CN214670725U - High robustness calibration device based on circular calibration plate - Google Patents
High robustness calibration device based on circular calibration plate Download PDFInfo
- Publication number
- CN214670725U CN214670725U CN202120210666.5U CN202120210666U CN214670725U CN 214670725 U CN214670725 U CN 214670725U CN 202120210666 U CN202120210666 U CN 202120210666U CN 214670725 U CN214670725 U CN 214670725U
- Authority
- CN
- China
- Prior art keywords
- calibration
- plate
- circular
- camera
- device based
- 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
Images
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
The utility model discloses a high robustness calibration device based on circular calibration board through support frame and brace table location support treat calibration camera, circular calibration board, similar interference thing, dirty spot and shelter from the thing, can fix a position a plurality of treat calibration cameras simultaneously through a plurality of pairs of guide rails on the support frame, improve work efficiency; placing the circular calibration plate in the common visual field of all cameras to be calibrated, wherein each camera to be calibrated is xyziRespectively align the calibration plates XYZjImageijExtracting the contour by using an algorithm such as Canny and the like to obtain an initial contour group, and then carrying out primary filtering to obtain a value ImageijComputing grid features
Establishing an undirected graph, carrying out cluster analysis, carrying out edge detection and contour extraction filtering again, calculating normalized world coordinates after sequencing, and not needing to pre-configure the size, the interval, the number and the like of dots or rings; the algorithm does not need to try to adaptively adjust the image threshold parameter and the like, so that the calibration speed is high; the robustness is stronger for shielding, dirty calibration plates, similar calibration plates in calibration scenes and the like.
Description
Technical Field
The utility model belongs to the technical field of optical image measures and machine vision uses, concretely relates to high robustness calibration device based on circular calibration board.
Background
The camera calibration is the first step of many machine vision applications, and the camera calibration plays a significant role in the machine vision applications because the system application precision basically depends on the accuracy of the calibration result.
The types of calibration plates common in the prior art can be roughly divided into three categories: a checkerboard calibration board, a dot/ring calibration board and calibration boards of various custom shapes. Wherein, the specially-made or custom-shaped calibration plates, such as ChAruco calibration plate and Kalibr calibration plate, have complex design and processing, which cause cost increase and poor applicability; although the checkerboard angular point calibration plate is easy to position and has high detection precision, the checkerboard angular point calibration plate is widely applied, but is easily influenced by noise and fuzziness, and the key point is that for a system (such as a structured light measurement system) needing to calibrate equipment similar to an inverse pinhole imaging camera of a projector, the detection precision is reduced due to the fact that the checkerboard angular points have sharp black and white changes; aiming at the defects of the angular point calibration plate, a dot calibration plate or a circular calibration plate is generally adopted in the industry.
For the detection of the dot or circular calibration plate, the existing methods generally include the following methods. The method is characterized by comprising the steps of carrying out cyclic binarization operation on a whole image, extracting an outline, filtering the area of the outline, the number of dots, the roundness and the like according to the configuration of a user, and finding out the dots which are closest to each other and meet the configuration number of the user through a clustering analysis method to serve as detection results.
Other methods, such as the "projector calibration method" of gao jian et al (application No. CN201710293985.5), use a homemade dot calibration board, which divides dots into three categories according to their radii for determining the number and orientation of dots, although this method can reduce the user configuration difficulty to some extent on the calibration board, it still cannot solve the problem of detection failure under the conditions of shielding, dirt, and interference of similar objects on the calibration board, and the difficulty of distinguishing and detecting three categories of dots increases when the angle of the calibration board tangential to the camera imaging plane is large, which may also cause detection failure.
As another example, the patent named "camera calibration board, calibration method and camera" by cheng hui et al (application number CN201811526921.6) imposes constraints on the boundary size, dot pitch and size of the calibration board to improve the robustness of the calibration board detection, but this also increases the design and manufacturing cost of the calibration board, and also requires the user to configure parameters in advance to reduce the effects of dirt and similar interferents.
Disclosure of Invention
In order to solve the above problems existing in the prior art, the utility model aims to provide a can mark simultaneously many equipment, detect fastly, detection effect is good, prevents to shelter from, dirty, similar thing to disturb, low cost, convenient operation's high robustness calibration device based on circular calibration board.
The utility model discloses the technical scheme who adopts does:
a high robustness calibration device based on a circular calibration plate comprises a background plate and at least one camera to be calibrated, wherein the circular calibration plate, a similar interference object, a dirty spot stain and a shielding object are arranged between the background plate and the camera to be calibrated, and the circular calibration plate, the similar interference object, the dirty spot stain and the shielding object are fixedly supported on the background plate through transparent support rods respectively or are suspended above the background plate through steel wires; the circular calibration plate, the similar interferent, the dirty spot stain and the shelter are positioned in the public view range of all the cameras to be calibrated.
The circular calibration plate is provided with dots or rings with any size, any number and any regular arrangement.
The camera to be calibrated is supported and positioned through the sliding rail, and two ends of the sliding rail are fixedly supported through the supporting frame.
The slide rail comprises a pair of L-shaped guide rails which are oppositely arranged, each camera to be calibrated is arranged on the pair of slide plates respectively, and two ends of each slide plate are slidably arranged on the pair of guide rails.
The support frame is provided with a plurality of pairs of guide rails side by side, and each pair of guide rails is provided with one or more pairs of sliding plates.
The camera calibration device is characterized in that three pairs of guide rails are arranged on the support frame side by side, and a camera to be calibrated is arranged on each pair of guide rails in a sliding mode through a pair of sliding plates.
The circular calibration plate, the similar interferent and the shelter are supported and positioned on the background plate through the supporting table respectively.
The supporting platform comprises a supporting chassis, a supporting column and a supporting plate, the bottom end of the supporting column is fixedly connected to the middle of the supporting chassis, and the middle of the bottom surface of the supporting plate is fixedly connected to the top end of the supporting column.
The bottom surface of the supporting plate is provided with a spherical groove, the top end of the supporting column is provided with a ball head, and the supporting plate is matched, installed and connected with the ball head through the spherical groove to form a universal joint structure.
The top surface of the supporting plate is provided with an anti-slip sticker.
The utility model has the advantages that:
a high-robustness calibration device based on a circular calibration plate is characterized in that a camera to be calibrated, the circular calibration plate, similar interferents, dirty spot stains and shelters are positioned and supported through a support frame and a support table, and the circular calibration plate is placed on all cameras to be calibratedIn a public view, a plurality of cameras to be calibrated can be positioned and supported on the support frame through a plurality of pairs of guide rails at the same time, and the plurality of cameras to be calibrated can be calibrated and positioned at the same time, so that the working efficiency is improved; each camera xyz to be calibratediRespectively align the calibration plates XYZjImageijExtracting the contour by using an algorithm such as Canny and the like to obtain an initial contour group, and then carrying out primary filtering to obtain a value ImageijComputing grid features
Establishing an undirected graph, carrying out cluster analysis, carrying out edge detection and contour extraction filtering again, calculating normalized world coordinates after sequencing, and not needing to pre-configure the size, the interval, the number and the like of dots or rings; the algorithm does not need to try to adaptively adjust the image threshold parameter and the like, so that the calibration speed is high; robustness is stronger for shielding, dirty calibration plates, similar calibration plates in calibration scenes and the like;
1. the sizes, the intervals and the number of circular points or circular rings of the calibration plate are not required to be configured in advance, on one hand, the calibration plate with a specific model is not required to be specified, the applicability of the calibration algorithm is improved, on the other hand, the professional requirements of related workers can be reduced, and the full-automatic positioning can be realized;
2. the interference of other similar objects in a scene shot by a camera can be automatically eliminated, the method has good resistance to the situations of dirt, shielding and the like of a calibration plate, the detection process is quick and quick, the calibration work difficulty can be reduced, and the calibration work efficiency is further improved;
3. the method is not limited to a calibration board with dots or rings of a specific model, the distribution of the dots or the rings on the calibration board can be a rectangular array or other random arrangement forms of a non-rectangular array, and the positioning of the calibration board can be realized even under the extremely severe condition that the image of the calibration board is fuzzy;
drawings
FIGS. 1-6 are schematic diagrams illustrating defects in a calibration plate inspection method according to the prior art;
fig. 7 is a schematic diagram of a detection scene of the dot calibration plate of the high robustness calibration device based on the circular calibration plate of the present invention;
fig. 8 is a schematic diagram of the calibration plate orientation scheme of the high robustness calibration device based on the circular calibration plate of the present invention;
fig. 9 is a schematic diagram of a calibration plate dot positioning scheme of the high robustness calibration device based on the circular calibration plate of the present invention;
fig. 10 is a schematic perspective view of the support frame of the high robustness calibration device based on the circular calibration plate of the present invention;
fig. 11 is a three-dimensional structure diagram of a supporting table of the high robustness calibration device based on the circular calibration plate of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
As shown in fig. 1 to 6, the calibration plate detection method in the prior art has the following corresponding defects:
(1) dirty spots and stains on the surface;
(2) shielding;
(3) super camera view range;
(4) similar interferences;
(5) the dip angle is large;
(6) and blurred.
An object of the utility model is to provide a high robustness calibration device and positioning method based on circular calibration board to the above-mentioned shortcoming of prior art.
The embodiment of the utility model provides a high robustness calibration device based on circular calibration plate, as shown in fig. 7, set up a background board 8 at first, and at least one camera that waits to calibrate, set up a circular calibration plate 4, similar interferent 5, dirty spot 6 and shelter from thing 7 between background board and all cameras that wait to calibrate, circular calibration plate 4, similar interferent 5, dirty spot 6 and shelter from thing 7 are respectively through transparent support rod fixed support on the background board, perhaps suspend in midair above the background board through the steel wire; and the circular calibration plate, the similar interferent 5, the dirty spot stain 6 and the obstruction 7 are all located in the common field of view of all cameras to be calibrated simultaneously.
The circular calibration plate 4 is provided with dots or rings with any size, any number and any regular arrangement.
Each camera to be calibrated is supported and positioned through a sliding rail respectively, two ends of the sliding rail are fixedly supported through supporting frames, each supporting frame is formed by fixedly connecting supporting plates 9 to the top ends of four vertical supporting legs 10, and the supporting plates 9 are fixedly supported above the background plate through the supporting legs 10.
Further, the slide rail structure is as follows: a pair of L-shaped guide rails 11 are oppositely arranged along the transverse direction, and two ends of each guide rail 11 are respectively and fixedly arranged above the supporting plate 9 of the supporting frame; a pair of sliding plates 12 are arranged between the vertical folding edges of the pair of L-shaped guide rails, the pair of sliding plates 12 extend along the longitudinal direction which is perpendicular to the guide rails 11, and two ends of each sliding plate are respectively arranged above the horizontal folding edges of the pair of guide rails in a sliding manner; each camera to be calibrated is respectively fixed on the pair of sliding plates, and a lens of each camera to be calibrated extends out of a space between the pair of sliding plates.
Furthermore, a plurality of pairs of guide rails can be arranged on the support frame side by side, one or more pairs of sliding plates can be fixed on each pair of guide rails, a camera to be calibrated is fixed on each pair of sliding plates respectively, and a plurality of cameras to be calibrated can be calibrated and positioned at the same time, so that the working efficiency is improved.
In this embodiment, three pairs of guide rails are arranged side by side on the support frame, one camera to be calibrated is slidably arranged on each pair of guide rails through a pair of sliding plates, and three cameras to be calibrated are fixed through the three pairs of guide rails, as shown in fig. 7, three cameras to be calibrated are respectively a first camera 1 to be calibrated, a second camera 2 to be calibrated, and a third camera to be calibrated.
Further, the circular calibration plate 4, the similar interferent 5, the dirty spot 6 and the shelter 7 are supported and positioned on the background plate 8 through a support platform respectively, the support platform is formed by fixedly connecting a support chassis 13, a support column 14 and a support plate 15, the bottom end of the support column 14 is fixedly connected to the middle part above the support chassis 13, and the middle part of the bottom surface of the support plate 15 is fixedly connected to the top end of the support column 14.
Furthermore, a spherical groove is formed in the bottom surface of the supporting plate 15, a ball head is arranged at the top end of the supporting column 14, the supporting plate 15 is connected with the ball head in a matched and installed mode through the spherical groove to form a universal joint structure, the circular calibration plate 4, the similar interferent 5, the dirty spot 6 and the shielding object 7 can be located at any position and any angle according to requirements, and operation is flexible.
And finally, arranging an anti-slip sticker on the top surface of the supporting plate 15, and placing the circular calibration plate 4, the similar interferent 5, the dirty spot stain 6 and the shielding object 7 through the anti-slip sticker, so that the operation is simple, convenient, stable and reliable.
The utility model relates to a hardware system constitutes as shown in figure 7: one or more cameras xyz to be calibratedi(I ═ 1,2,3 …, I, I ≧ 1); a circular ring or dot calibration plate; and other obstructions, similar interferents, and dirty spots that are passively present in the detection scene. The following embodiments and the exemplary figures are illustrated by way of example only, but the invention is not limited thereto.
The embodiment provides a positioning method of a high-robustness calibration device based on a circular calibration plate, which comprises the following steps:
(1) placing a circular ring or a circular dot calibration board on each camera xyz to be calibratediPublic view #iFOViIn the field, assume that the position and posture of the calibration plate at the moment are XYZjThe circle centers on the calibration plate are at the pose XYZjSeat inIs marked as
Wherein
Representing calibration plate pose XYZjRelative to camera set { xyziConversion matrix of PkAnd the world coordinates of each circle center on the calibration plate are expressed. However, as shown in FIGS. 1-6, due to the problems of the occlusion and the scaling plate exceeding the visual field, the dots in a part of the camera visual field may not be visible in another part of the camera visual field, i.e., k ≦ mxn.
(2) Each camera xyz to be calibratediRespectively align the calibration plates XYZjImage for taking one pictureijAssume that each image resolution is (w)i,hi) Then, the following pretreatment is carried out: binarization is carried out by self-adaptive threshold value to obtain black-white binary ImageijThen extracting the contour by using an algorithm such as Canny and the like to obtain an initial contour group { contour { constant }ijl}，l＝1,2,3…,LijGenerally, the number of the extracted outlines is far larger than the number of the actual dots, namely L, due to the interference of noise, illumination, similar or non-similar impurities in the background and the likeij> m × n, these contours need to be rationalized and preliminary filtered for subsequent steps to successfully detect the calibration plate. One method of detection is to use each contour contourrijlCalculating the Area of the outline AreaijlShape factor circulationijlAnd Hu rotation and scaling invariant moments HuMomentsijl: if it is not
And is
And is
And keeping the contour, otherwise deleting and filling the pixel point p in the contour in the binary image into white:
Imageij(p∈contourijl)＝255
in the above judgment condition
And
all represent threshold values, as an example
Preference selection
Preference selection
Preferably 0.6,
Preferably 0.9,
Preferably 0.13,
Preferably 0.18.
(3) Utilizing the binary Image obtained in the last stepijComputing grid features
As an example, one method of computing the mesh characteristics is to perform an autocorrelation transform on the image as follows
Wherein p.x and p.y respectively represent the horizontal and vertical positions of the image of the pixel point pLabel, CijRepresenting camera xyzciPhotographed XYZjAnd (5) performing autocorrelation transformation on the calibration plate image of the pose.
(4) To pair
Local maximum point is calculated
EijRepresenting the number of maximum points calculated in the current grid feature, theoretically EijInfinite, but these extreme points are distributed in the same array as the dots or the ring points on the calibration plate, so a small number of extreme points can be selected, and E should be selected to ensure the subsequent stepsij≧ 3, E is preferred as an exampleij＝9。
(5) The extreme point obtained in the last step
(is an extreme point selected from the set of extreme points
Wherein
Representing a connecting line or edge between two vertices,
the following rules may be used: and randomly selecting two vertexes as a reference, calculating the pixel distance between the two vertexes as a reference distance, and connecting the two reference points to form a non-directional edge if the distance from the extreme point set to any one of the two reference points to another extreme point is not greater than the reference distance. Thus for EijA feature point, can obtain E ij1 side, i.e. Gij＝Eij-1。
(6) G obtained in the last stepijEdge
Clustering analysis is divided into two categories according to direction, each category calculates mean value as reference vector and expresses the mean value as reference vector
And
these two edges contain the spacing and orientation of the calibration grid.
(7) Performing edge detection and contour extraction again on the binary image obtained in the step (2), and centering each contour
Creating an undirected graph as a vertex using the same method as in step (5)
And using a reference
And
vector length and direction of (1) to undirected graph
Top point of (2)
And
and filtering is carried out, so that not only can interference points on the surface of the calibration plate due to dirt and the like be eliminated, but also objects similar to the calibration plate which possibly appear in a scene shot by the camera can be eliminated.
(8) When the calibration plate is used for calibrating the camera, the image coordinates of the central point of the circle or the ring are required to be established
With corresponding physical coordinates PkOne-to-one mapping between, i.e. requiring vertex to undirected graph
Sorting is carried out; in addition to this, for multi-camera systems I>1, such a one-to-one mapping also needs to be established in order to calibrate the relationship between the cameras, for which purpose the circle or circle point on the calibration plate needs to be oriented and positioned. By way of example, the present embodiment is preferably illustrated with a calibration plate oriented with five great circles, as shown in fig. 8, but not limited thereto. First, the vertex group is mapped
Clustering analysis is performed on design features (such design features may be areas, as an example) to find directional vertices therein
( d ij1,2,3, …, D; the number of orientation vertices can be preferably selected to be 5, i.e., D is 5, and then the reference point can be found according to the design feature (as an example, such design feature can be the included angle)
And a reference direction
And
(9) using reference point OijReference direction uijAnd vijAfter determining the orientation of the calibration plate, other points relative to O need to be calculated in the following mannerijWorld coordinates of (a): firstly, undirected graph
In calculating each point
(eijNot equal to d) to OijOf points in the reference direction uijAnd vijMinimum manhattan distance of
Wherein
And
respectively represent corresponding points in the figure
The horizontal and vertical coordinates of (1); then calculate
To OijImage pixel distance of a point
And projects it to the reference direction uijAnd vijTo obtain
And
if it is not
This point is retained (as an example, the condition is determined here
Can be taken 0,
It is possible to take 2),otherwise, the point is deleted, so that the error detection of partial round points or circular ring points caused by overlarge inclination angle of the calibration plate relative to the camera imaging plane can be eliminated, and at the moment eijK is not more than k; point set
Push button
And
sorting from small to large, and calculating world coordinates of corresponding points
Wherein sign (·) represents a sign function, and W and H represent the center distances of adjacent dots or circular ring dots on the calibration board in the horizontal and vertical directions respectively.
(10) The image coordinates of the center point of the circle or the ring are calculated by the steps
And corresponding world coordinates
Due to the fact that
The coordinate values of (2) are calculated by contour extraction in the step (7), and in some vision systems, the precision may not be high enough, and the point set may be collected
As an initial value, then at each point
And
further optimizing the calculation process of the point center in the formed region of interest
To further improve the calibration accuracy, where α and β respectively represent scaling coefficients for two reference direction lengths, it is preferable to take α ═ β ═ 0.4 as an example; calculation process
Indicating initial value using center point
Reference direction uij,vijAnd an original imageijOptimizing the Process of calculating the center Point, as an example
May be an ellipse fitting and projective transformation correction process.
The utility model provides a circular calibration plate positioning method based on image autocorrelation, its advantage is as follows:
1. the utility model discloses a method need not to dispose size, interval and the quantity of calibration plate dot or ring in advance, need not to appoint specific model calibration plate on the one hand, has improved the suitability of calibration algorithm, and on the other hand can reduce relevant staff's professional requirement, can realize full automatic positioning.
2. The utility model discloses the method can reject the interference of other similar objects in the scene that the camera was shot automatically, also has fine resistance to the situation such as calibration plate is dirty and exist to shelter from to the testing process is quick, can reduce the calibration work degree of difficulty like this, has also further improved the efficiency of calibration work.
3. The method is not limited to a specific type of dot or ring calibration plate, the dot or ring distribution on the calibration plate can also be a non-rectangular array, and the calibration plate can be positioned even under the extremely severe condition that the image of the calibration plate is blurred.
Example two: in the first embodiment, the calibration board is placed in the step (1) and the binary Image is calculated in the step (2)ijThe following alternatives can be used for the process of (1): at pose XYZjBefore placing the calibration plate, firstly, using each camera to be calibrated xyziGenerating a background image of the shooting scene
Here imageihA background image representing one or a series of non-calibration plates shot by each camera to be calibrated,
Representing the process of image computing context, here by way of example
The background image can be calculated by an optical flow method; then in the pose XYZjPlacing the calibration plate and using each camera to be calibrated xyziImageijAnd obtaining a calibration plate area by using a background removal technology to obtain a binary image
As an example here the background removal process
Optical flow methods may be used.
The present invention is not limited to the above-mentioned optional embodiments, and any other products in various forms can be obtained by anyone under the teaching of the present invention, and any changes in the shape or structure thereof, all the technical solutions falling within the scope of the present invention, are within the protection scope of the present invention.
Claims (10)
1. The utility model provides a high robustness calibration device based on circular calibration board which characterized in that: the camera calibration device comprises a background plate and at least one camera to be calibrated, wherein a circular calibration plate, a similar interference object, a dirty spot stain and a shielding object are arranged between the background plate and the camera to be calibrated, and the circular calibration plate, the similar interference object, the dirty spot stain and the shielding object are fixedly supported on the background plate through transparent support rods or are suspended above the background plate through steel wires; the circular calibration plate, the similar interferent, the dirty spot stain and the shelter are positioned in the public view range of all the cameras to be calibrated.
2. The high robustness calibration device based on the circular calibration plate as claimed in claim 1, wherein: the circular calibration plate is provided with dots or rings with any size, any number and any regular arrangement.
3. A highly robust calibration device based on a circular calibration plate as claimed in claim 1, wherein: the camera to be calibrated is supported and positioned through the sliding rail, and two ends of the sliding rail are fixedly supported through the supporting frame.
4. A highly robust calibration device based on a circular calibration plate according to claim 3, wherein: the slide rail comprises a pair of L-shaped guide rails which are oppositely arranged, each camera to be calibrated is arranged on the pair of slide plates respectively, and two ends of each slide plate are slidably arranged on the pair of guide rails.
5. A highly robust calibration device based on a circular calibration plate as claimed in claim 4, wherein: the support frame is provided with a plurality of pairs of guide rails side by side, and each pair of guide rails is provided with one or more pairs of sliding plates.
6. A highly robust calibration device based on a circular calibration plate according to claim 3, wherein: the camera calibration device is characterized in that three pairs of guide rails are arranged on the support frame side by side, and a camera to be calibrated is arranged on each pair of guide rails in a sliding mode through a pair of sliding plates.
7. A highly robust calibration device based on a circular calibration plate as claimed in claim 1, wherein: the circular calibration plate, the similar interferent, the dirty spot and the shelter are supported and positioned on the background plate through the support platform respectively.
8. A highly robust calibration device based on a circular calibration plate as claimed in claim 7, wherein: the supporting platform comprises a supporting chassis, a supporting column and a supporting plate, the bottom end of the supporting column is fixedly connected to the middle of the supporting chassis, and the middle of the bottom surface of the supporting plate is fixedly connected to the top end of the supporting column.
9. A highly robust calibration device based on a circular calibration plate as claimed in claim 8, wherein: the bottom surface of the supporting plate is provided with a spherical groove, the top end of the supporting column is provided with a ball head, and the supporting plate is matched, installed and connected with the ball head through the spherical groove to form a universal joint structure.
10. A highly robust calibration device based on a circular calibration plate as claimed in claim 9, wherein: the top surface of the supporting plate is provided with an anti-slip sticker.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120210666.5U CN214670725U (en) | 2021-01-25 | 2021-01-25 | High robustness calibration device based on circular calibration plate |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120210666.5U CN214670725U (en) | 2021-01-25 | 2021-01-25 | High robustness calibration device based on circular calibration plate |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214670725U true CN214670725U (en) | 2021-11-09 |
Family
ID=78518815
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120210666.5U Active CN214670725U (en) | 2021-01-25 | 2021-01-25 | High robustness calibration device based on circular calibration plate |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214670725U (en) |
-
2021
- 2021-01-25 CN CN202120210666.5U patent/CN214670725U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2022052313A1 (en) | Calibration method for 3d structured light system, and electronic device and storage medium | |
| CN110017773B (en) | Package volume measuring method based on machine vision | |
| CN110163918A (en) | A kind of line-structured light scaling method based on projective geometry | |
| CN108562250B (en) | Keyboard keycap flatness rapid measurement method and device based on structured light imaging | |
| CN112767497A (en) | High-robustness calibration device based on circular calibration plate and positioning method | |
| CN104567727B (en) | Global unified calibration method for linear structured light profile sensor through three-dimensional target | |
| US20080056609A1 (en) | Fine Stereoscopic Image Matching And Dedicated Instrument Having A Low Stereoscopic Coefficient | |
| CN109443209A (en) | A kind of line-structured light system calibrating method based on homography matrix | |
| CN112132907B (en) | Camera calibration method and device, electronic equipment and storage medium | |
| CN107392849B (en) | Target identification and positioning method based on image subdivision | |
| CN107358628B (en) | Linear array image processing method based on target | |
| CN113011388B (en) | Vehicle outer contour size detection method based on license plate and lane line | |
| CN111623942B (en) | Displacement measurement method for test structure model of unidirectional vibration table | |
| CN111161339B (en) | Distance measuring method, device, equipment and computer readable medium | |
| CN106600549A (en) | Method and device for correcting fisheye image | |
| CN114927090A (en) | Method, device and system for sorting light points in special-shaped LED display screen | |
| CN113505626A (en) | Rapid three-dimensional fingerprint acquisition method and system | |
| CN214670725U (en) | High robustness calibration device based on circular calibration plate | |
| CN115239801B (en) | Object positioning method and device | |
| JP5254545B2 (en) | Image processing apparatus and image processing method | |
| CN114998571B (en) | Image processing and color detection method based on fixed-size markers | |
| CN116433584A (en) | Surface defect detection method, system and storage medium for strip-shaped polishing template | |
| CN113432558B (en) | Device and method for measuring irregular object surface area based on laser | |
| CN115082538A (en) | System and method for three-dimensional reconstruction of surface of multi-view vision balance ring part based on line structure light projection | |
| CN108596981B (en) | Aerial view angle re-projection method and device of image and portable terminal |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |