CN208141454U - A kind of scaling board and binocular are to view photographic device calibration system - Google Patents
A kind of scaling board and binocular are to view photographic device calibration system Download PDFInfo
- Publication number
- CN208141454U CN208141454U CN201820248748.7U CN201820248748U CN208141454U CN 208141454 U CN208141454 U CN 208141454U CN 201820248748 U CN201820248748 U CN 201820248748U CN 208141454 U CN208141454 U CN 208141454U
- Authority
- CN
- China
- Prior art keywords
- photographic device
- scaling board
- via hole
- graph
- binocular
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
This application discloses a kind of scaling boards and binocular to view photographic device calibration system, and the scaling board is for binocular to depending on photographic device calibration system, to demarcate two relative positional relationships to view photographic device, the scaling board includes：Main body, including the first surface and second surface on thickness direction；At least one via hole, it is formed on the body, wherein, the via hole forms the first figure on the first surface, and the via hole is gradually reduced along the thickness direction from first figure to form circular second graph on the second surface, so that the second graph be made to be exposed to outside the first surface through first figure.By the above-mentioned means, the application can be improved binocular to the precision of view camera system calibration external parameter.
Description
Technical field
This application involves technical field of computer vision, more particularly to a kind of scaling board and binocular to view photographic device mark
Determine system.
Background technique
Photographic device calibration is to obtain the indispensable step of three-dimensional spatial information from two dimensional image in computer vision field
Suddenly, it includes the calibration from photographic device to the external parameter of external world coordinate system.The accuracy of above-mentioned calibration result is direct
Affect the accuracy that the result of three-dimensional spatial information is obtained by two dimensional image.
Binocular is applied to certain particular visual measurement tasks to view camera system, it is based on principle of parallax and to utilize
Photographic device is inclined by calculating the position between two images corresponding points from the two images of different position acquisition testees
Difference, to obtain testee three-dimensional spatial information.Currently, for binocular to the calibration master of the external parameter of view camera system
There is following two method：Method one, as depicted in figs. 1 and 2, chessboard grid pattern or circle are printed on using side by zone of mutual visibility domain
The nontransparent scaling board of shape pattern is demarcated；Method two, as shown in figure 3, being printed with the transparent glass of circular pattern by side
The scaling board of glass material is demarcated.
Present inventor has found in chronic study procedure, scaling board plane and photographic device sense in the above method one
Plane included angle where optical device is very big, can be due to the reference point inaccuracy for causing to extract that distorts；Due to glass in the above method two
Refraction so that the pattern that the photographic device of non-pattern side takes is the pattern after being refracted, and this refraction generates
Error can not be corrected by algorithm.To sum up, lower using above-mentioned scaling method external parameter precision obtained.
Utility model content
The application is mainly solving the technical problems that provide a kind of scaling board and binocular to view photographic device calibration system, energy
Binocular is enough improved to the precision of view camera system calibrating external parameters.
In order to solve the above technical problems, the technical solution that the application uses is：A kind of scaling board, the calibration are provided
Plate for binocular to depending on photographic device calibration system with demarcate two to regard photographic device relative positional relationship, the scaling board
Including：Main body, including the first surface and second surface on thickness direction；At least one via hole is formed on the body,
In, the via hole forms the first figure on the first surface, and the via hole along the thickness direction from described first
Figure is gradually reduced to form circular second graph on the second surface, to make the second graph through described the
One figure and be exposed to outside the first surface.
In order to solve the above technical problems, another technical solution that the application uses is：A kind of binocular is provided to image view
Device normalization system, the system comprises marks described in the first photographic device, the second photographic device and any of the above-described embodiment
Fixed board, wherein the scaling board is arranged between first photographic device and second photographic device, so that described first
Photographic device can shoot circular second image from the first surface in the main body of the scaling board through the first figure, and
Second photographic device is set to shoot circular second image from the second surface in the main body of the scaling board,
To demarcate the relative positional relationship of first photographic device and second photographic device.
The beneficial effect of the application is：It is in contrast to the prior art, scaling board provided herein includes main body
With at least one via hole being formed in main body, main body includes the first surface and second surface on thickness direction, and via hole is
The first figure is formed on one surface, and via hole is gradually reduced to form on a second surface from the first figure along thickness direction
Two figures, second graph is circle, so that second graph be made to be exposed to outside first surface through the first figure.On the one hand, mesh
Preceding most of numerical control processing factory can process the scaling board provided herein for meeting required precision, relative to
The scaling board of the ceramics or transparent glass that are formed in the prior art using photoetching process, scaling board provided herein are had
Simple, the at low cost advantage of processing and fabricating；On the other hand, scaling board application method provided herein is simple, without design
New complicated biocular systems external parameter calculation method；When scaling board provided herein is used for binocular to view photographic device
When calibration system, the angle of the sensitized lithography of scaling board provided herein and photographic device is small, distorts small, and there is no foldings
Binocular can be improved to the precision of view camera system calibrating external parameters compared with existing scaling method in the problem of penetrating.
Detailed description of the invention
In order to more clearly explain the technical solutions in the embodiments of the present application, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, the drawings in the following description are only some examples of the present application, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.Wherein：
Fig. 1 is structural schematic diagram of the existing binocular to view one embodiment of camera system；
Fig. 2 is structural schematic diagram of the existing binocular to view another embodiment of camera system；
Fig. 3 is structural schematic diagram of the existing binocular to the view another embodiment of camera system；
Fig. 4 is the structural schematic diagram of one embodiment of the application scaling board；
Fig. 5 is the structural schematic diagram at another visual angle of scaling board in Fig. 4；
Fig. 6 is the structural schematic diagram of one embodiment of via hole of scaling board in Fig. 4；
Fig. 7 is the structural schematic diagram of another embodiment of via hole of scaling board in Fig. 4；
Fig. 8 is structural schematic diagram of the application binocular to view one embodiment of camera system；
Fig. 9 a is the schematic diagram for the first image that the first photographic device acquires in Fig. 8, and Fig. 9 b is figure；
The schematic diagram for the second image that second photographic device acquires in 8.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of embodiments of the present application, rather than whole embodiments.Based on this
Embodiment in application, those of ordinary skill in the art are obtained every other under the premise of not making creative labor
Embodiment shall fall in the protection scope of this application.
Scaling board provided herein fills view camera shooting with demarcating two to depending on photographic device calibration system for binocular
The relative positional relationship set.Fig. 4-Fig. 6 is please referred to, Fig. 4 is the structural schematic diagram of one embodiment of the application scaling board, and Fig. 5 is
The structural schematic diagram at another visual angle of scaling board in Fig. 4, Fig. 6 are the structural schematic diagram of one embodiment of via hole of scaling board in Fig. 4.
Scaling board includes：Main body 10 and at least one via hole 12.
Specifically, main body 10 includes the first surface 100 and second in (i.e. the direction of arrow meaning in Fig. 4) on thickness direction
Surface 102；In one embodiment, 10 material of main body of the scaling board is metal material, which includes that aluminium closes
Gold, in other embodiments, the material of main body 10 can also be other, and the application is not construed as limiting this.
Via hole 12 is formed in main body 10, wherein via hole 12 forms the first figure 120, and via hole on first surface 100
12 are gradually reduced along thickness direction (i.e. the direction of arrow meaning in Fig. 4) from the first figure 120 with the shape on second surface 102
At circular second graph 122, so that second graph 122 be made to be exposed to outside first surface 100 through the first figure 120.
It is exactly from the first surface 100 of main body 10 along thickness direction (the i.e. side of arrow meaning in Fig. 4 for popular
To) via hole 12 with certain slope is formed, the first figure 120 that via hole 12 is formed on first surface 100 exists than via hole 12
The second graph 122 formed on second surface 102 is big, so that when the scaling board demarcates view photographic device for binocular
When system, when one of photographic device shoots the first surface 100 of scaling board, the imaging of second graph 122 can be obtained.?
In one application scenarios, as shown in fig. 6, the first figure 120 can smoothly be reduced to second graph 122；In other application scenarios
In, the first figure can also otherwise be reduced to second graph, for example, the application is to this in such a way that ladder in Fig. 7 reduces
It is not construed as limiting.
In one embodiment, above-mentioned first figure 120 is circle, in other embodiments, above-mentioned first figure
120 can also be other, such as rectangular, oval etc., and the application is not construed as limiting this.It is straight when the first figure 120 is round
Diameter is D2, and the diameter of second graph 122 is D1, main body 10 with a thickness of h, wherein D1, D2, h meet following formula：D2≥D1+
2h.The purpose of design of the relationship met between above-mentioned D1, D2, h primarily to make in Fig. 6 inclination angle alpha≤45 ° (for example,
45 °, 30 °, 15 ° etc.) so that second graph 122 can be obtained when the first surface 100 of photographic device shooting scaling board
Imaging, without being sheltered from by the thickness of main body 10.
In another embodiment, the number for the via hole 12 being arranged in the main body 10 of above-mentioned scaling board is at least 2, example
Such as 2,4,10, above-mentioned multiple via holes 12 can be arranged in a matrix (as shown in Figure 4).In an application scenarios,
Above-mentioned multiple via holes 12 can be equally spacedly arranged in a matrix, and the spacing L between the center of circle of two adjacent vias 12 is not less than circle
The diameter D2 of first figure 120 of shape.In other application scenarios, the spacing between multiple via holes 12 can also be unequal, this Shen
Please this is not construed as limiting.
In an application scenarios, numerical controlled machinery processing technology can use to prepare the scaling board in above-described embodiment,
But due to the limitation of fabrication process condition, as shown in fig. 6, the circular second graph that via hole 12 is formed on second surface 102
122 have certain thickness d, which is not more than 0.1mm, such as 0.1mm, 0.08mm, 0.05mm etc..
To sum up, most of numerical control processing factory can process the application institute for meeting required precision at present
The scaling board of offer, the scaling board of middle use photoetching process is formed compared with the existing technology ceramics or transparent glass, this Shen
Please provided by scaling board have the advantages that processing and fabricating is simple, at low cost.
Referring to Fig. 8, Fig. 8 is structural schematic diagram of the application binocular to view one embodiment of photographic device calibration system,
The system includes the scaling board 80 in the first photographic device A, the second photographic device B and any of the above-described embodiment, wherein calibration
Plate 80 is arranged between the first photographic device A and the second photographic device B, so that the first photographic device A can be from scaling board 80
First surface 820 in main body 82 shoots circular second graph 842 through the first figure 840, and makes the second photographic device
B can shoot circular second graph 842 from the second surface 822 in the main body 82 of scaling board 80, so that calibration first is taken the photograph
As the relative positional relationship of device A and the second photographic device B.It should be noted that the first photographic device A or in the present embodiment
Two photographic device B can be a video camera, be also possible to multiple rigidly connected video cameras, and so-called rigid connection refers to institute
The video camera of connection is installed together using devices such as screws, is integrally fixed as one after installation, will not be generated between video camera
Relative displacement.
Please continue to refer to Fig. 8, the optical axis of the first photographic device A is primary optic axis L1, and the optical axis of the second photographic device B is the
Two optical axis Ls 2, in an application scenarios, the second optical axis of the primary optic axis L1 of the first photographic device A and the second photographic device B
L2 is overlapped.The quadrilateral area that solid line is constituted in Fig. 8 is the visual field lap of the first photographic device A and the second photographic device B,
When i.e. scaling board 80 is placed in the quadrilateral area, calibration can be respectively seen in the first photographic device A and the second photographic device B
The complete first surface 820 and complete second surface 822 of plate 80.
To improve binocular to the accuracy of view photographic device calibrating external parameters, when scaling board 80 is placed on above-mentioned quadrangle
When in region, the of the primary optic axis L1 and/or the second photographic device B of plane and the first photographic device A where scaling board 80
Angle between two optical axis Ls 2 is not less than 45 °, such as 45 °, 60 °, 90 ° etc..
In another embodiment, please continue to refer to Fig. 8, which further comprises light source 86, and when the first camera shooting
When device A needs to acquire the image on the first surface 820 of scaling board 80, light source 86 irradiates second surface 822, with exclusive PCR
Background；When the image on the second surface 822 that the second photographic device needs B to acquire scaling board 82, light source 86 irradiates the first table
Face 820, with exclusive PCR background.Due to the presence of via hole 84, the first photographic device A and the second photographic device B may be shot
To some jamming patterns generated through via hole 84, polishing is carried out using light source 86 at this time, can be excluded some unnecessary dry
Disturb background so that post-processing image when, the center of circle for extracting the second image that can be more convenient.
Below in conjunction with Fig. 8, binocular provided herein does in detail the workflow depending on photographic device calibration system
It describes in detail bright.
A, scaling board 80 is fixed at a certain position in above-mentioned quadrilateral area, and the plane where scaling board 80
It is not less than 45 ° with the angle of the primary optic axis L1 of the first photographic device A；
B, image is acquired：Second side 822 polishing of the light source 86 to scaling board 80, at this time the first photographic device A acquisition obtain
Obtain corresponding first image (as illustrated in fig. 9) of first side 820；First side 820 polishing of the light source 86 to scaling board 80, this
When the second photographic device B acquisition obtain corresponding second image (as shown in figure 9b) of second side 822, above-mentioned first image and the
Two images are as one group of corresponding image；
C, the position of mobile scaling board 80, under conditions of meeting step A, it is corresponding that repetition step B collects multiple groups in turn
Image；
D, the multiple series of images by above-mentioned acquisition is handled：By taking wherein one group of image as an example, first to the first photographic device A
The first image obtained carries out inverse processing, to through inverse, treated that the first image extracts, to obtain second graph
Central coordinate of circle is stored the central coordinate of circle of acquisition by the first sequence label；Then second the second photographic device B obtained
Image carries out inverse processing,, will to obtain the central coordinate of circle of second graph to through inverse, treated that the second image extracts
The central coordinate of circle of acquisition is stored by the second sequence label；Wherein, second graph is arranged in arrays, the first sequence index methods
For：Label is carried out one by one by from the sequence of the first row a line to the end, and the sequence of every a line is (such as Fig. 9 a label from left to right
It is shown)；Second sequence index methods are：Label is carried out one by one by from the sequence of the first row a line to the end, and every a line is suitable
Sequence be from right to left (as shown in Fig. 9 b label) it is corresponding so that for the same label in one group of image
It is the same via hole.
E, according to Binocular Vision Principle, binocular is completed to the outer of view photographic device using the central coordinate of circle of multiple groups picture storage
The calculating of portion's parameter matrix (spin matrix R and translation matrix T).
Specifically, the transformation relation between the European coordinate system of any two can pass through two matrix descriptions：Rotation
Matrix R and translation matrix T.The relativeness for describing the two photographic device coordinate systems in left and right with R and T herein, can by R and T
Arbitrary point in space to be converted to the coordinates table under right photographic device coordinate system from the coordinate representation of left photographic device coordinate system
Show.
Assuming that having coordinate of the point P, P under world coordinate system in space is PW, P is under the photographic device coordinate system of left and right
Coordinate can be expressed as：
Wherein PlAnd PrThere is following relationship again：
Pr=RPl+T (2)
Comprehensive (1) (2) two formula can push away：
Joining outside photographic device in monocular calibration is exactly R hereinl, Tl, RrAnd Tr, binocular can be found out by bringing (3) formula into
Spin matrix R and translation matrix T between two photographic device coordinate systems of vision system.
To sum up, scaling board application method provided herein is simple, without designing new complicated biocular systems
External parameter calculation method；When scaling board provided herein is used for binocular to view photographic device calibration system, the application
The problem of angle of the sensitized lithography of provided scaling board and photographic device is small, distorts small, and there is no refractions, and it is existing
Scaling method is compared, and binocular can be improved to the precision of view camera system calibrating external parameters.
The foregoing is merely presently filed embodiments, are not intended to limit the scope of the patents of the application, all to utilize this
Equivalent structure or equivalent flow shift made by application specification and accompanying drawing content, it is relevant to be applied directly or indirectly in other
Technical field similarly includes in the scope of patent protection of the application.
Claims (10)
1. a kind of scaling board, which is characterized in that the scaling board for binocular to depending on photographic device calibration system to demarcate two
To the relative positional relationship of view photographic device, the scaling board includes：
Main body, including the first surface and second surface on thickness direction；
At least one via hole is formed on the body, wherein and the via hole forms the first figure on the first surface,
And the via hole be gradually reduced along the thickness direction from first figure it is circular to be formed on the second surface
Second graph, so that the second graph be made to be exposed to outside the first surface through first figure.
2. scaling board according to claim 1, which is characterized in that first figure is circle.
3. scaling board according to claim 2, which is characterized in that diameter D2, the second graph of first figure
Diameter D1 and the main body thickness h, meet formula：D2≥D1+2h.
4. scaling board according to claim 2, which is characterized in that be provided with multiple via holes in the main body, and described more
A via hole is arranged in a matrix.
5. scaling board according to claim 4, which is characterized in that the multiple via hole is equally spacedly arranged in a matrix, and
Spacing between the center of circle of two adjacent vias is not less than the diameter of circular first figure.
6. scaling board according to claim 1, which is characterized in that the via hole forms circular on the second surface
The thickness of the second graph is not more than 0.1mm.
7. a kind of binocular is to view photographic device calibration system, which is characterized in that the system comprises the first photographic device, second to take the photograph
As device and scaling board as claimed in any one of claims 1 to 6, wherein the scaling board setting is in the first camera shooting dress
It sets between second photographic device, so that first photographic device can be from the first table in the main body of the scaling board
Face shoots circular second graph through the first figure, and enables main body of second photographic device from the scaling board
On second surface and shoot the circular second graph, thus demarcate first photographic device and it is described second camera shooting dress
The relative positional relationship set.
8. system according to claim 7, which is characterized in that plane and first camera shooting where the scaling board fill
Angle between the optical axis of the optical axis and/or second photographic device set is not less than 45 °.
9. system according to claim 7, which is characterized in that the optical axis of first photographic device and second camera shooting
The optical axis coincidence of device.
10. system according to claim 7, which is characterized in that the system further comprises light source, and works as described first
When photographic device needs to acquire the image on the first surface of the scaling board, the light source irradiates the second surface,
With exclusive PCR background；When the image on the second surface that second photographic device needs to acquire the scaling board,
The light source irradiates the first surface, with exclusive PCR background.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820248748.7U CN208141454U (en) | 2018-02-09 | 2018-02-09 | A kind of scaling board and binocular are to view photographic device calibration system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820248748.7U CN208141454U (en) | 2018-02-09 | 2018-02-09 | A kind of scaling board and binocular are to view photographic device calibration system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208141454U true CN208141454U (en) | 2018-11-23 |
Family
ID=64286140
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820248748.7U Active CN208141454U (en) | 2018-02-09 | 2018-02-09 | A kind of scaling board and binocular are to view photographic device calibration system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208141454U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109269426A (en) * | 2018-11-27 | 2019-01-25 | 国家电网有限公司 | Three-D displacement demarcates frame and 3 D displacement correcting coefficient measuring method |
| CN109556514A (en) * | 2018-12-03 | 2019-04-02 | 广东正业科技股份有限公司 | The survey method and imaging system of transformational relation between optical axis scaling method, image coordinate system |
| WO2020134412A1 (en) * | 2018-12-29 | 2020-07-02 | 深圳光启空间技术有限公司 | Measurement and adjustment apparatus for included angle between optical axes |
| RU2799393C1 (en) * | 2022-09-07 | 2023-07-05 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Рязанский государственный радиотехнический университет имени В.Ф. Уткина" | Test object for simultaneous calibration of visible and infrared video cameras |
-
2018
- 2018-02-09 CN CN201820248748.7U patent/CN208141454U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109269426A (en) * | 2018-11-27 | 2019-01-25 | 国家电网有限公司 | Three-D displacement demarcates frame and 3 D displacement correcting coefficient measuring method |
| CN109269426B (en) * | 2018-11-27 | 2024-05-03 | 国家电网有限公司 | Three-dimensional displacement calibration frame and three-dimensional displacement correction coefficient measuring method |
| CN109556514A (en) * | 2018-12-03 | 2019-04-02 | 广东正业科技股份有限公司 | The survey method and imaging system of transformational relation between optical axis scaling method, image coordinate system |
| WO2020134412A1 (en) * | 2018-12-29 | 2020-07-02 | 深圳光启空间技术有限公司 | Measurement and adjustment apparatus for included angle between optical axes |
| RU2799393C1 (en) * | 2022-09-07 | 2023-07-05 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Рязанский государственный радиотехнический университет имени В.Ф. Уткина" | Test object for simultaneous calibration of visible and infrared video cameras |
| RU2817815C1 (en) * | 2023-08-28 | 2024-04-22 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Рязанский государственный радиотехнический университет имени В.Ф. Уткина" | Test object for simultaneous calibration of video cameras of visible and infrared ranges with forced cooling of reference incandescent lamps |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208141454U (en) | A kind of scaling board and binocular are to view photographic device calibration system | |
| WO2018228013A1 (en) | Front coated plane mirror-based structured light parameter calibration device and method | |
| CN109242908A (en) | Scaling method for underwater two CCD camera measure system | |
| CN106056620B (en) | Line laser camera measurement system calibrating method | |
| CN109596059A (en) | A kind of aircraft skin gap based on parallel lines structure light and scale measurement method | |
| CN107025670A (en) | A kind of telecentricity camera calibration method | |
| CN107543496B (en) | A kind of binocular stereo vision three-dimensional coordinate measurement method | |
| CN106441138A (en) | Deformation monitoring method based on vision measurement | |
| CN104567666A (en) | Measuring method for roller bearing block spatial position | |
| CN106097367B (en) | A kind of scaling method and device of binocular solid camera | |
| CN102509261A (en) | Distortion correction method for fisheye lens | |
| CN105067011A (en) | Overall measurement system calibration method based on vision calibration and coordinate transformation | |
| CN203929068U (en) | A kind of wide field optical system | |
| CN103759669A (en) | Monocular vision measuring method for large parts | |
| CN107816942A (en) | A kind of planar dimension measurement method based on cross structure light vision system | |
| CN108469254A (en) | A kind of more visual measuring system overall calibration methods of big visual field being suitable for looking up and overlooking pose | |
| CN109000572B (en) | A kind of body diameter detection method | |
| CN109341537A (en) | Dimension measurement method and device based on binocular vision | |
| CN109191527A (en) | A kind of alignment method and device based on minimum range deviation | |
| CN103985121B (en) | Method for optical calibration of underwater projector structure | |
| CN108981608A (en) | A kind of Novel wire Constructed Lighting Vision System and scaling method | |
| Li et al. | A flexible and easy-to-implement single-camera microscopic 3D digital image correlation technique | |
| CN103544699B (en) | Method for calibrating cameras on basis of single-picture three-circle template | |
| WO2019196536A1 (en) | Method, device and system for testing angle of view of projection display device | |
| CN110827360A (en) | Photometric stereo measurement system and method for calibrating light source direction thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |