utensil of type can include scaling board 200, and multiple lattice points 210 of array arrangement are provided with scaling board, its
In be respectively arranged with index point 220 on predetermined quantity lattice point in multiple lattice points, any three in predetermined quantity lattice point
It is not conllinear.
Here, do not refer to collinearly any three in multiple index points for being set on scaling board it is not conllinear.So, can relate to
And more row or column, and it is more representative, more information are provided for scaling board, can be fast in camera trimming process
Speed, the one-to-one corresponding for realizing each index point on image and multiple index points in space exactly, so as to more accurate
Realize demarcation.
Lattice point and/or index point can not be proper point (zero dimension), it is possible to have certain size, shape
Or color, it can be made a distinction by different sizes, shape or color.For example, the shape of lattice point and/or index point can
To be circular, regular polygon (equilateral triangle, square, regular pentagon etc.) or sector etc..Its size depends on the circumstances, can
To be a diameter of 1mm circle or a diameter of 1cm circle etc..Its color can also be other such as red, green
Color, or can also light.There can be certain spacing between lattice point, the size of spacing can optionally be set, for example,
Spacing can be 2mm-5mm, etc..It will be understood by those of skill in the art that the example above is exemplary, should not be used to
Limit the utility model.
The alternate checkerboard pattern of the dichromatism such as black and white can be set on scaling board 200.Now, lattice point is checkerboard pattern
In grid.The size of index point can be less than the size of grid, and be arranged on grid element center opening position.
The lattice point 210 for being not provided with index point 220 can also be set to multiple luminous points, index point 220 is that size is more than hair
The light tiles of luminous point, cover the lattice point corresponding to it.Here, luminous point can actively light, in order to be able to by camera sense
Measure, so as to clap to obtain corresponding image.The hot spot that index point is formed in the picture can be slightly larger than the hot spot of luminous point formation,
So that remain able to make a distinction index point and luminous point in the picture.
Luminous point can launch infrared light, and its luminescence band is identical with the photosensitive wave band of corresponding camera.So, light
Point is infraluminescence point, and light tiles are infraluminescence pieces.
Thus, camera, which can photograph, includes demarcation utensil, the image of lattice point and index point, by by image with mark
The physically each index point of will plate or lattice point correspond the demarcation for realizing multi-cam.
In order to facilitate the progress of camera calibration, and ensure in diverse location, different angle or photograph at different moments
Image is as consistent as possible, can also set multiple lattice points on scaling board and scaling board and/or multiple marks in several ways
Point.
For example, can be by the center superposition of the corresponding lattice point in the center of index point.So, index point can also be orderly
It is distributed on scaling board, facilitates the corresponding lattice point of the lattice point in image and/index point to scaling board physically in calibration process
Or index point is corresponded.
In order to fully distinguish each lattice point with index point, index point may be also configured to not adjacent thereto
Lattice point it is overlapping.
The number of predetermined quantity lattice point may be greater than or equal to 6.That is the number of index point may be greater than or equal to 6
, so, for multiple lattice points (such as 10 rows 10 row etc.), index point can be set in different row or column, with from multiple angles
Lattice point and index point are distinguished in degree or direction.
Scaling board 200 can also include two flat boards, and two flat boards are fixed with each other with predetermined angle, two flat boards
On be respectively arranged with least one index point.Wherein, predetermined angle can be 90 degree, in use, can be vertical by two flat boards
Placed in placed side (for example, it may be ground or desktop etc.).
Index point quantity on two flat boards can be with identical, or can be with roughly the same (can differ one or two).
2 marks are set on 3 not conllinear index points, or a scaling board for example, can be set respectively on two flat boards of scaling board
Will point, 4 index points, or other setting means are set on another scaling board.
For the ease of placing, the demarcation utensil can also include support (not shown), suitable for placing scaling board.Such as
This, can place scaling board stabilization, to avoid when camera shoots picture, caused by scaling board is unstable or shakes
Situations such as image obscures.It can also be easy to scaling board being arranged on suitable height or position, be easy to camera to be shot.
Fig. 3 shows the camera calibration utensil according to the utility model one embodiment.As shown in figure 3, demarcation utensil
Scaling board 300 can mutually be formed by two in 90 degree of flat board, and be arranged on support (not shown) so that its phase
Mutual position relationship keeps constant.It is covered with equally distributed chequered with black and white color lump, as lattice point 310 on each flat board, lattice point is close
Degree is any setting or set according to actual use situation.White edge is reserved in the edge (lattice point surrounding) of flat board, with
Checkerboard pattern is mutually distinguished with background.Six square index points 320 are dispersed with (in figure to go back certain pattern on scaling board
The less black quadrangle of size), the size of index point is less than lattice point, the center of index point and the center superposition of lattice point, is in
The middle position of grid.Index point is not overlapping with the lattice point around it.
The demarcation utensil can passively light, i.e., need light source to irradiate in demarcation, and the luminescence band of light source used need to be with
The photosensitive wave band of camera is identical, for example, can be infrared light.
Fig. 4 shows a flat board of the camera calibration utensil according to the utility model another embodiment.Such as Fig. 4 institutes
Show, two flat boards of scaling board 400 (known) can form a whole rack-mount (do not show in figure at a predetermined angle
Go out), its mutual alignment relation keeps constant, collectively serves as demarcation utensil.It can be provided with each flat board of scaling board 400
Multiple lattice points 410 (the less circle of size in figure) of array arrangement, divide on the predetermined quantity lattice point in multiple lattice points
She Zhi not index point 420 (larger-size circle in figure).
Luminous point and index point can actively launch infrared light, its luminescence band and the photosensitive wave band phase of corresponding camera
Together, the hot spot that luminous flat is formed in camera image is slightly larger than the hot spot of luminous point formation.
So far, camera calibration utensil of the present utility model is described in detail in combined Fig. 2 to Fig. 4.In addition, this practicality
New camera calibration utensil can be used for realizing the demarcation to camera, and it is as follows that it demarcates flow：
1. use camera shooting scaling board image.Wherein, it is necessary to adjust demarcation utensil and camera before collection image
Distance, ensure that blur-free imaging and whole film size can collect all index points and at least part lattice point.Adjust angle with
After distance, you can one image of collection and incoming computing device.
2. the inner parameter that camera is voluntarily calculated using the image photographed for computing device (includes the throwing of camera
Shadow transformation matrix and lens distortion parameter) and external parameter (comprising relative to some world coordinate system spin matrix and translation
Vector), including：
(1) computing device progressively scans to the scaling board image of shooting, obtains the picture point of all index points on image
Coordinate；
(2) index point in image and the index point of reality are corresponded, determines that each index point is corresponding in image
Space coordinates (object coordinates).The picpointed coordinate of index point is corresponded with object coordinates, establishes plane perspective change
Change, calculate the picpointed coordinate initial value of lattice point on image, and be projected on image.Recycle lines detection to ask friendship, obtain lattice point
Picpointed coordinate exact value.
Here, it can be by means of between multiple index points or indicating to indicate the corresponding relation between dot image and index point
What the position relationship between point and multiple lattice points determined.Gauger can measure the space coordinates of each index point in advance, and
Input to computing device (for example, it may be computer).Space coordinates can be the coordinate system being arbitrarily designated, for example, can be with
Using demarcate two pieces of flat board intersections of utensil fixed point or minimum point as origin, using the orthogonal direction of any two on horizontal plane as x
With y directions, using vertical direction as z directions.
(3) coordinate (including picpointed coordinate and object coordinates) of index point can be utilized to be based on three-dimensional direct linear transformation
(3D-DLT) solves the initial value of calibrating parameters, recycles the coordinate (including picpointed coordinate and object coordinates) of lattice point to be put down based on light beam
Poor method is iterated solution, finally obtains internal and external orientation.
Here, elements of interior orientation is the parameter for describing relevant position between photo centre and photo, including three parameters, i.e.,
Photo centre S hangs down away from (main away from) f, and coordinate x of the principal point in frame mark coordinate system to photo0, y0.Elements of exterior orientation is (again
Claim photo outer orientation element) be it is photogrammetric in describing the base of geometrical relationship of the photographic light flux in object space coordinate system
Notebook data.For characterizing photographic light flux in the locus of photography moment, including photo centre S is in a certain rectangular coordinate system in space
In D coordinates value (XS, YS, ZS) and determine photographic light flux dimensional orientation 3 angular orientation elements (ω, κ) totally 6 numbers
According to.
Thus, by camera calibration utensil of the present utility model and demarcation flow, can quickly and easily realize to mark
The automatic identification of will point picpointed coordinate and space coordinates, obtain the elements of interior orientation and elements of exterior orientation of camera.
In addition, the process of camera calibration is exactly to try to achieve the process of camera inner parameter and external parameter, and in solving
Outer parameter is primarily to solve two problems, when distortion correction, second, target following.And hence it is also possible to it is based on inner orientation
Element and elements of exterior orientation, determine the correction parameter of camera (for example, school can be carried out by the correction model for the processing that distorts
Just), in order to carry out image flame detection, distortion is removed.
There are four plane coordinate systems in camera model：Pixel planes coordinate system (u, v), photo coordinate system (x, y), camera
Coordinate system (Xc, Yc, Zc) and world coordinate system (Xw, Yw, Zw).Between this four coordinate systems connected by inside and outside parameter,
Obtain inside and outside parameter, it is possible to released it by the picpointed coordinate of lattice point and/or index point on the image that shoots is counter and sat in the world
Locus in mark system, realizes target following.
In addition, the utility model can be also used for the demarcation of binocular camera (for example, it may be binocular infrared camera).
Wherein it is possible to using above-mentioned camera calibration utensil and scaling method to each in two cameras of binocular camera
Demarcated；Based on the respective elements of interior orientation of two cameras and elements of exterior orientation, the space between two cameras is determined
Positional information.In this way, camera calibration utensil of the present utility model and demarcation flow can be utilized to realize to binocular camera
Demarcation and target following.
Above it is described in detail by reference to drawings and Examples according to camera calibration utensil of the present utility model.It is logical
Cross camera calibration utensil of the present utility model and demarcate flow accordingly, can quickly and accurately realize the mark to camera
Fixed work.Apply it in virtual reality technology, improve the practicality of VR binocular Multiple target tracking technologies, work people
Member can convenient and swift, the accurate staking-out work for completing Multitarget Tracking by simply training.
It is described above each embodiment of the present utility model, described above is exemplary, and non-exclusive, and
And it is also not necessarily limited to disclosed each embodiment.In the case of without departing from the scope and spirit of illustrated each embodiment, for
Many modifications and changes will be apparent from for those skilled in the art.The choosing of term used herein
Select, it is intended to best explain the principle, practical application or the improvement to the technology in market of each embodiment, or lead this technology
Other those of ordinary skill in domain are understood that each embodiment disclosed herein.
Claims (9)
- A kind of 1. camera calibration utensil, it is characterised in that including：Scaling board, multiple lattice points of array arrangement are provided with the scaling board, wherein the predetermined number in the multiple lattice point Measuring and index point is respectively arranged with a lattice point, any three in the predetermined quantity lattice point are not conllinear,Wherein, the lattice point for being not provided with the index point is multiple luminous points, and the index point is that size is more than the luminous point Light tiles, cover the lattice point corresponding to it.
- 2. camera calibration utensil according to claim 1, it is characterised in thatThe scaling board is provided with the alternate checkerboard pattern of dichromatism, and the lattice point is the grid in the checkerboard pattern, the mark The size of will point is less than the grid, and is arranged on the grid element center opening position.
- 3. camera calibration utensil according to claim 1, it is characterised in thatThe luminous point is infraluminescence point, and the light tiles are infraluminescence pieces.
- 4. the camera calibration utensil according to any one of claim 1-3, it is characterised in that in the index point The center superposition of the corresponding lattice point of the heart.
- 5. the camera calibration utensil according to any one of claim 1-3, it is characterised in that the index point is set It is overlapping to be set to lattice point not adjacent thereto.
- 6. the camera calibration utensil according to any one of claim 1-3, it is characterised in that the predetermined quantity is big In or equal to 6.
- 7. the camera calibration utensil according to any one of claim 1-3, it is characterised in that the scaling board includes Two flat boards, described two flat boards are fixed with each other with predetermined angle, and at least one is respectively arranged with described two flat boards The individual index point.
- 8. camera calibration utensil according to claim 7, it is characterised in thatThe index point quantity on described two flat boards is identical or roughly the same.
- 9. the camera calibration utensil according to any one of claim 1-3, it is characterised in that also include：Support, suitable for placing the scaling board.
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| CN201720207638.1U CN206892938U (en) | 2017-03-03 | 2017-03-03 | A kind of camera calibration utensil |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AT520909A1 (en) * | 2018-01-22 | 2019-08-15 | Ait Austrian Inst Tech Gmbh | Calibration Carrier with asymmetrical geometric calibration pattern |
| CN110458898A (en) * | 2019-08-15 | 2019-11-15 | 北京迈格威科技有限公司 | Camera calibration plate, nominal data acquisition method, distortion correction method and device |
| CN111768383A (en) * | 2020-06-29 | 2020-10-13 | 易思维（杭州）科技有限公司 | Three-dimensional target and method for recovering working function of visual sensor by using same |
| CN113298880A (en) * | 2021-05-27 | 2021-08-24 | 武汉天远视科技有限责任公司 | Camera calibration board, camera calibration method and device |
-
2017
- 2017-03-03 CN CN201720207638.1U patent/CN206892938U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AT520909A1 (en) * | 2018-01-22 | 2019-08-15 | Ait Austrian Inst Tech Gmbh | Calibration Carrier with asymmetrical geometric calibration pattern |
| AT520909B1 (en) * | 2018-01-22 | 2022-09-15 | Ait Austrian Inst Tech Gmbh | Calibration carrier with asymmetrical geometric calibration pattern |
| CN110458898A (en) * | 2019-08-15 | 2019-11-15 | 北京迈格威科技有限公司 | Camera calibration plate, nominal data acquisition method, distortion correction method and device |
| CN110458898B (en) * | 2019-08-15 | 2022-03-22 | 北京迈格威科技有限公司 | Camera calibration board, calibration data acquisition method, distortion correction method and device |
| CN111768383A (en) * | 2020-06-29 | 2020-10-13 | 易思维（杭州）科技有限公司 | Three-dimensional target and method for recovering working function of visual sensor by using same |
| CN113298880A (en) * | 2021-05-27 | 2021-08-24 | 武汉天远视科技有限责任公司 | Camera calibration board, camera calibration method and device |
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