CN209118357U - A kind of depth camera caliberating device - Google Patents
A kind of depth camera caliberating device Download PDFInfo
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- CN209118357U CN209118357U CN201821603677.4U CN201821603677U CN209118357U CN 209118357 U CN209118357 U CN 209118357U CN 201821603677 U CN201821603677 U CN 201821603677U CN 209118357 U CN209118357 U CN 209118357U
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- depth camera
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- caliberating device
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Abstract
The utility model discloses a kind of depth camera caliberating device, comprising: the reference platform with table top；Marker on table top；Regulating member positioned at marker at least side；The fixing piece for being used to load depth camera mould group on regulating member；Regulating member includes: table top in the plane extending direction be in the first track-type facilities for being laterally arranged, and the extending direction on the first track-type facilities is in the second vertically arranged track-type facilities relative to plane where table top；The fixing piece is located on the second track-type facilities, which can move along the extending direction of the second track-type facilities close to or far from the direction of table top, and first track-type facilities can drive the second track-type facilities to move transversally on a plane where table top.The function that the depth camera caliberating device of the utility model provides horizontal direction, vertical direction is adjusted, can disposably demarcate multiple distances, be not necessarily to multiple mobile marking object, reduce the error repeatedly moved, improve the accuracy and efficiency of calibration.
Description
Technical field
The utility model relates to depth camera technical field more particularly to a kind of depth camera caliberating devices.
Background technique
Depth camera is the 2D camera for being different from us and usually using.With traditional camera the difference is that the camera can be same
When photographed grey-tone image information and three-dimensional information comprising depth.Its design principle is for scene to be measured transmitting reference
Light beam, by the time difference or phase difference for calculating light echo, come the distance of scenery of being taken that converts, to generate depth information, furthermore
It is shot in conjunction with traditional camera, to obtain bidimensional image information.Depth camera is different according to depth measurement principle, and general point
Are as follows: time-of-flight method, Structure light method.In process of production, every depth camera measurement numerical value has error to depth camera, in order to
The error is corrected, needs to carry out distance calibration to camera.
Existing depth camera calibration, needs for measured object to be moved to corresponding at a distance of pre-determined distance with depth camera
It at position, is then based on the pre-determined distance and depth camera is demarcated, wherein pre-determined distance can be actually needed really according to
The distance set.But it is easy to happen error in measured frequent moving process, and then measured object is caused to move
The distance between Cheng Houqi and depth camera are not pre-determined distance, and pre-determined distance is recycled to realize the calibration of depth camera at this time
It is inaccurate, is demarcated in addition, repeatedly moving measured object, be both easy error occur in frequent motion process,
Cause to demarcate efficiency decline.
It is current ability in conclusion how to provide a kind of high accuracy, calibration high-efficient depth camera caliberating device
Field technique personnel's urgent problem to be solved.
Utility model content
The purpose of this utility model is to provide a kind of depth that depth camera mould group calibration efficiency and accuracy rate can be improved
Camera calibration device.
In order to achieve the above objectives, the utility model adopts the following technical solutions:
A kind of depth camera caliberating device, the caliberating device include:
Reference platform with table top；
Marker on the table top；
Regulating member positioned at the marker at least side；
The fixing piece for being used to load depth camera mould group on the regulating member；
Wherein, the regulating member includes:
Table top in the plane extending direction be in the first track-type facilities for being laterally arranged, and led positioned at first
Extending direction on rail device is relative to plane where table top in the second vertically arranged track-type facilities；
The fixing piece is located on the second track-type facilities, which can be along the extending direction of the second track-type facilities
Mobile to the direction close to or far from table top, first track-type facilities can drive the second track-type facilities to exist
It is moved transversally on a plane where table top.
Preferably scheme is that described device includes several markers.
Preferably scheme is that the caliberating device includes fixed station, and the regulating member is fixed at the fixation
On platform.
Preferably scheme is that the fixed station includes four leg-supportings, and the bottom of four leg-supportings is respectively arranged with
Ram Air Cushion.
Preferably scheme is that several markers are put in Z-shaped arrangement, the arrangement of N font or other regular trajectory alignments.
Preferably scheme is, the caliberating device further includes that the fixed marker is located at the magnetic control of the table position and opens
It closes.
Preferably scheme is that first track-type facilities include:
Relative to the first fixed part of table top fixed setting, and can extend on the first fixed part along the first track-type facilities
The mobile first movement portion in direction；
Second track-type facilities include:
In conjunction with the second fixed part being fixed in the first movement portion, and can be on the second fixed part along the second guide rail
The second mobile moving portion of device extending direction；
The fixing piece is located in second moving portion.
Preferably scheme is that it is in two adjustment portions being oppositely arranged that the caliberating device, which includes positioned at marker two sides,
Part, respectively include on two regulating members being oppositely arranged for loading the fixing piece of depth camera mould group.
Preferably scheme is that the distance between the marker and fixing piece are 10mm to 5000mm；Several markers it
Between distance be 10mm to 1000mm.
Preferably scheme is, the shape of the part corresponding with depth camera mould group of the marker be it is round, angular or
Person's rectangle.
The beneficial effects of the utility model are as follows:
1, the depth camera caliberating device of the utility model can be realized the mobile adjusting of horizontal direction, vertical direction, make
Obtaining the contraposition between depth camera mould group and several markers can be achieved by adjusting the position of depth camera mould group, be adjusted
Precision is high, and controllability is good.
2, depth camera caliberating device provided by the utility model, it may include having positioned at marker two sides is in be oppositely arranged
Two regulating members, respectively include on two regulating members being oppositely arranged for loading the fixing piece of depth camera mould group,
It allows two depth camera mould groups to be demarcated simultaneously, improves the calibration efficiency of depth camera mould group.
It 3, include several markers in depth camera caliberating device provided by the utility model, several markers are in Z-shaped
Type arrangement, the arrangement of N font or other regular trajectory alignments, depth camera mould group can disposably demarcate multiple distances, without more
Secondary mobile marking object is demarcated, and reduces calibrated error brought by multiple mobile marking object, and improve depth camera
Mould group demarcates efficiency.
4, in depth camera caliberating device provided by the utility model, depth camera mould group can pass through alignment marker acquisition
Multiple images of marker simultaneously carry out ranging, the depth camera mould in conjunction with described in the mean value calculation of multiple images using infrared light
Group and the marker distance value, effectively increase the calibration accuracy rate of depth camera mould group.
5, the fixed station in depth camera caliberating device provided by the utility model includes four leg-supportings, four supports
The bottom of leg is respectively arranged with Ram Air Cushion.The height at both ends can be adjusted, its each position height is made by adjusting air pressure inside
Unanimously, it is ensured that caliberating device is carrying out the accuracy in depth camera mould group calibration process.
Detailed description of the invention
It, below will be to required in embodiment description in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing to be used is simply introduced.It is understood that the accompanying drawings in the following description is only some realities of the invention
Example is applied, it for those of ordinary skill in the art, without creative efforts, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 shows the depth camera caliberating device overall structure diagram in the utility model embodiment.
Fig. 2 shows the depth camera caliberating device overall structure diagrams in the utility model embodiment.
Fig. 3 shows the depth camera caliberating device side view in the utility model embodiment.
Fig. 4 shows the depth camera caliberating device bottom view in the utility model embodiment.
In attached drawing, component representated by each label is as follows:
1. table top；2. marker；3. regulating member；4. fixing piece；5. depth camera mould group；6. fixed station；
31. the first track-type facilities；32. the second track-type facilities；61. leg-supporting；62. Ram Air Cushion；7. magnetic
Control switch；8. screw rod；
Specific embodiment
In order to illustrate more clearly of the utility model, the utility model is done into one below with reference to preferred embodiments and drawings
The explanation of step.Similar component is indicated in attached drawing with identical appended drawing reference.It will be appreciated by those skilled in the art that below
Specifically described content is illustrative and be not restrictive, and should not be limited the protection scope of the present invention.
In following description given, for purposes of illustration, in order to provide comprehensive reason to one or more embodiment
Solution, numerous specific details are set forth.It may be evident, however, that these realities can also be realized without these specific details
Apply mode.In other examples, one or more embodiment for ease of description, well known structure and equipment are with block diagram
Form show.
Depth camera mould group is in ranging calibration in the prior art, and with the frequent movement of marker, ranging calibration process is held
Error easily occurs, and then the distance between itself and depth camera mould group after the completion of measured marker movement is caused to be not to preset
Distance recycles pre-determined distance to realize that the calibration of depth camera mould group is inaccurate, in addition, repeatedly moving measured mark at this time
Object is demarcated, and the decline of calibration efficiency is also resulted in.In view of the above problems, the utility model provides a kind of novel depth phase
Machine caliberating device.Specifically, it is described in detail with reference to the accompanying drawing.
In conjunction with shown in Fig. 1-Fig. 4, the utility model provides a kind of depth camera caliberating device, comprising:
Reference platform with table top 1；
Marker 2 on the table top；
Regulating member 3 positioned at the marker at least side；
The regulating member 3 is fixed on fixed station 6
The fixing piece 4 for being used to load depth camera mould group 5 on the regulating member；
Wherein, the regulating member includes:
Table top in the plane extending direction be in the first track-type facilities 31 for being laterally arranged, and be located at the first guide rail and fill
The extending direction set is in the second vertically arranged track-type facilities 32 relative to plane where table top；
The fixing piece 4 is located at 32 on the second track-type facilities, which can be along the extension side of the second track-type facilities 32
To the direction movement close to or far from table top 1, first track-type facilities 31 can drive the second track-type facilities 32 in 1 institute of table top
Transverse shifting in the plane.
Depth camera caliberating device provided by the utility model, during the test, the first track-type facilities 31 and second are led
Rail device 32 drives depth camera mould group 5 relative to table top 1 lateral, vertically movable, and the mutual not shadow of the adjustment in each dimension
It rings, is completely independent；And the position of marker 2 is fixed.Therefore it adjusts simple and convenient, reduces human error, improve
Accuracy.
In the preferred embodiment, in order to realize depth camera mould group 5 relative to table top 1 lateral, vertically movable, tool
Body, first track-type facilities 31 include: the first fixed part relative to table top fixed setting, and can be in the first fixed part
On along the first movement portion that the first track-type facilities extending direction moves；Second track-type facilities 32 include: to combine to be fixed on institute
The second fixed part in first movement portion is stated, and can move on the second fixed part along the second track-type facilities extending direction
Two moving portions；The fixing piece 4 is located in second moving portion.
It should be noted that in order to realize that one of the purpose of this utility model, i.e. raising depth camera mould group demarcate efficiency,
Caliberating device described in this preferred embodiment includes several markers 2, and several markers 2 are in Z-shaped arrangement, the arrangement of N font
Or other regular trajectory alignments.Depth camera mould group 5 can once demarcate multiple distances, improve depth camera mould group calibration effect
Rate.
Further, caliberating device described in this preferred embodiment may include having positioned at marker two sides in being oppositely arranged
Two regulating members 3, respectively include on two regulating members being oppositely arranged for loading the fixation of depth camera mould group 5
Part 4.It is demarcated simultaneously using two depth camera mould groups, improves the efficiency of depth camera mould group calibration.
In conjunction with schematic structure, in order to realize the accuracy for improving the calibration of depth camera mould group, the fixed station 6 includes four
A leg-supporting 61, the bottom of four leg-supportings are respectively arranged with Ram Air Cushion 62.It can be by adjusting inside Ram Air Cushion 62
Air pressure adjusts the height at 6 both ends of fixed station, keeps it consistent with 1 height of table top, it is ensured that caliberating device is carrying out depth camera mould group
Accuracy in calibration process.
Preferably scheme is that the marker 2 is adjustable at a distance from fixing piece 4, between the marker 2 and fixing piece 4
Distance be preferably 10mm to 5000mm；The distance between several markers 2 are preferably 10mm to 1000mm；In addition, excellent
Selection of land, the shape of the marker 2 part corresponding with depth camera mould group 5 are round, angular or rectangle, present embodiment
It is without limitation.
In order to realize that marker 2 is adjustable at a distance from fixing piece 4, it is preferable that the caliberating device further includes described in fixation
Marker 2 is located at the magnetic switch 7 of the table position, and the magnetic switch 7 is located at 1 bottom surface of table top, when magnetic switch 7 is
Without suction between horizontally arranged Shi Qiyu marker 2, removable marker 2 is located at the position on table top 1, to marker 2
After being moved to designated position, magnetic switch 7 is rotated to be into vertical direction, marker 2 and magnetic switch 7 suck fixation at this time.
In the preferred embodiment, the depth camera mould group 5 can be fixed on the fixing piece 4 with double-sided adhesive；Or
Fixing piece 4 described in person is provided with screw hole, and the depth camera mould group 5 is fixedly mounted on by screw rod 8 and the cooperation of the screw hole
On the fixing piece 4.
The calibration process of the depth camera caliberating device provided in present embodiment includes:
Depth camera mould group 7 is fixed on the fixing piece 4 of the second track-type facilities 32, then by several 2 rules of marker
Property be placed on table top 1, bottom magnetic switch 7 is fixed.First track-type facilities 31 and the second track-type facilities 32 drive depth camera mould
Group 5 is put rule along the marker 2 relative to table top 1 and is moved, when the visual field is in first marker 2, the depth phase
Machine mould group 5 aligns the marker 2 and acquires multiple images of the same marker 2 and carry out ranging, knot using infrared light
The distance between depth camera mould group 5 and the corresponding marker 2 value described in the mean value calculation of multiple images are closed, depth is worked as
When degree camera mould group 5 is moved to the visual field in second marker 2, continue to shoot multiple pictures calculating distance value；Until having surveyed
The last one marker.
Obviously, the above embodiments of the present invention is merely examples for clearly illustrating the present invention, and
It is not limitations of the embodiments of the present invention, for those of ordinary skill in the art, in above description
On the basis of can also make other variations or changes in different ways, all embodiments can not be exhaustive here,
It is all to belong to obvious changes or variations that the technical solution of the utility model is extended out still in the utility model
The column of protection scope.
Claims (10)
1. a kind of depth camera caliberating device, which is characterized in that the caliberating device includes:
Reference platform with table top；
Marker on the table top；
Regulating member positioned at the marker at least side；
The fixing piece for being used to load depth camera mould group on the regulating member；
Wherein, the regulating member includes:
Table top in the plane extending direction be in the first track-type facilities for being laterally arranged, and on the first track-type facilities
Extending direction is in the second vertically arranged track-type facilities relative to plane where table top；
The fixing piece is located on the second track-type facilities, the fixing piece can along the second track-type facilities extending direction to close or remote
The direction in destage face is mobile, and first track-type facilities can drive the second track-type facilities to move transversally on a plane where table top.
2. depth camera caliberating device according to claim 1, which is characterized in that described device includes several marks
Object.
3. depth camera caliberating device according to claim 1, which is characterized in that the caliberating device includes fixation
Platform, the regulating member are fixed on the fixed station.
4. depth camera caliberating device according to claim 3, which is characterized in that the fixed station includes four supporting legs
The bottom in portion, four leg-supportings is respectively arranged with Ram Air Cushion.
5. depth camera caliberating device according to claim 2, which is characterized in that several markers are put to be arranged in Z-shaped
Column or the arrangement of N font.
6. depth camera caliberating device according to claim 1, which is characterized in that the caliberating device further includes fixed institute
State the magnetic switch that marker is located at the table position.
7. depth camera caliberating device according to claim 1, which is characterized in that first track-type facilities include:
Relative to the first fixed part of table top fixed setting, and can be on the first fixed part along the first track-type facilities extending direction
Mobile first movement portion；
Second track-type facilities include:
In conjunction with the second fixed part being fixed in the first movement portion, and can be on the second fixed part along the second track-type facilities
The second mobile moving portion of extending direction；
The fixing piece is located in second moving portion.
8. depth camera caliberating device according to claim 1, which is characterized in that the caliberating device includes to be located at mark
Show that object two sides are in two regulating members being oppositely arranged, respectively include being oppositely arranged on two regulating members is used to load depth
Spend the fixing piece of camera mould group.
9. depth camera caliberating device according to claim 2, which is characterized in that between the marker and fixing piece
Distance is 10mm to 5000mm；The distance between several markers are 10mm to 1000mm.
10. depth camera caliberating device according to claim 1, which is characterized in that the marker and depth camera mould
The shape of the corresponding part of group is round, angular or rectangle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821603677.4U CN209118357U (en) | 2018-09-29 | 2018-09-29 | A kind of depth camera caliberating device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821603677.4U CN209118357U (en) | 2018-09-29 | 2018-09-29 | A kind of depth camera caliberating device |
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| CN209118357U true CN209118357U (en) | 2019-07-16 |
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| CN201821603677.4U Active CN209118357U (en) | 2018-09-29 | 2018-09-29 | A kind of depth camera caliberating device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110456331A (en) * | 2019-08-30 | 2019-11-15 | 深圳奥比中光科技有限公司 | A kind of caliberating device and scaling method of TOF camera |
| CN110599547A (en) * | 2019-08-30 | 2019-12-20 | 深圳奥比中光科技有限公司 | TOF camera calibration device and method |
| CN111077512A (en) * | 2019-11-26 | 2020-04-28 | 歌尔股份有限公司 | TOF module calibration method and system |
-
2018
- 2018-09-29 CN CN201821603677.4U patent/CN209118357U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110456331A (en) * | 2019-08-30 | 2019-11-15 | 深圳奥比中光科技有限公司 | A kind of caliberating device and scaling method of TOF camera |
| CN110599547A (en) * | 2019-08-30 | 2019-12-20 | 深圳奥比中光科技有限公司 | TOF camera calibration device and method |
| US20220174267A1 (en) * | 2019-08-30 | 2022-06-02 | Orbbec Inc. | Tof camera calibration device and method |
| US11750796B2 (en) * | 2019-08-30 | 2023-09-05 | Orbbec Inc. | TOF camera calibration device and method |
| CN111077512A (en) * | 2019-11-26 | 2020-04-28 | 歌尔股份有限公司 | TOF module calibration method and system |
| CN111077512B (en) * | 2019-11-26 | 2023-12-26 | 歌尔光学科技有限公司 | TOF module calibration method and system |
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Effective date of registration: 20201020 Address after: 261031 north of Yuqing street, east of Dongming Road, high tech Zone, Weifang City, Shandong Province (Room 502, Geer electronic office building) Patentee after: GoerTek Optical Technology Co.,Ltd. Address before: 266100 Qingdao, Laoshan District, North House Street investment service center room, Room 308, Shandong Patentee before: GOERTEK TECHNOLOGY Co.,Ltd. |