CN208569701U - Camera calibration device - Google Patents
Camera calibration device Download PDFInfo
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- CN208569701U CN208569701U CN201821089176.9U CN201821089176U CN208569701U CN 208569701 U CN208569701 U CN 208569701U CN 201821089176 U CN201821089176 U CN 201821089176U CN 208569701 U CN208569701 U CN 208569701U
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Abstract
The utility model discloses a kind of camera calibration devices, comprising: light source, for emitting light beam；Homogenizer, for receiving the light beam and generating uniform beam；Scaling board, the one side backwards to the light source is configured with calibration pattern, and when the light source is turned on, the uniform beam is incident on scaling board to illuminate the calibration pattern.By the way that light source to be set to the front of scaling board and configures calibration pattern at the back side of scaling board, scaling board is incident on after the homogenized device homogenizing of the light beam that light source issues and illuminates calibration pattern, camera can be made to photograph the calibration pattern of high contrast, to achieve the effect that promote stated accuracy.
Description
Technical field
The utility model relates to optical measurement and manufacturing fields, and in particular to a kind of camera calibration device.
Background technique
In field of machine vision, camera calibration is the most key step of system, and the precision of calibration determines that system is surveyed
The precision of amount.In the vision measurement systems such as binocular vision, monocular structure light vision, it is not only related to the calibration of single camera,
Also relate to the calibration between polyphaser, in addition, when the wavelength photoreceptor difference of polyphaser, such as to infrared camera and
When color camera is demarcated, the complexity of calibrating procedure will be increased.
In existing calibration technique, demarcated using one or more scaling board, by the way that camera is arranged before scaling board
And light source, light source provide illumination, such as visible illumination, infrared illumination etc., camera acquires several scaling board images in turn
Implement calibration.This scheme has the advantages that at low cost, but there is also some disadvantages.Due to the general volume of scaling board it is larger so that
Illumination unevenness greatly improves in addition for needing the scaling scheme of mobile scaling board then while being also required to mobile light source
The complexity of calibration, eventually lead to stated accuracy it is poor, calibration speed it is slow.
Utility model content
To solve the above problems, the utility model provides a kind of camera calibration device, stated accuracy height, degree of integration
It is high and easy to use.
The utility model provides a kind of camera calibration device, comprising: light source, for emitting light beam；Homogenizer, for connecing
It receives the light beam and generates uniform beam；Scaling board, the one side backwards to the light source is configured with calibration pattern, when light source is opened
When, the uniform beam is incident on scaling board to illuminate the calibration pattern.
In some embodiments, the calibration pattern is etched in the surface of the scaling board；In further embodiments, institute
The stamp of calibration pattern is stated on calibration paper, the calibration paper is fixed on the surface of the scaling board.
In some embodiments, the light source includes at least one of light emitting diode, laser light source；The light source packet
Include single light source or array of source.
In some embodiments, the light source is array light source, and includes the sub-light source of at least two groups transmitting different wave length.
The sub-light source includes white light sub-light source and infrared photon light source.
In some embodiments, the sub-light source is independently controlled or entirety controls.
In some embodiments, the homogenizer includes diffusing panel or diffraction optical element.
In some embodiments, the calibration pattern include chessboard grid pattern, circular mark dot pattern, pattern in 2 D code,
One of coded markings dot pattern is a variety of.
In some embodiments, further include supporting element, be used to support the light source, the homogenizer and the calibration
Plate.
It in some embodiments, further include light source bracket, for fixing the light source；The light source bracket is also equipped with scattered
Hot device, for radiating to the light source.
The utility model has the beneficial effects that
1. front by the way that light source to be set to scaling board and will the configuration of calibration pattern at the back side of scaling board, light source issues
Light beam homogenized device homogenizing after be incident on scaling board and illuminate calibration pattern, camera can be made to photograph the calibration maps of high contrast
Case, to achieve the effect that promote stated accuracy.
2. in the prior art, light source and scaling board are separated devices, scaling board position/angles change each time,
The uniformity that light source is irradiated on calibration pattern is difference, so that collected pair for demarcating pattern of institute each time
Than degree difference, stated accuracy difference is ultimately caused.And light source and scaling board are integrated in together in the application, are avoided this
Error further improves stated accuracy.
3. camera calibration device and camera are integrated in a system, camera or camera calibration device can pass through branch
Frame or pedestal carry out the pose adjustments such as moving, decline, rise, rotating, and adjust more accurate, are also more convenient using Du Genggao.
Detailed description of the invention
Fig. 1 is the camera calibration system schematic of the utility model one embodiment.
Fig. 2 is the camera calibration schematic device of the utility model one embodiment.
Fig. 3 is the light source composition schematic diagram of the utility model one embodiment.
Specific embodiment
With reference to embodiment and compares attached drawing the utility model is described in further detail, it should be emphasised that
It is that following the description is only exemplary, rather than in order to limit the scope of the utility model and its application.
Shown in FIG. 1 is the camera calibration system schematic according to the utility model one embodiment.Camera calibration system
100 include camera calibration device 10, camera 40 and calculate equipment 50, furthermore according to actual needs can also comprising bracket 20,
The components such as pedestal 30, moving parts 60.Camera calibration device 10 generally comprises a scaling board, camera towards 40 side of camera
40 can shoot the uncalibrated image of the scaling board, calculate after equipment 50 receives uncalibrated image and are handled to complete camera mark
Determine process, for example calculates inside and outside portion's parameter etc. of camera.Bracket 20 is used to support camera 40, in one embodiment, bracket 20
The posture of camera can also be adjusted, such as the pose adjustments function such as decline, rise, rotation.Pedestal 30 is used to support phase
Machine caliberating device 10, bracket 20 or camera 40, in one embodiment, pedestal 30 include guide rail, can make camera calibration
Device 10 and/or bracket 20 are moved or pedestal 30 also may include the devices such as rotation, landing (such as moving parts 60)
So that camera calibration device 10 and/or bracket 20 carry out gesture stability.Calculate equipment 50 as needed with camera calibration device
10, camera 40, bracket 20 and pedestal 30 etc. are attached, to realize the functions such as control, data transmission, calculating.
Camera 40 includes Visible Light Camera, infrared camera etc., is generally used for acquisition two dimensional image, such as visible images
(including color image, gray level image etc.), infrared image etc..
It is understood that the two can be independent device without specific boundary between camera 40 and calculating equipment 50
The device that part can also synthesize, such as a computing terminal containing Depth Imaging function, such as plate, computer, mobile phone.
It is understood that camera calibration device 10 is laterally put with camera 40 in Fig. 1, pedestal is mounted on bottom, one
In a little embodiments, camera calibration device 10 can also longitudinally with camera 40 or other directions are put, and pedestal also may be mounted at it
His suitable position.Therefore Fig. 1 is merely exemplary provides the reference of one embodiment, is not in 100 structure setting of system
Limitation.
In addition, the quantity of camera 40 may be multiple, it is possible thereby to carry out this system 100 to multiple cameras simultaneously
The functions such as calibration, to improve the working efficiency of system 100.
Shown in Fig. 2 is the schematic diagram according to the camera calibration device 10 of the utility model one embodiment.Camera calibration
Device 10 includes light source 103, homogenizer 104 and scaling board 105, and the one side of 105 backlight of scaling board is configured with calibration maps
Case 106.Light source 103 forms illuminance distribution after receiving the light beam that light source is launched for launching light beam, homogenizer 104
Uniform beam, uniform beam are incident on scaling board 105 to illuminate calibration pattern 106.
Light source 103 can be one of any form of light sources such as light emitting diode (LED), laser or a variety of.One
In a embodiment, light source 103 is LED array, than as shown in Figure 1, multiple LED lamp beads 103 are arranged in the same circuit board 102
On.The wavelength of light source 103 may include visible light and the black lights such as infrared, ultraviolet, and specific wavelength setting can basis
Specific demand is configured.
Homogenizer 104 can be diffusing panel, for example, by glass surface frosted to form diffusing panel.In some embodiments
In, homogenizer 104 is also possible to diffraction optical element, and the homo-effect to light beam is realized by way of diffraction.It is understood that
, even results here allow for certain tolerance, for example the beam intensity uniformity reaches a certain threshold value just
Think to have reached homo-effect, for example threshold value is set as 80% etc..
Scaling board 105 is dianegative, for example transparent glass, the uniform beam being emitted by diffusing panel 104 can penetrate mark
Fixed board 105 is to illuminate calibration pattern 106.Calibration pattern 106 can be chessboard grid pattern, circular pattern, pattern in 2 D code, other
One of indicia patterns or a variety of combination patterns.In one embodiment, calibration pattern 106 is generated in a manner of etching
The surface of scaling board 105；In one embodiment, calibration pattern 106 is printed upon first on transparent or nontransparent thin paper, then will be thin
Paper is pasted on scaling board 105, and thin paper can be printing paper, gummed paper etc..It should be noted that the calibration needs of pattern 106 are located at
Side towards camera 40, that is, the side of backlight 103, so that camera 40 can photograph the calibration maps of high contrast
Case, to achieve the effect that promote stated accuracy.
Light source 103 setting the light sources such as circuit board driving 102 on, controlled by external power supply light source 103 carry out it is luminous.
Different cameras, parameter are different, therefore the brightness of light source 103 is adjustable in a certain range in the present embodiment, so that can be with
The illumination for realizing different brightness guarantees that the camera of different performance can collect preferable image (such as two dimensional image, depth map
As etc.).In one embodiment, when 103 quantity of the light source of needs is more, (for example to increase quantity of light source uniform to improve irradiation
Degree etc.), 102 can be driven further to be installed on light source bracket 101 multiple light sources, light source bracket 101 is generally by metal
Equal materials are made, and in order to preferably radiate to light source, setting can also dissipate on light source bracket 101 or light source driving 102
The radiators such as hot device 108, such as the aluminum radiating groove of blade shape, radiator fan.
In one embodiment, light source 103 includes the sub-light source of at least two different wave lengths, i.e. the first son of first wave length
Second sub-light source of light source and second wave length.Fig. 3 is the light source composition schematic diagram according to the utility model one embodiment.With
For array light source, the multiple light sources 103 of array arrangement are provided in light source driving 102, light source 103 is divided into three classes, point
It Wei not be for emitting the sub-light source 103a of first wave length light beam, the sub-light source 103b for emitting second wave length light beam and transmitting third
The sub-light source 103c of wavelength light beam, first wave length, second wave length and third wavelength can according to need the wave being contoured to correspond to
Long, for example it is white light that first wave length is corresponding, it is the infrared light of 940nm that second wave length is corresponding, and second wave length is corresponding to be
The light source of the infrared light of 850nm, different wave length also can integrally be controlled with independent control.Light source more than two kinds of wavelength is set
Being advantageous in that can make the camera calibration device suitable for the process flows such as the calibration of the camera of other different wave lengths.
Camera calibration device 10 further includes supporting element 107, is used to support light source 103, homogenizer 104 and calibration paper 106
Equal components.Supporting element 107 can be set at an arbitrary position, such as the lower section in Fig. 2, can also be all provided with simultaneously in lower section, top
Supporting element 107 is set with improving stability, or supporting element can be provided in surrounding.Supporting element 107 may include metal, modeling
Material and some connectors etc..
For above-mentioned camera calibration device 10 when demarcate to camera, the calibration that may be implemented to one camera can also
To realize the calibration to polyphaser.It is illustrated by taking the calibration to infrared camera and Visible Light Camera as an example below.
Light source 103 in camera calibration device 10 includes at least two seed light sources, i.e., white light sub-light source (for visible light at
Picture) and infrared photon light source (being used for infrared imaging).It is first turned on white light sub-light source, it is seen that light camera will collect can
Collected white light uncalibrated image is then transmitted to and calculates in equipment to carry out in terms of Visible Light Camera internal reference by light-exposed uncalibrated image
It calculates.Secondly infrared photon light source is opened, infrared camera will collect infrared light uncalibrated image, then by collected infrared light
Uncalibrated image is transferred to calculate in equipment and be calculated with the internal reference for carrying out infrared camera.
After getting the internal reference of Visible Light Camera and infrared camera respectively, it is contemplated that in collection process, respectively
By full between the collected infrared light uncalibrated image of the collected visible light uncalibrated image of Visible Light Camera and three-dimensional camera institute
Sufficient one-to-one relationship (is originated from the same calibration pattern), based on this characteristic can further calculate out Visible Light Camera and
Outer ginseng between three-dimensional camera.It in other words, can be with mark when being demarcated respectively to Visible Light Camera and infrared camera
Some point in fixed board is used as reference, chooses identical world coordinate system, calculates separately out Visible Light Camera and infrared camera
Relative to the relatively outer ginseng of world coordinate system, the outside between Visible Light Camera and infrared camera is calculated in conjunction with relatively outer ginseng
Parameter.This is arrived, one camera calibration and the calibration of polyphaser are realized.
When respectively demarcating Visible Light Camera and three-dimensional camera, generally require to be adopted under different angle
Collection, it is possible thereby to carry out posture or situation monitoring to camera by means of pedestal 30 or bracket 20 to realize adopting under multiple angles
Collection, or posture or position using the control camera calibration device 10 of moving parts 60, to realize that multi-angle image acquires.
The above content is specific/preferred embodiment further detailed description of the utility model is combined, no
It can assert that the specific implementation of the utility model is only limited to these instructions.For the common skill of the utility model technical field
For art personnel, without departing from the concept of the premise utility, the embodiment that these have been described can also be made
Some replacements or modifications, and these substitutions or variant all shall be regarded as belonging to the protection scope of the utility model.
Claims (10)
1. a kind of camera calibration device characterized by comprising
Light source, for emitting light beam；
Homogenizer, for receiving the light beam and generating uniform beam；
Scaling board, the one side backwards to the light source is configured with calibration pattern, and when the light source is turned on, the uniform beam is incident on mark
Fixed board is to illuminate the calibration pattern.
2. camera calibration device as described in claim 1, which is characterized in that the calibration pattern is etched in the scaling board
Surface.
3. camera calibration device as described in claim 1, which is characterized in that the calibration pattern stamp is on calibration paper, institute
State the surface that calibration paper is fixed on the scaling board.
4. camera calibration device as described in claim 1, which is characterized in that the light source includes light emitting diode, laser light
At least one of source；The light source includes single light source or array of source.
5. camera calibration device as claimed in claim 4, which is characterized in that the light source is array light source, and includes at least
The sub-light source of two groups of transmitting different wave lengths.
6. camera calibration device as claimed in claim 5, which is characterized in that the sub-light source includes white light sub-light source and red
Outer photon light source.
7. camera calibration device as claimed in claim 5, which is characterized in that the sub-light source is independently controlled or whole control
System.
8. camera calibration device as described in claim 1, which is characterized in that the homogenizer includes diffusing panel or diffraction optics
Element.
9. camera calibration device as described in claim 1, which is characterized in that the calibration pattern includes chessboard grid pattern, circle
Shape marks one of dot pattern, pattern in 2 D code, coded markings dot pattern or a variety of.
10. camera calibration device as described in claim 1, which is characterized in that further include supporting element, be used to support the light
Source, the homogenizer and the scaling board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821089176.9U CN208569701U (en) | 2018-07-10 | 2018-07-10 | Camera calibration device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821089176.9U CN208569701U (en) | 2018-07-10 | 2018-07-10 | Camera calibration device |
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| Publication Number | Publication Date |
|---|---|
| CN208569701U true CN208569701U (en) | 2019-03-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821089176.9U Active CN208569701U (en) | 2018-07-10 | 2018-07-10 | Camera calibration device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110625936A (en) * | 2019-09-17 | 2019-12-31 | 上海联泰科技股份有限公司 | Optical calibration tool, 3D printing equipment and 3D printing optical calibration method |
| CN110988910A (en) * | 2019-11-26 | 2020-04-10 | 深圳奥比中光科技有限公司 | ToF camera calibration device and calibration method |
| CN112995528A (en) * | 2021-05-06 | 2021-06-18 | 中国工程物理研究院流体物理研究所 | Device, system and method for image registration between channels of photoelectric framing camera |
| CN114565676A (en) * | 2021-12-29 | 2022-05-31 | 骨圣元化机器人(深圳)有限公司 | Infrared camera calibration device |
-
2018
- 2018-07-10 CN CN201821089176.9U patent/CN208569701U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110625936A (en) * | 2019-09-17 | 2019-12-31 | 上海联泰科技股份有限公司 | Optical calibration tool, 3D printing equipment and 3D printing optical calibration method |
| CN110988910A (en) * | 2019-11-26 | 2020-04-10 | 深圳奥比中光科技有限公司 | ToF camera calibration device and calibration method |
| CN112995528A (en) * | 2021-05-06 | 2021-06-18 | 中国工程物理研究院流体物理研究所 | Device, system and method for image registration between channels of photoelectric framing camera |
| CN114565676A (en) * | 2021-12-29 | 2022-05-31 | 骨圣元化机器人(深圳)有限公司 | Infrared camera calibration device |
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Address after: 12 / F, joint headquarters building, high tech Zone, 63 Xuefu Road, Nanshan District, Shenzhen, Guangdong 518000 Patentee after: Obi Zhongguang Technology Group Co., Ltd Address before: 12 / F, joint headquarters building, high tech Zone, 63 Xuefu Road, Nanshan District, Shenzhen, Guangdong 518000 Patentee before: SHENZHEN ORBBEC Co.,Ltd. |