CN218384000U - Calibration plate and calibration system - Google Patents
Calibration plate and calibration system Download PDFInfo
- Publication number
- CN218384000U CN218384000U CN202222458754.4U CN202222458754U CN218384000U CN 218384000 U CN218384000 U CN 218384000U CN 202222458754 U CN202222458754 U CN 202222458754U CN 218384000 U CN218384000 U CN 218384000U
- Authority
- CN
- China
- Prior art keywords
- calibration
- pattern
- color
- triangles
- calibration plate
- 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
Abstract
The utility model relates to a calibration plate and calibration system, different from the common calibration plate including two-dimensional map or the multiple pattern of complicated arrangement, its simple forms basic pattern placed in the middle with triangle-shaped, again implants the code pattern in four angular point positions, makes calibration plate overall structure simple, convenient production manufacturing on the one hand, for complicated pattern or embedding code pattern, this modified calibration plate has simplified calibration plate's complexity, and its manufacturing cost is lower, more easy production realization; on the other hand, the correct numbering can be carried out on all the calibration points on the whole calibration board through the coding patterns of the four angular points, namely triangular points formed by the diagonal arrangement of the triangular corners, so that the identification process of the calibration board is completed, and the method is simple and quick.
Description
Technical Field
The utility model relates to a mark technical field, especially relate to a calibration plate.
Background
In the calibration plate in the prior art, firstly, special patterns are added in the basic patterns at certain intervals, and special patterns are added at specific positions in the checkerboard and the circular ring to realize calibration, but the special patterns are added in the basic patterns, so that the manufacturing difficulty and cost of the calibration plate are increased, and the identification of the subsequent calibration plate is relatively complex; secondly, the two-dimensional code is embedded in the characteristic pattern of the calibration board, the direction of the calibration board and the index of the area where the two-dimensional code is located are recorded in the two-dimensional code, and therefore correlation information between multiple cameras is provided when the multiple cameras are calibrated.
Therefore, how to provide a calibration board with simple structure and convenient manufacture is a technical problem to be solved urgently in the field.
SUMMERY OF THE UTILITY MODEL
In order to solve the above technical problem, the utility model provides a calibration plate, include: a substrate; a base pattern and a code pattern provided on a substrate;
a basic pattern, located at the center of the substrate, including a plurality of triangles of a first color and a plurality of triangles of a second color; the triangles of the first color and the triangles of the second color are alternately arranged, and the corners of the triangles of the same color are arranged diagonally to form a calibration point;
the coding patterns comprise at least four coding patterns with different shapes, which are respectively positioned at four corners of the substrate to form coding points and mark the direction of the substrate.
Further, all the triangles are regular triangles and have the same size.
Further, the number of odd-numbered row index points is one more than the number of even-numbered row index points, or the number of even-numbered row index points is one more than the number of odd-numbered row index points.
Further, the first color is black and the second color is white.
Further, the coding pattern is one or more of circular, rectangular, star-shaped, trapezoidal.
Further, the encoding patterns are the same type of patterns.
Further, each of the encoding patterns is composed of three concentric circles;
in the first type of coding pattern, the lines of each concentric circle have the same thickness;
in the second type of coding pattern, the lines of the circle with the smallest radius are thickened;
in the third coding pattern, the line of the circle with the middle radius is thickened;
in the fourth coding pattern, the line of the circle with the largest radius is thickened.
Further, in the three concentric circles of each coding pattern, the circle radii at the corresponding positions are equal and the circle pitches are the same.
Furthermore, the substrate is made of any one or more materials of glass and aluminum plates.
On the other hand, the invention also provides a calibration system which comprises a calibration device and any calibration plate.
The calibration board and the calibration system are different from the common calibration board which comprises two-dimensional graphs or various patterns in complex arrangement, the calibration board simply forms a central basic pattern in a triangular shape, and code patterns are implanted at the positions of four corner points, so that on one hand, the overall structure of the calibration board is simple, the calibration board is convenient to produce and manufacture, and compared with complex patterns or embedded code patterns, the improved calibration board simplifies the complexity of the calibration board, has lower manufacturing cost and is easier to produce and realize; on the other hand, the correct numbering can be carried out on all the calibration points on the whole calibration board through the coding patterns of the four angular points, namely triangular points formed by the diagonal arrangement of the triangular corners, so that the identification process of the calibration board is completed, and the method is simple and quick.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of the calibration plate of the present invention;
fig. 2 is a schematic structural diagram of an embodiment of the calibration point of the present invention;
fig. 3 is a number schematic diagram of the calibration point of the present invention.
Detailed Description
As shown in fig. 1, a calibration plate of the present invention is provided, which comprises a substrate 10 and a basic pattern and a coding pattern disposed on the substrate 10;
wherein:
a: a basic pattern, located at the center of the substrate 10, including a plurality of triangles A1 of the first color and a plurality of triangles A2 of the second color; the triangles A1 of the first color and the triangles A2 of the second color are alternately arranged, and the corners of the triangles of the same color are diagonally arranged to form the calibration point P ij As shown in FIG. 2, i.e. the triangular point, P, to be calibrated ij Representing the index point in row i and column j.
Specifically, the calibration point may be optionally calibrated, but not limited to, according to the ith row and the jth column, or directly calibrated by a number. For example, taking the calibration board shown in fig. 3 as an example, the calibration board is arranged according to the rule of 11 × 10, the odd rows include 11 triangular dots, the even rows include 10 triangular dots, and all the odd rows include 95 triangular dots, that is, 95 calibration points, which is optional but not limited to P ij The 95 calibration points are calibrated, or the numbers of the calibration points are calibrated by adopting the numbers of 0-94, the number of the calibration point in the first row is calibrated to be 0-10, the number of the calibration point in the second row is calibrated to be 11-20, the number of the calibration point in the third row is calibrated to be 21-31, and the numbers of the successive rows in sequence can be respectively and numerically calibrated to be 32-41,42-52,53-62,63-73 and 74-83,84-94. More specifically, the identification of each index point is optionally, but not limited to, the row number P ij Or a number, and optionally, but not limited to, other numbers such as letters, binary codes, etc., as long as each index point can be given a unique identifier to distinguish each index point.
More specifically, the shape, number, size of the triangle of the first color; the shape, number and size of the triangles of the second color can be set arbitrarily by those skilled in the art, and the shape, number and size of the triangles of the second color can be the same or different, that is, the number of rows and columns of the calibration plate, the number of triangles in each row and the number of triangles in each column, and the size of the triangles can be set arbitrarily.
More specifically, the triangle is preferably a regular triangle and has the same size.
More specifically, the number of the calibration points contained in the calibration plate may be optionally determined by a person skilled in the art according to the size, calibration range, etc. of the calibration plate, and meanwhile, the number and position of the triangles may be determined according to the number and position of the calibration points; preferably, the number of odd row index points is one more than that of even row index points or the number of even row index points is one more than that of odd row index points, so that index points in two adjacent rows can be symmetrically arranged in an angle-diagonal manner, for example, as shown in fig. 3, the odd row includes 11 index points, and the even row includes 10 index points;
more specifically, the substrate 10 may be, but not limited to, a glass plate, an aluminum plate, a wood plate, a paper plate, an acrylic plate, or the like.
It is particularly noted that the basic pattern includes a triangle of the first color and a triangle of the second color, which is a broad division and does not simply mean that a black triangle and a white triangle are provided as shown in fig. 1, and this example is only for convenience of photographing and color extraction. It will be appreciated by those skilled in the art that other different colored triangles are possible. More importantly, the triangle of the second color can be selected, but not limited to, as an actual, real existing color, and can also be colorless, that is, on the basis of arranging the triangles of the first color, the triangle of the second color can be simultaneously isolated, and is colorless and does not need to be arranged separately. Taking the substrate as an opaque material such as an aluminum plate as an example, when the triangle of the first color is set, the triangle of the second color is already formed in isolation, and no white or other colors are needed to be configured for distinguishing. For transparent materials such as glass, the actual triangles of the second color need to be configured after the triangles of the first color are arranged, so as to form a complete basic pattern.
B: the coding patterns include at least four coding patterns with different shapes, which are respectively positioned at four corners of the substrate 10 to form coding points, marking the direction of the substrate 10. Specifically, the encoding patterns can be selected but not limited to patterns with the same type, such as concentric circles, concentric rectangles and the like with different shapes, the manufacturing is simple and convenient, and the patterns with different types can also be used; more specifically, the feature point of the coding pattern, such as the center point, can be selected as the coding point Q, but not limited to this k K =1,2,3,4 … …; more specifically, referring to fig. 1, taking concentric circles as an example, four kinds of coding patterns with different shapes can be selected, but not limited to:
the first coding pattern B1 consists of three concentric circles, and the lines of each concentric circle are the same in thickness;
a second type of coding pattern B2, which consists of three concentric circles, wherein the line of the circle with the smallest radius is thickened;
a third coding pattern B3, which consists of three concentric circles, wherein the line of the circle with the central radius is thickened;
the fourth code pattern B4 consists of three concentric circles, wherein the line of the circle with the largest radius is thickened.
More specifically, as shown in fig. 1, the circle radius of the corresponding position in the three concentric circles of each coding pattern is equal, and the distance between the circle radii is the same.
It should be noted that the four coding patterns with different shapes shown in fig. 1 only provide an example of adaptability with a single structure, simple manufacturing and low cost, and the present invention is not limited thereto, and those skilled in the art can understand that other coding patterns with different shapes are also within the scope of the present invention, as long as the positions of the four corners can be distinguished to mark the direction of the substrate 10. As another example, the encoding patterns may be any one or more of circular, rectangular, star-shaped, and trapezoid patterns.
In this embodiment, the calibration board of the present invention is different from a common calibration board including two-dimensional diagrams or various patterns arranged in a complex manner, and simply forms a centered basic pattern with a triangle, and then code patterns are implanted at four corner positions, so that on one hand, the overall structure of the calibration board is simple, the production and the manufacture are convenient, and compared with a special pattern or an embedded code pattern, the improved calibration board simplifies the complexity of the calibration board, has lower manufacturing cost, and is easier to produce and implement; on the other hand, the correct numbering can be carried out on all the calibration points on the whole calibration plate through the coding patterns of the four corner points, namely the triangular points formed by the diagonal arrangement of the triangular corners, the identification process of the calibration plate is completed, and the method is simple and quick, and is used for numbering calibration as shown in figure 3.
On the other hand, the utility model also provides a calibration system, including calibration device and the above-mentioned arbitrary calibration board. The calibration device may optionally, but not exclusively, include a lidar and a camera.
The calibration system is created based on the calibration board, and the combination of the technical features and the technical effects thereof are not described herein again. The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.
Claims (10)
1. A calibration plate, comprising: a substrate; a base pattern and a code pattern provided on a substrate;
a basic pattern, located at the center of the substrate, including a plurality of triangles of a first color and a plurality of triangles of a second color; the triangles of the first color and the triangles of the second color are alternately arranged, and the corners of the triangles of the same color are arranged diagonally to form a calibration point;
the coding patterns comprise at least four coding patterns with different shapes, which are respectively positioned at four corners of the substrate to form coding points and mark the direction of the substrate.
2. Calibration plate according to claim 1, characterized in that all triangles are regular triangles and are of the same size.
3. Calibration plate according to claim 2, characterized in that the number of odd-numbered row of calibration points is one more than the number of even-numbered row of calibration points or the number of even-numbered row of calibration points is one more than the number of odd-numbered row of calibration points.
4. Calibration plate according to claim 3, characterized in that the first color is black and the second color is white.
5. Calibration plate according to claim 1, wherein the coding pattern is one or more of circular, rectangular, star-shaped, trapezoidal.
6. Calibration plate according to claim 5, characterized in that the coding patterns are of the same type.
7. Calibration plate according to claim 6, characterized in that each code pattern consists of three concentric circles;
in the first type of coding pattern, the line thickness of each concentric circle is the same;
in the second coding pattern, the lines of the circle with the smallest radius are thickened;
in the third coding pattern, the line of the circle with the middle radius is thickened;
in the fourth coding pattern, the line of the circle with the largest radius is thickened.
8. Calibration plate according to claim 7, characterized in that the circle radius of the corresponding position in the three concentric circles of each coding pattern is equal and the circle pitch is the same.
9. The calibration plate according to any one of claims 1 to 8, wherein the base plate is made of any one or more of glass plate, aluminum plate, wood plate, paper plate and acrylic plate.
10. A calibration system comprising a calibration device and a calibration plate as claimed in any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222458754.4U CN218384000U (en) | 2022-09-15 | 2022-09-15 | Calibration plate and calibration system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222458754.4U CN218384000U (en) | 2022-09-15 | 2022-09-15 | Calibration plate and calibration system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218384000U true CN218384000U (en) | 2023-01-24 |
Family
ID=84952360
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222458754.4U Active CN218384000U (en) | 2022-09-15 | 2022-09-15 | Calibration plate and calibration system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218384000U (en) |
-
2022
- 2022-09-15 CN CN202222458754.4U patent/CN218384000U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104657768B (en) | A kind of color three dimension code generator and color three dimension code reading method | |
| JP2935640B2 (en) | Apparatus and method for reading binary code optically readable by machine | |
| AU2023200176A1 (en) | Inspection system, inspecting device and gaming chip | |
| KR100840811B1 (en) | Encoded paper for optical reading | |
| RU2261462C2 (en) | Lens device (variants) and a set of lens devices | |
| US5920062A (en) | Combined linear and two-dimensional bar code structure | |
| CN104636779B (en) | Ring code identifies identifying system | |
| JPH10503304A (en) | Machine readable binary code | |
| CN103336985A (en) | Two-dimensional code identification, reading and micro platemaking method and device | |
| JPH01104288A (en) | Block puzzle | |
| CN218384000U (en) | Calibration plate and calibration system | |
| US3995862A (en) | Three-dimensional mathematical game | |
| CN104424465B (en) | Bar code reading device | |
| US20130234388A1 (en) | Puzzle | |
| CN103033171A (en) | Encoding mark based on colors and structural features | |
| JP2002046400A (en) | Virtual image developing decorator | |
| US4410180A (en) | Puzzle | |
| CN109447208A (en) | A kind of recognition methods of 3D code and 3D code | |
| CN102810153B (en) | Etc. gray scale two-dimensional optical identification code device | |
| CN113096203A (en) | Recognizable coded image structure | |
| CN101908156B (en) | Image index structure | |
| CN209118329U (en) | A kind of two-dimension code label | |
| US3355821A (en) | Logical device | |
| CN217009184U (en) | Wafer capable of positioning crystal grain position | |
| CN115222825A (en) | Calibration method, computer storage medium and calibration system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information |
Inventor after: Nie Yingbin Inventor after: Zou Yuanbing Inventor after: Yang Yu Inventor before: Nie Yingbin Inventor before: Deng Wenping Inventor before: Zou Yuanbing Inventor before: Yang Yu |
|
| CB03 | Change of inventor or designer information |