CN208367740U - Scaling board, caliberating device and calibration system - Google Patents
Scaling board, caliberating device and calibration system Download PDFInfo
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- CN208367740U CN208367740U CN201820530499.0U CN201820530499U CN208367740U CN 208367740 U CN208367740 U CN 208367740U CN 201820530499 U CN201820530499 U CN 201820530499U CN 208367740 U CN208367740 U CN 208367740U
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Abstract
This application provides a kind of scaling board, caliberating device and calibration system, calibration system therein includes: caliberating device；At least one is used to fix the fixing device of photographic device, and the fixing device is oppositely arranged with caliberating device；Shading box；The caliberating device and fixing device are set in the accommodating space that the shading box provides.Technical solution provided by the present application is conducive to improve the efficiency and accuracy of calibration.
Description
Technical field
This application involves computer vision techniques, more particularly, to a kind of for carrying out the mark of parameter calibration to photographic device
Fixed board, caliberating device and calibration system.
Background technique
In the electronic equipments such as intelligent mobile phone, tablet computer, camera, video camera, it is usually provided with photographic device.It takes the photograph
As device is referred to as camera module, camera, camera mould group or camera system etc..
In the case where photographic device includes a camera unit, photographic device is properly termed as monocular photographic device or list
Mesh camera.In the case where photographic device includes two or more camera, photographic device is properly termed as more mesh photographic devices
Or more mesh cameras.The relative position between each camera in more mesh photographic devices usually immobilizes.
Due to demarcating photographic device, be conducive to eliminate the distortion that photographic device is generated when shooting image, therefore,
For photographic device, the accuracy of calibration is very important.
Utility model content
The application embodiment provides a kind of scaling board, caliberating device and calibration system.
Wherein on the one hand according to the application embodiment, a kind of scaling board is provided, the scaling board has gridiron pattern structure；
It is provided at least one gridiron pattern in the gridiron pattern structure, characterizes the gridiron pattern relative to other in gridiron pattern structure
The home block of tessellated relative positional relationship；The outer edge of the home block is in rectangle.
In one embodiment of the application, the center of the rectangular shaped rim of the home block and its where it is tessellated in
Heart position is overlapped, and the length-width ratio of the rectangular shaped rim of the home block is identical as length-width ratio tessellated where it.
In the another embodiment of the application, the outer edge of the home block is square.
In the application a further embodiment, the gridiron pattern structure includes spaced black gridiron pattern and white chess
Disk lattice, the home block are set in white gridiron pattern, and the color of the rectangular shaped rim of the home block is black.
In the application a further embodiment, the home block includes: two dimensional code, bar code, the number with rectangular shaped rim
At least one of word, the letter with rectangular shaped rim and symbol with rectangular shaped rim.
According to the application embodiment wherein on the other hand, provide a kind of caliberating device, comprising: above-mentioned scaling board；And
At least one scaling board fixed cell；In the case where the caliberating device includes at least two scaling board, the scaling board is solid
Order member makes non-coplanar between any two scaling board being arranged on.
In one embodiment of the application, the scaling board fixed cell includes: at least one backlight module, the calibration
Plate is attached on the shady face of the backlight module.
In the another embodiment of the application, the scaling board fixed cell further include: revolving part, with the backlight module
Connection, and by adjusting the revolving part, become backlight module and the angle at least one direction in X, Y and Z-direction
Change.
In the application a further embodiment, the scaling board fixed cell further include: lifting structure；The revolving part with
The lifting structure connection, and by adjusting the lifting structure, make revolving part and backlight module in the position of vertical direction one
It rises and changes.
According to the application embodiment wherein in another aspect, providing a kind of calibration system, comprising: above-mentioned caliberating device；Extremely
Few one is used to fix the fixing device of photographic device, and the fixing device is oppositely arranged with caliberating device；And
Shading box；The caliberating device and fixing device are set in the accommodating space that the shading box provides.
Based on scaling board provided by the present application, caliberating device and calibration system, the application passes through the chessboard in scaling board
Mark is set in lattice structure, other gridiron patterns in gridiron pattern and gridiron pattern structure as where the mark can represent it
Between relative positional relationship, therefore, the gridiron pattern structure of the scaling board in the image that photographic device takes is imperfect
Gridiron pattern structure in the case where, still be able to easily determine that the gridiron pattern in image is being demarcated using the mark in image
Position in the gridiron pattern structure of plate, thus during position of the scaling board relative to photographic device is set, it can not be right
Need to make photographic device intake to carry out excessive consideration to complete gridiron pattern structure, thus be conducive to improve the efficiency of calibration with
And accuracy.
Below by drawings and embodiments, the technical solution of the application is described in further detail.
Detailed description of the invention
The attached drawing for constituting part of specification describes presently filed embodiment, and together with description for solving
Release the principle of the application.
The application can be more clearly understood according to following detailed description referring to attached drawing, in which:
Fig. 1 is the orthographic projection schematic diagram of an embodiment of the partial region of the scaling board of the application；
Fig. 2 is the orthographic projection schematic diagram of an embodiment of the scaling board of the application；
Fig. 3 is the schematic diagram of an embodiment of the backlight module for being provided with holder of the application；
Fig. 4 is the schematic diagram of an embodiment of the elevating lever for being provided with holder of the application.
Specific embodiment
The various exemplary embodiments of the application are described in detail now with reference to attached drawing.It should also be noted that unless in addition having
Body explanation, the positioned opposite of the component otherwise illustrated in these embodiments, numerical expression and the unlimited the application processed of numerical value
Range.
Simultaneously, it should be appreciated that for ease of description, the size of various pieces shown in attached drawing is not according to reality
Proportionate relationship draw.
Be to the description only actually of at least one exemplary embodiment below it is illustrative, never as to the application
And its application or any restrictions used.
Technology, method known to person of ordinary skill in the relevant and equipment may be not discussed in detail, but
In appropriate situation, the technology and equipment should be considered as part of specification.
It should be noticed that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain item exists
It is defined in one attached drawing, then in subsequent attached drawing does not need that it is further discussed.
Exemplary embodiment
The scaling board of the application includes gridiron pattern structure.The gridiron pattern structure includes multiple gridiron patterns (i.e. rectangle chessboard
Lattice), and home block is provided at least one gridiron pattern therein.In general, it is set in the gridiron pattern structure of scaling board
Multiple home blocks are equipped with, and the quantity of home block is no more than the half of all gridiron pattern quantity in gridiron pattern structure.This
Home block in application is used to characterize the gridiron pattern where it relative to other tessellated relative positions in gridiron pattern structure
Relationship.Rectangle is presented in the outer edge of home block in the application, it is generally the case that the outer shape of gridiron pattern and home block is
Square.
In an optional example, the scaling board in the application is properly termed as chessboard calibration plate.For example, in the scaling board
Gridiron pattern structure can be with are as follows: the gridiron pattern structure formed is arranged by dichromatism gridiron pattern interval, and the gridiron pattern structure is filled substantially with
Scaling board.All tessellated sizes in gridiron pattern structure are identical.Tessellated two kinds of colors in contrast, one of face
Color is deeper, wherein another color is shallower.Optionally, tessellated two kinds of colors are usually black and white, i.e., in the application
Gridiron pattern structure it is usual are as follows: be arranged by white gridiron pattern and black gridiron pattern interval, thus the black and white gridiron pattern structure formed.
Certainly, tessellated two kinds of colors may be other colors, if both colors after binary conversion treatment, being capable of shape
At black-and-white two color.In the following embodiments, it will usually by taking black-and-white two color gridiron pattern as an example, to the technical solution of the application
It is illustrated, however, it is necessary to explanation, this is not offered as the dichromatism chessboard of the gridiron pattern structure in the scaling board in the application
Lattice are necessary for black gridiron pattern and white gridiron pattern.
In an optional example, the home block in the application is generally disposed at the chessboard that color is shallower in dichromatism gridiron pattern
In lattice, and the color of the rectangular shaped rim of home block is usually the dark color in dichromatism.That is, each of the application identifies
The color of the rectangular shaped rim of block can obviously be distinguished with the tessellated color where it, to be conducive to the mark in gridiron pattern
Know block and carries out Computer Vision Recognition.
In an optional example, at least one white chess in gridiron pattern structure is can be set in the home block in the application
In disk lattice.For example, being provided with a home block in each of gridiron pattern structure white gridiron pattern.In gridiron pattern structure
In the case where being provided with multiple home blocks, multiple home blocks are not usually identical, that is to say, that any two in multiple home blocks
Meaning represented by a home block is not usually identical.The size of home block in the application should be less than tessellated where it
Size.
In an optional example, meaning represented by the home block in the application can be the white gridiron pattern where it
Number.For example, being compiled according to the tessellated ranks collating sequence of all whites in gridiron pattern structure to white gridiron pattern
Number (such as 1,2,3 ...), and the home block setting of corresponding number (such as 1 or 2 or 3 ...) will be indicated in corresponding white gridiron pattern
In.For another example sorting according to the ranks of all gridiron patterns (including black gridiron pattern and white gridiron pattern) in gridiron pattern structure
Sequentially, all gridiron patterns are numbered, and will indicate that the home block of corresponding number (such as 1 or 3 or 5 ...) is arranged corresponding
In white gridiron pattern.
Due to the application can be derived according to the tessellated number of white other black gridiron patterns (for example, with thereon/
The adjacent black gridiron pattern in down/left/right side) column locations in gridiron pattern structure or the tessellated number of black etc., therefore,
The number can symbolize the white gridiron pattern where home block relative at least one black gridiron pattern in gridiron pattern structure
Relative positional relationship.Certainly, meaning represented by home block may be black on the left of the white gridiron pattern where it
Tessellated number of color etc..The application does not limit the specific manifestation form of meaning represented by home block, as long as can be according to mark
Know block and determines that the gridiron pattern in image is corresponding with the gridiron pattern in gridiron pattern structure.
In an optional example, the home block of the application can be two dimensional code, or bar code can also be number
Word (for example, number with rectangular shaped rim) either alphabetical (for example, letter with rectangular shaped rim) or symbol are (for example, tool
Have the symbol of rectangular shaped rim) etc..The size of the rectangular shaped rim of all home blocks in gridiron pattern structure is usually identical.In the application
The length of rectangular shaped rim of any home block should be less than tessellated length where its, and the width of the rectangular shaped rim of any home block
Tessellated width where should be less than it.In the case that frame in home block is square and gridiron pattern is also square, mark
The side length for knowing block is less than tessellated side length.In general, center (the i.e. rectangle of any home block in the application
The cornerwise intersection point of home block) it should coincide with center (i.e. the cornerwise intersection point of gridiron pattern) tessellated where it, and
The length-width ratio of the rectangular shaped rim of home block is identical as length-width ratio tessellated where it, thus being filled using the scaling board to camera shooting
It sets during carrying out parameter calibration, is conducive to easily determine the tessellated corner location in image, to be conducive to
Improve the efficiency of parameter calibration.
In the case where home block uses two dimensional code, one embodiment of the scaling board in the application, such as Fig. 2 and Fig. 3 institute
Show.The orthographic projection content of partial region in the gridiron pattern structure of scaling board as shown in Fig. 2, the scaling board of i.e. the application chessboard
The tessellated quantity that lattice structure is included would generally be more than the tessellated quantity that Fig. 2 is included.Each of Fig. 2 white
The two dimensional code that an outer shape is square is provided in gridiron pattern, and the outer edge of two dimensional code is black.Fig. 3 is shown
The orthographic drawing of complete gridiron pattern structure in one scaling board.
The material of the gridiron pattern structure of scaling board can also select suitable material according to actual needs, and the application is to calibration
The material of the gridiron pattern structure of plate is with no restrictions.
The caliberating device of the application specifically includes that at least one scaling board and at least one scaling board fixed cell.Mark
Fixed board fixed cell is for fixing scaling board.In the case where caliberating device includes at least two scaling board, scaling board is fixed single
Member can make it is non-coplanar between any two scaling board being fixed thereon, with meet to photographic device carry out parameter calibration reality
Border demand.
In an optional example, scaling board fixed cell includes at least one backlight module 1, and scaling board can be by squeezing
The modes such as pressure, clamping, stickup or magnetic force are attached on the shady face of backlight module 1.In general, the back in the application
Optical mode group 1 has a shady face, and a shady face can adhere to a scaling board, to include multiple marks in caliberating device
In the case where fixed board, which should include the backlight module 1 of respective numbers.Certainly, the application is also not excluded for a back
Optical mode group has the case where multiple mutually non-coplanar shady faces.
Backlight module 1 in the application includes light source, and the shady face for adhering to scaling board of backlight module 1 usually compared with
It is smooth, so that scaling board can be bonded as far as possible with shady face.Backlight module 1 can use existing a variety of implementations, for example,
Backlight module 1 can have to be equipped with the backlight case of light source or backlight box etc..The light source is generally disposed at backlight case/backlight
The inside of box.Light source in backlight module 1 is preferably such that the brightness at each position of shady face is essentially identical.Shady face
Material is usually the translucent materials such as plastics or glass.Light provided by the light source of backlight module 1 can after backlight
To provide the brightness of scaling board, to be conducive to improve the clarity of scaling board, and then be conducive to improve the accurate of parameter calibration
Property.
In an optional example, the scaling board fixed cell in the application can also include: at least one revolving part.Rotation
Turn part to be fixedly connected with backlight module 1, and backlight module 1 can be in the direction of at least one in X, Y and Z-direction by revolving part
On tilt angle change, for example, the slant range of backlight module 1 in one direction can be 30 degree of angles.Usual
In the case of, a revolving part is fixedly connected with a backlight module 1, and different revolving parts is fixed from different backlight modules 1 to be connected
It connects, to facilitate the tilt angle to any backlight module 1 to individually adjust.Revolving part can be using existing a variety of with side
It is realized to the element of adjustable function, for example, the revolving part can be holder 2 (such as universal turning bench)；For another example the revolving part can be with
Including axis and fastener (such as screw) etc..The application does not limit the specific implementation of revolving part.
In an optional example, the scaling board fixed cell of the application can also include: lifting structure.Revolving part and liter
Drop structure is fixedly connected and (is such as spirally connected, welds or is clamped).By adjusting lifting structure, revolving part and backlight module can be made
1 carries out position adjustment in vertical direction together, to keep the position of scaling board in vertical direction adjustable, i.e., by adjusting liter
Structure is dropped, scaling board can be made to increase or reduce.
The scaling board fixed cell of the application may include one or more lifting structure.In scaling board fixed cell packet
In the case where including multiple lifting structures, a lifting structure can be fixedly connected with one or more revolving part, for example, one
Lifting structure is fixedly connected with two revolving parts, so that four scaling boards are divided into two groups, each group includes two scaling boards,
One group of scaling board is fixedly connected with a lifting structure.In the case where scaling board fixed cell includes a lifting structure, institute
There is revolving part to be each attached on the lifting structure.The lifting structure of the application can be using existing a variety of with upper-lower height tune
The structure for saving function is realized, for example, the lifting structure may include elevating lever 3 (as shown in Figure 4), in Fig. 4, four holders 2
Fixation is set on an elevating lever 3；For another example the lifting structure may include screw rod lifting structure etc..The application
The specific implementation of lifting structure is not limited.
In the case where the scaling board fixed cell of the application does not include lifting structure, by the way that revolving part is fixed on platform
The fixed installation of caliberating device may be implemented in face, wall or pedestal etc..It include rising in the scaling board fixed cell of the application
In the case where dropping structure, by the way that lifting structure is fixed on ground, wall or table top etc., consolidating for caliberating device may be implemented
Dingan County's dress.
Calibration system in the application specifically includes that caliberating device, at least one fixing device and shading box.Its
In fixing device for fixing photographic device.Shading box therein is mainly used for shielding external light, this
Sample, in the case where caliberating device and photographic device to be set in the accommodating space that shading box provides, shading box can make it
Light in accommodating space is more single, i.e., shading box can make the light of the accommodating space of its inside mostly come from backlight mould
The light source of group.
In an optional example, a fixing device in the application can fix simultaneously one or more and take the photograph
As device.Fixing device can make in the state being oppositely arranged between photographic device and scaling board, so that camera shooting be made to fill
Setting can be shot for scaling board.The fixing device can use existing a variety of knots with equipment fixed function
Structure is realized, for example, the clamping piece etc. that the fixing device may include: pedestal and be fixedly connected with pedestal, bottom therein
Seat can provide the face of shelving for equipment to be calibrated, and clamping piece therein is defined the position of photographic device, the folder of clamping piece
Holding width can be adjusted flexibly at any time according to the external dimensions of photographic device；For another example the fixing device may include: bottom
Seat and at least two baffles etc. that are oppositely arranged, each baffle are fixedly connected with pedestal respectively, and such as two baffles are relatively arranged on
The two sides of pedestal, two baffles being oppositely arranged are for limiting position of the photographic device on fixing device.The application is not
The specific implementation of the fixed device of limiting device.
In an optional example, the shape of the shading box of the application can be with cuboid.Shading box can have openable
Lid, during carrying out parameter calibration, lid should be closed, to realize extraneous light function of shielding.Certainly, shading box can also
It is to receive extraneous light function of shielding in a manner of using and buckle in the supporting surfaces such as ground or table top.The shading box of the application
Material can be plastics or resin or metal etc..In the case where the material of shading box is light-transmitting materials, shading box
The color of outer surface can be dark-coloured (such as black), be entered in its accommodating space with shielding extraneous light as far as possible.
In an optional example, in the case where the scaling board fixed cell of the application does not include: lifting structure, rotation
Part can be directly anchored on the inner surface of shading box.
In an optional example, the photographic device in the application can be include a camera unit monocular camera shooting
Device.The photographic device be also possible to include two or more camera unit more mesh photographic devices.One camera unit
It can be a camera.The application does not limit the quantity of camera unit included by photographic device.In addition, photographic device is wrapped
Resolution ratio, type, model of the multiple camera units included etc., can be identical, can not also be identical.The application is not to photographic device
The camera unit for being included is limited.
In an optional example, the photographic device in the application, which can be, is set to mobile phone (for example, intelligent mobile
Phone etc.), tablet computer, camera, video camera, monitoring device, automatic Pilot mould group or auxiliary drive the electronics such as mould group and set
Photographic device in standby, that is to say, that calibration technique provided by the present application can be used for being arranged mobile phone intelligence, plate electricity
Brain, camera, video camera, monitoring device, automatic Pilot mould group or auxiliary drive the photographic device in the electronic equipments such as mould group
Calibrating parameters.Calibrating parameters in the application may include: the inner parameter for the camera unit that photographic device is included.It is taking the photograph
In the case where including multiple camera units as device, the calibrating parameters in the application may include: the interior of each camera unit
The external parameter of portion's parameter and photographic device.The inner parameter of above-mentioned camera unit may include: the focal length of camera unit, camera shooting
The principal point (i.e. the main line of sight and dioramic intersection point) of unit and the distortion parameter of camera unit etc..The outside of above-mentioned photographic device
Parameter may include: the translation etc. between pose and camera unit between the camera unit in photographic device.The application is not
Limitation is provided with the specific manifestation form of the electronic equipment of photographic device, does not also limit the content that calibrating parameters specifically include.
In an optional example, a practical application of the calibration system of the application is as follows:
Caliberating device in calibration system is oppositely arranged with fixing device, caliberating device and fixing device it
Between distance can be adjusted flexibly according to the actual situation.
Scaling board is set on the shady face of the backlight module of the scaling board fixed cell in caliberating device.If necessary
Multiple scaling boards then can make any two in multiple scaling boards by adjusting the revolving part being arranged on each backlight module
It is non-coplanar between a scaling board.The rotation angle of each scaling board can be according to calibration demand setting.It is fixed by adjusting scaling board
The lifting structure of unit keeps the height of scaling board appropriate.
Photographic device to be calibrated is fixedly installed on fixing device, can be fixed on a fixing device
One or more photographic device.
Caliberating device and the fixing device for being provided with photographic device are covered in shading box, with the light outside shielding
Line.
The light source in backlight module is opened, and controls photographic device to the scaling board being arranged corresponding thereto, is shot, from
And can obtain include captured by each photographic device scaling board image.
Further, by the mark in image, it can determine tessellated vertex in scaling board in the picture
Position, so that the calibrating parameters of photographic device can be finally determined using the position.
It should be understood that the terms such as " first " in the embodiment of the present disclosure, " second " are used for the purpose of distinguishing, and be not construed as
Restriction to the embodiment of the present disclosure.It should also be understood that in the disclosure, " multiple " can refer to two or more, " at least one
It is a " can refer to one, two or more.It should also be understood that for the either component, data or the structure that are referred in the disclosure,
In no clearly restriction or in the case where context provides opposite enlightenment, one or more may be generally understood to.Also answer
Understand, the disclosure highlights the difference between each embodiment to the description of each embodiment, it is same or similar it
Place can mutually refer to, for sake of simplicity, no longer repeating one by one.
The description of the present application is given for the purpose of illustration and description, and is not exhaustively or by this Shen
It please be limited to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.Selection and
Description embodiment is the principle and practical application in order to more preferably illustrate the application, and makes those skilled in the art
It will be appreciated that the embodiment of the present application can be so that design the various embodiments with various modifications for being suitable for special-purpose.
Claims (10)
1. a kind of scaling board, which is characterized in that the scaling board has gridiron pattern structure；At least one in the gridiron pattern structure
It is provided in a gridiron pattern, characterizes mark of the gridiron pattern relative to other tessellated relative positional relationships in gridiron pattern structure
Know block；The outer edge of the home block is in rectangle.
2. scaling board according to claim 1, which is characterized in that the center of the rectangular shaped rim of the home block and its
The tessellated center in place is overlapped, and the length-width ratio of the rectangular shaped rim of the home block and tessellated length-width ratio where it
It is identical.
3. scaling board according to claim 1, which is characterized in that the outer edge of the home block is square.
4. scaling board according to claim 1, which is characterized in that the gridiron pattern structure includes spaced black chess
Disk lattice and white gridiron pattern, the home block are set in white gridiron pattern, and the color of the rectangular shaped rim of the home block is black
Color.
5. scaling board according to claim 1, which is characterized in that the home block includes: two dimensional code, bar code, has
At least one of the number of rectangular shaped rim, the letter with rectangular shaped rim and symbol with rectangular shaped rim.
6. a kind of caliberating device characterized by comprising
At least one scaling board of any of claims 1-5；
At least one scaling board fixed cell；
In the case where the caliberating device includes at least two scaling board, what the scaling board fixed cell made to be arranged on
It is non-coplanar between any two scaling board.
7. caliberating device according to claim 6, which is characterized in that the scaling board fixed cell includes:
At least one backlight module, the scaling board are attached on the shady face of the backlight module.
8. caliberating device according to claim 7, which is characterized in that the scaling board fixed cell further include:
Revolving part is connect with the backlight module, and by adjusting the revolving part, is made in backlight module and X, Y and Z-direction
The angle at least one direction changes.
9. caliberating device according to claim 8, which is characterized in that the scaling board fixed cell further include: lifting knot
Structure；
The revolving part is connect with the lifting structure, and by adjusting the lifting structure, revolving part and backlight module is made to exist
The position of vertical direction changes together.
10. a kind of calibration system characterized by comprising
Caliberating device described in any one of claim 6-9；
At least one is used to fix the fixing device of photographic device, and the fixing device is opposite with caliberating device to be set
It sets；And
Shading box；
The caliberating device and fixing device are set in the accommodating space that the shading box provides.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820530499.0U CN208367740U (en) | 2018-04-13 | 2018-04-13 | Scaling board, caliberating device and calibration system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820530499.0U CN208367740U (en) | 2018-04-13 | 2018-04-13 | Scaling board, caliberating device and calibration system |
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| CN208367740U true CN208367740U (en) | 2019-01-11 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110580724A (en) * | 2019-08-28 | 2019-12-17 | 贝壳技术有限公司 | method and device for calibrating binocular camera set and storage medium |
| CN111179360A (en) * | 2020-04-13 | 2020-05-19 | 杭州利珀科技有限公司 | High-precision automatic calibration plate and calibration method |
| CN111279692A (en) * | 2019-03-12 | 2020-06-12 | 深圳市大疆创新科技有限公司 | Method for testing shooting stability, calibration device and calibration system |
-
2018
- 2018-04-13 CN CN201820530499.0U patent/CN208367740U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111279692A (en) * | 2019-03-12 | 2020-06-12 | 深圳市大疆创新科技有限公司 | Method for testing shooting stability, calibration device and calibration system |
| WO2020181511A1 (en) * | 2019-03-12 | 2020-09-17 | 深圳市大疆创新科技有限公司 | Method for testing image capture stability, calibration device and calibration system |
| CN111279692B (en) * | 2019-03-12 | 2022-03-04 | 深圳市大疆创新科技有限公司 | Method for testing shooting stability, calibration device and calibration system |
| CN110580724A (en) * | 2019-08-28 | 2019-12-17 | 贝壳技术有限公司 | method and device for calibrating binocular camera set and storage medium |
| CN110580724B (en) * | 2019-08-28 | 2022-02-25 | 贝壳技术有限公司 | Method and device for calibrating binocular camera set and storage medium |
| CN111179360A (en) * | 2020-04-13 | 2020-05-19 | 杭州利珀科技有限公司 | High-precision automatic calibration plate and calibration method |
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