CN207115502U - A kind of caliberating device of flake full shot - Google Patents
A kind of caliberating device of flake full shot Download PDFInfo
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- CN207115502U CN207115502U CN201720629999.5U CN201720629999U CN207115502U CN 207115502 U CN207115502 U CN 207115502U CN 201720629999 U CN201720629999 U CN 201720629999U CN 207115502 U CN207115502 U CN 207115502U
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- demarcation
- full shot
- flake
- caliberating device
- flake full
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Abstract
The utility model discloses a kind of caliberating device of flake full shot, the caliberating device of the flake full shot extends back in hemisphere Calibration Box and is provided with a compensation Calibration Box, any symmetrical 2 points of axle center on the compensation Calibration Box, form the greater in two angles with the hemisphere Calibration Box centre of sphere and be not less than 220 °；The demarcation coordinate diagram for providing coordinate parameters for demarcation flake full shot is provided with the demarcation cabinet wall.The caliberating device of flake full shot provided by the utility model so that after flake full shot is contained in demarcation casing, the spacing between its center and each position of demarcation cabinet wall is very nearly the same；Meanwhile the part for continuing to extend back in hemisphere face position can ensure that its captured effective image will not be lost；In addition, greatly improve correction and the splicing precision of captured photo by being referred to the data for demarcating coordinate diagram again.
Description
Technical field
It the utility model is related to portable equipment for taking photograph equipment technical field, more particularly to a kind of mark of flake full shot
Determine device.
Background technology
Distant view photograph, also known as panorama, English are PANORAMIC PHOTO, or PANORAMA, typically refer to meet people's
Eyes normally effective visual angle (about horizontal 90-degree, vertical 70 degree) or including eyes remaining light visual angle (about horizontal 180 degree, vertically
90 degree) more than, or even the photo of 360 degree of even 720 degree full scene scope shootings.
The acquisition of distant view photograph has a two ways, and first, using general camera, (camera refers to shooting in the utility model
The equipment of function, such as mobile phone, flat board, only not traditional camera) shooting multiple pictures after, by splicing software
Or splicing platform carries out split completion；Secondth, after being shot by panorama camera, completed by panorama camera automatic Mosaic.
Pisces eye full shot is camera lens common in panorama camera, and two flake full shots are back-to-back to be arranged on panorama
In camera, because flake full shot belongs to bugeye lens, generally both greater than 190 ° of its visual angle, have than common wide-angle lens
Bigger visual field, more splicing space can be provided, shooting and the combined coefficient of distant view photograph can be improved.But flake panorama
Head can produce the both sides of very big distortion, especially flake full shot, and it distorts more than 100%, and is deposited between two camera lenses
In certain error, follow-up image mosaic is had a strong impact on.Therefore, before being shot by flake full shot, it must be entered
Row is accurately demarcated, and obtains the splicing coordinate of lens distortion parameter and two side images, and distortion correction is carried out to image, meanwhile, will
Two photos shot by Pisces eye full shot carry out seamless spliced.
In the prior art, the number such as the demarcation generally use cubic projection model to flake full shot and hemisphere surface model
Model is learned to be demarcated.
Wherein, cubic projection model is easily realized on apparatus, but its model space structure and flake panorama
The imaging model that the reality of head is spherical differs greatly, and the error of mathematical model drawn is big, has a strong impact on correction and splicing precision.Please
With reference to figure 1 and Fig. 2, regular cube Calibration Box in casing front center and corner with lens imaging centre of sphere distance due to differing
Cause, it can not accurately reflect the distortion situation of flake full shot, and software correction error is larger.Outside square-shaped frame body in Fig. 1
Regular cube Calibration Box is represented, its internal fill part then represents flake full shot visual angle；The two error maximum point is in ab
Section, error formula are：
And hemisphere face model calibration is deposited there is also the imaging model that can not meet the more hemisphere of ultra-wide angle of the visual angle more than 190 °
Lost in mathematical modeling partial data, the problem of splicing coordinate can not be accurately provided.It refer to Fig. 3, semicircle HC in Fig. 31Table
Show hemisphere face Calibration Box, fill part then represents flake full shot visual angle；, it is apparent that hemisphere face Calibration Box can not meet to regard
Angle is more than the imaging space demand of 190 ° of flake full shots, to beyond visual angle in distortion can not correct, in stitching image
When being more than 180 ° part effective image will lose, image can not preferable anastomosing and splicing.
Therefore, prior art has yet to be improved and developed.
Utility model content
In view of above-mentioned the deficiencies in the prior art, the purpose of this utility model is to provide a kind of demarcation of flake full shot
Device, it is intended to which it is big to solve cubic projection model error of the prior art, and correction and splicing precision are low；And hemisphere surface model without
Method meets the problem of imaging model of the more hemisphere of ultra-wide angle of the visual angle more than 190 °.
The technical solution of the utility model is as follows：
A kind of caliberating device of flake full shot, including：Hemisphere Calibration Box, wherein, the hemisphere Calibration Box prolongs backward
Stretch and be provided with a compensation Calibration Box, the compensation Calibration Box is integrally formed with hemisphere Calibration Box, is formed for housing flake panorama
The demarcation casing of camera lens；
Any symmetrical 2 points of axle center on the compensation Calibration Box, with the hemisphere Calibration Box centre of sphere formed in two angles compared with
Big person is not less than 220 °；
The demarcation for providing coordinate parameters for demarcation flake full shot is provided with the demarcation cabinet wall to sit
Mark on a map；
The demarcation casing lower end is fixedly connected with demarcation camera lens and fixes smelting tool.
In preferred scheme, the caliberating device of described flake full shot, wherein, the demarcation casing is 3/4ths balls
Type structure.
In preferred scheme, the caliberating device of described flake full shot, wherein, the compensation Calibration Box deviates from hemisphere mark
Determine case one end and offer an opening, after flake full shot passes through the opening, be contained in the inner space of demarcation casing.
In preferred scheme, the caliberating device of described flake full shot, wherein, the demarcation coordinate diagram includes：
Multiple demarcation warps, multiple demarcation parallels staggeredly mutually knitted with the demarcation warp, and it is multiple by the demarcation
Warp is staggeredly mutually knitted and caused first detection coordinates point with demarcation parallel.
In preferred scheme, the caliberating device of described flake full shot, wherein, the demarcation coordinate diagram also includes：It is right
Should be in the second detection coordinates point on demarcation box inside summit；
The first detection coordinates point and the second detection coordinates point, using all different from demarcation warp and demarcation parallel
Color is marked.
In preferred scheme, the caliberating device of described flake full shot, wherein, the demarcation dress of the flake full shot
Putting also includes：It is connected with the demarcation casing, the demarcation box bracket for fixed demarcation casing.
In preferred scheme, the caliberating device of described flake full shot, wherein, the demarcation camera lens fixes smelting tool bag
Include：
Camera lens module for fixing flake full shot to be calibrated fixes smelting tool, and the camera lens module fixes smelting tool lower end
The six axle regulating platforms for adjusting flake full shot demarcation orientation are connected with, the six axles regulating platform lower end is connected with for adjusting
The lifting platform of whole six axles regulating platform height, the smelting that the lifting platform lower end is connected with for carrying lifting platform has plummer, described
Smelting tool plummer is fixedly connected on demarcation box bracket.
In preferred scheme, the caliberating device of described flake full shot, wherein, the demarcation box bracket includes：
With the fixed plate for the planar ends flush for demarcating casing, two are respectively perpendicular the carriage for being connected to fixed plate both sides
Frame, and the connecting rod being connected between two support frames；
The smelting tool plummer is vertically connected at the connecting rod, and upper end is through to the inner space of demarcation casing.
In preferred scheme, the caliberating device of described flake full shot, wherein, the demarcation dress of the flake full shot
Putting also includes：Lighting system of the inner space close to planar ends side of demarcation casing is built in, the lighting system includes：
Four LED lamp tubes being arranged at intervals on demarcation cabinet wall.
In preferred scheme, the caliberating device of described flake full shot, wherein, all it is provided with the outside of each LED lamp tube
The translucent lampshade of one arc, to carry out uniform lighting, the radian of the translucent lampshade of arc is enough to make demarcation box house empty
Between without lamp shadow.
Compared with prior art, the caliberating device of flake full shot provided by the utility model, due in hemisphere mark
Determine to be extended a compensation Calibration Box on rear side of case, and make any symmetrical 2 points of axle center on compensation Calibration Box, demarcated with hemisphere
The case centre of sphere forms the greater in two angles and is not less than 220 °；Meanwhile it is provided with the demarcation cabinet wall for being
Demarcate the demarcation coordinate diagram that flake full shot provides coordinate parameters；So that after flake full shot is contained in demarcation casing, its
Spacing between center and each position of demarcation cabinet wall is very nearly the same；Meanwhile continue to prolong backward in hemisphere face position
The part stretched can ensure that its captured effective image will not be lost；In addition, again by being referred to the data for demarcating coordinate diagram,
Greatly improve correction and the splicing precision of captured photo.Efficiently solve cubic projection model of the prior art
Error is big, and correction and splicing precision are low；And hemisphere surface model can not meet the imaging of ultra-wide angle more hemisphere of the visual angle more than 190 °
The problem of model.
Brief description of the drawings
Fig. 1 is the schematic diagram for carrying out flake full shot demarcation by cubic projection model in the prior art.
Fig. 2 is the enlarged drawing of local Z in Fig. 1.
Fig. 3 is the schematic diagram for carrying out flake full shot demarcation by hemisphere surface model in the prior art.
Fig. 4 is the side view of the caliberating device preferred embodiment of the utility model flake full shot.
Fig. 5 is the rearview of the caliberating device preferred embodiment of the utility model flake full shot.
Fig. 6 is the rearview of the caliberating device acceptance of the bid position fixing figure preferred embodiment of the utility model flake full shot.
Fig. 7 is the calibration principle schematic diagram of the caliberating device preferred embodiment of the utility model flake full shot.
Fig. 8 is the enlarged drawing of local X in Fig. 7.
Embodiment
The utility model provides a kind of caliberating device of flake full shot, to make the purpose of this utility model, technical side
Case and effect are clearer, clear and definite, referring to the drawings and give an actual example to the utility model further description.It should manage
Solution, specific embodiment described herein only to explain the utility model, are not used to limit the utility model.
Fig. 4 is the side view of the caliberating device preferred embodiment of the utility model flake full shot；Fig. 5 is that this practicality is new
The rearview of the caliberating device preferred embodiment of type flake full shot.
As shown in Figures 4 and 5, a kind of demarcation dress of flake full shot is provided in the utility model preferred embodiment
Put, including：Hemisphere Calibration Box, hemisphere Calibration Box extend back setting compensation Calibration Box, by hemisphere Calibration Box with compensation demarcate
Case is integrally formed the demarcation casing 11 to be formed, demarcation coordinate diagram and demarcation camera lens and fixes smelting tool 6.
Symmetrically arranged 2 points of any axle center of the compensation Calibration Box, is formed in two angles with the hemisphere Calibration Box centre of sphere
The greater be not less than 220 °, i.e., hemisphere Calibration Box summit to compensate Calibration Box rear end face (deviating from hemisphere Calibration Box one end end face) it
Between distance, account for more than the 67.1% of whole bulb diameter, such as whole bulb diameter be 100, then hemisphere Calibration Box summit with compensation Calibration Box
The length of perpendicular of rear end face should more than 67.1, in theory for, the scope be 67.1 to 100；That is, whole spherical structure is also
It is feasible.But in view of the factor such as property easy for installation and demarcation effect, the utility model preferred value is 75, i.e. 3/4ths ball-type knots
Structure.
So, the utility model is introduced just by taking 3/4ths ball shape structures as an example for the utility model：Demarcate casing
One is provided with 11 and is used to housing the accepting groove of flake full shot, the accepting groove, which is considered as taking out shell by demarcation casing 11, to be obtained
Arrive, the cross section of demarcation casing 11 is made up of 3/4ths annulus and the line segment being connected between 3/4ths annulus both ends, should
Line segment is parallel with the diameter of 3/4ths annulus.
Fig. 6 is the rearview of the caliberating device acceptance of the bid position fixing figure preferred embodiment of the utility model flake full shot.
As shown in fig. 6, it is provided with the demarcation inwall of casing 11 for providing coordinate ginseng for demarcation flake full shot
Several demarcation coordinate diagrams, the demarcation coordinate diagram be can be adhered, portray in the demarcation inwall of casing 11, and the utility model is not done to this to be had
Body limits.
And demarcation camera lens is then fixedly connected with demarcation casing 11 lower end and fixes smelting tool 6, the demarcation camera lens fixes smelting tool 6
It is connected with flake full shot, for adjusting the pose of flake full shot, the pose includes the position of flake full shot
And posture, specifically including the angle that highly, all around position and demarcation camera lens are fixed between smelting tool 6, (multiple angles position it
Posture).
In demarcation casing 11 in the embodiment of 3/4ths structures, the spatial model and flake of the demarcation casing 11 are complete
The imaging model of scape camera lens is coincide substantially, and high-precision imaging data precise calibration flake distortion can be provided for correction software.
Fig. 7 is the calibration principle schematic diagram of the caliberating device preferred embodiment of the utility model flake full shot；Fig. 8 is
Local X enlarged drawing in Fig. 7.
The imaging space scope of flake full shot is shade a-quadrant (visual angle is more than 190 °), and a portion is four points
Three spherical Calibration Box HC2Inner space scope.The visual angle centre of sphere O of its one side camera lens of Pisces eye full shot5With camera lens module
Center O6And misaligned, O5With O6Distance generally less than 15mm.3/4ths spherical Calibration Box its equatorial positions are arranged at camera lens mould
Group O6On position, the radius of Calibration Box is typically arranged at 0.5m or bigger according to the depth of field of flake full shot.In two balls
It is two ball error maximum points at ed when vertex of surface f is overlapped.Calibrated error formula is：
In the utility model preferred embodiment, described demarcation casing 11 one end is plane, and one end is sphere, its planar ends
An opening is offered, when carrying out the installation of flake full shot, flake full shot first passes through the opening, then houses
In demarcation casing 11 inner space be accepting groove.
The opening is integrally formed with accepting groove, and it is circle, and diameter is equal to inwall of the demarcation casing 11 close to planar ends
The distance between upper corresponding 2 points.
And demarcating coordinate diagram then includes：Multiple demarcation warps 3, multiple demarcation latitudes staggeredly mutually knitted with the demarcation warp 3
Line 4, and it is multiple by it is described demarcation warp 3 with demarcate parallel 4 staggeredly mutually knit and caused first detection coordinates point 5.
The utility model uses for reference the mankind for convenience of warp, the parallel measured the earth and set, and sets demarcation warp 3 and mark
Determine parallel 4, unlike, because application purpose and field are different, so demarcation warp 3 and the density for demarcating parallel 4 are not one
Fixed such as warp and parallel, can be not specifically limited by this area sets itself as needed, the utility model herein.First detection
Coordinate points 5 are the crosspoint demarcated warp 3 and demarcate parallel 4, it is to be understood that each demarcation warp 3 and all marks
Determining parallel 4 has one first detection coordinates point 5, and therefore, the quantity of the first detection coordinates point 5 is extremely more, can be accurately positioned captured
The position of photo point, crossed point coordinates according to latitude and longitude, computer calibration software automatic detection and can establish imaging model school
Correction variable element, so as to further improve the demarcation accuracy of flake full shot.
Because the latitude at the demarcation top of casing 11 (equivalent to earth south poles) is 0, in the absence of the first detection coordinates point 5,
In order that the point can also provide accurately reference coordinate when carrying out the demarcation of flake full shot, therefore, demarcation coordinate diagram is also wrapped
Include：Corresponding to the second detection coordinates point on demarcation casing 11 inner side summit.
In the utility model further preferred embodiment, the first detection coordinates point 5 and the second detection coordinates point,
It is marked using the color all different from demarcation warp 3 and demarcation parallel 4.
Such as, demarcate warp 3 and demarcation parallel 4 all uses black, and the first detection coordinates point 5 and the second detection coordinates point are then
Using Chinese red, its purpose is to make the first detection coordinates point 5 and the more convenient Search and Orientation of the second detection coordinates point.When
So, different colors can also be respectively adopted from demarcation parallel 4 by demarcating warp 3, and the utility model is not limited this.
Include when it is implemented, the demarcation camera lens fixes smelting tool 6：For fixing the camera lens of flake full shot to be calibrated
Module fixes smelting tool, and the camera lens module fixes smelting tool lower end and is connected with six axles that orientation is demarcated for adjusting flake full shot
Regulating platform 7, the lower end of six axles regulating platform 7 are connected with the lifting platform 8 for adjusting the height of six axle regulating platform 7, the lifting platform 8
The smelting that lower end is connected with for carrying lifting platform 8 has plummer 9, and the smelting tool plummer 9 is fixedly connected on demarcation box bracket 10.
Smelting tool, six axle regulating platforms 7, lifting platform 8 and smelting are fixed due to camera lens module and have plummer 9, not the utility model
Emphasis, and be prior art, the utility model again this repeat no more.But it is noted that in the utility model acceptance of the bid horizontal glass
Head fixed jig preferably uses rotatable 180 ° of tool, and such both sides camera lens all can carry out distortion correction by demarcating coordinate.
The demarcation box bracket 10 includes：With the fixed plate 1 for the planar ends flush for demarcating casing 11, two are respectively perpendicular
The support frame of the both sides of fixed plate 1 is connected to, and the connecting rod being connected between two support frames；The smelting has plummer
9 are vertically connected at the connecting rod, and upper end is through to the inner space of demarcation casing 11.
It is preferred that the fixed plate 1 is integrally formed with demarcation casing 11, to reduce production cost and improve demarcation casing 11
Stability maintenance.
In the utility model further preferred embodiment, the caliberating device of the flake full shot also includes：It is interior
Lighting system of the inner space close to planar ends side of demarcation casing 11 is placed in, the lighting system includes：Four intervals are set
The LED lamp tube 2 being placed on the demarcation inwall of casing 11.It is noted that the utility model uses lighting system as reflecting type lamp
Light is arranged, and is all provided with the translucent lampshade of an arc in all outsides of LED lamp tube 2, to carry out uniform lighting, the arc half
The radian of Transparent lamp shade is enough to make the inner space of demarcation casing 11 without lamp shadow.
It should be appreciated that application of the present utility model is not limited to above-mentioned citing, those of ordinary skill in the art are come
Say, can according to the above description be improved or converted, all these modifications and variations should all belong to the appended power of the utility model
The protection domain that profit requires.
Claims (10)
1. a kind of caliberating device of flake full shot, including：Hemisphere Calibration Box, it is characterised in that the hemisphere Calibration Box to
Being extended afterwards has a compensation Calibration Box, and the compensation Calibration Box is integrally formed with hemisphere Calibration Box, is formed for housing flake
The demarcation casing of full shot；
Any symmetrical 2 points of axle center, the greater in two angles is formed with the hemisphere Calibration Box centre of sphere on the compensation Calibration Box
Not less than 220 °；
The demarcation coordinate diagram for providing coordinate parameters for demarcation flake full shot is provided with the demarcation cabinet wall；
The demarcation casing lower end is fixedly connected with demarcation camera lens and fixes smelting tool.
2. the caliberating device of flake full shot according to claim 1, it is characterised in that the demarcation casing is four points
Three ball shape structures.
3. the caliberating device of flake full shot according to claim 2, it is characterised in that the compensation Calibration Box deviates from
Hemisphere Calibration Box one end offers an opening, and after flake full shot passes through the opening, the inside for being contained in demarcation casing is empty
Between.
4. the caliberating device of flake full shot according to claim 3, it is characterised in that the demarcation coordinate diagram bag
Include：
Multiple demarcation warps, multiple demarcation parallels staggeredly mutually knitted with the demarcation warp, and it is multiple by the demarcation warp
Staggeredly mutually knitted and caused first detection coordinates point with demarcation parallel.
5. the caliberating device of flake full shot according to claim 4, it is characterised in that the demarcation coordinate diagram is also wrapped
Include：Corresponding to the second detection coordinates point on demarcation box inside summit；
The first detection coordinates point and the second detection coordinates point, using the color all different from demarcation warp and demarcation parallel
It is marked.
6. the caliberating device of flake full shot according to claim 2, it is characterised in that the flake full shot
Caliberating device also includes：It is connected with the demarcation casing, the demarcation box bracket for fixed demarcation casing.
7. the caliberating device of flake full shot according to claim 6, it is characterised in that the demarcation camera lens fixes smelting
Tool includes：
Camera lens module for fixing flake full shot to be calibrated fixes smelting tool, and the camera lens module fixes the lower end connection of smelting tool
There are the six axle regulating platforms for adjusting flake full shot demarcation orientation, the six axles regulating platform lower end is connected with for adjusting six
The lifting platform of axle regulating platform height, the smelting that the lifting platform lower end is connected with for carrying lifting platform have plummer, the smelting tool
Plummer is fixedly connected on demarcation box bracket.
8. the caliberating device of flake full shot according to claim 7, it is characterised in that the demarcation box bracket bag
Include：
With the fixed plate for the planar ends flush for demarcating casing, two are respectively perpendicular the support frame for being connected to fixed plate both sides,
And it is connected to the connecting rod between two support frames；
The smelting tool plummer is vertically connected at the connecting rod, and upper end is through to the inner space of demarcation casing.
9. the caliberating device of flake full shot according to claim 2, it is characterised in that the flake full shot
Caliberating device also includes：The inner space of demarcation casing is built in close to the lighting system of planar ends side, the lighting system
Including：
Four LED lamp tubes being arranged at intervals on demarcation cabinet wall.
10. the caliberating device of flake full shot according to claim 9, it is characterised in that on the outside of each LED lamp tube all
The translucent lampshade of an arc is provided with, to carry out uniform lighting, the radian of the translucent lampshade of arc is enough to make demarcation casing
Inner space is without lamp shadow.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720629999.5U CN207115502U (en) | 2017-05-31 | 2017-05-31 | A kind of caliberating device of flake full shot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720629999.5U CN207115502U (en) | 2017-05-31 | 2017-05-31 | A kind of caliberating device of flake full shot |
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| Publication Number | Publication Date |
|---|---|
| CN207115502U true CN207115502U (en) | 2018-03-16 |
Family
ID=61593200
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720629999.5U Expired - Fee Related CN207115502U (en) | 2017-05-31 | 2017-05-31 | A kind of caliberating device of flake full shot |
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| Country | Link |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107123149A (en) * | 2017-05-31 | 2017-09-01 | 深圳市打令智能科技有限公司 | A kind of caliberating device of flake full shot |
| CN110136207A (en) * | 2019-05-08 | 2019-08-16 | 四川深瑞视科技有限公司 | Fisheye camera calibration system, method, apparatus, electronic equipment and storage medium |
| CN114283205A (en) * | 2021-12-21 | 2022-04-05 | 众信方智(苏州)智能技术有限公司 | Panoramic multi-view camera position calibration device and method |
| US11514608B2 (en) | 2019-05-08 | 2022-11-29 | Sichuan Visensing Technology Co., Ltd. | Fisheye camera calibration system, method and electronic device |
-
2017
- 2017-05-31 CN CN201720629999.5U patent/CN207115502U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107123149A (en) * | 2017-05-31 | 2017-09-01 | 深圳市打令智能科技有限公司 | A kind of caliberating device of flake full shot |
| CN110136207A (en) * | 2019-05-08 | 2019-08-16 | 四川深瑞视科技有限公司 | Fisheye camera calibration system, method, apparatus, electronic equipment and storage medium |
| US11514608B2 (en) | 2019-05-08 | 2022-11-29 | Sichuan Visensing Technology Co., Ltd. | Fisheye camera calibration system, method and electronic device |
| CN114283205A (en) * | 2021-12-21 | 2022-04-05 | 众信方智(苏州)智能技术有限公司 | Panoramic multi-view camera position calibration device and method |
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