TWI228909B - Linear camera calibration system and method - Google Patents

Abstract

The present invention provides a linear camera calibration system and method, in which a simple structure in accordance with the calibration board of the present invention is used to shorten the calibration time. The linear camera calibration system comprises a linear camera, an image display, a holding mechanism to adjust plural degrees of freedom, and a calibration board with a pattern solely for calibration. The pattern comprises the calibration pattern to calibrate each degree of freedom, and the calibration pattern to verify the result. The calibration system employs a calibration method which comprises designing the calibration board with specific calibration board and the calibration steps used in accordance with the calibration board.

Description

1228909 Γ, down, people ir, ._93: Ί, 1ΪΥ., Λ_η 正 正 _fl 丨 H case No. Q9T ^ 199 V. Description of the invention (1) [Technical field to which the invention belongs] The present invention is a linear camera calibration System === positive plate, using its proprietary calibration chart = calculation simple = to shorten calibration time and adjust the linear camera without dynamic scanning [prior art] A conventional technology as shown in the first figure The system calibrates the year camera m, a standard calibration plate 2 0 3, one :: two 'lines. The standard calibration plate 203 generates a platform that moves relatively (to make a motion controller of the mobile platform! 02. Calibration ^ not = Move the right front plate to make the linear camera scan the standard correction plate 203 ~, the surrounding image in r R 202 after the camera fails, and then combine them into a two-dimensional image. Obtained: dimensional image display 1 0 3 After observing the combined two-dimensional shadow gate, the linear camera 101 can be calculated by the shadow method: the arrangement of the pattern and the resolution of the image, so the user can shift by ^ Correction angle required for angle degrees of freedom. But As a result of the conventional knowledge, the judges face several problems in their application; when moving the standard τ slave system and method, the standard calibration plate 203 and the moving axis are parallel and / the positive plate 203 must be caused by mechanical operation. The operating platform is easy / speed to move at this time, but the actual calibration plate 203 may cause a shift and dangle with the moving axis, so that the standard image will be distorted. In some practical applications, such as, 'OK, finally take It is difficult to move the standard calibration plate 20 3 at a constant speed. Therefore, it is difficult for the conventional calibration system to perform dynamic scanning and calibration when the above-mentioned detection device cannot be used.

Before the calibration is completed, it is necessary to repeat the above-mentioned methods, t, and problems. Because —; — — — — to get the correct correction. Figure 1228909 Animal husbandry is not good! T 93. 11 ί Niuyue _______jjJ case No. 92 彳: correction

V. Description of the invention (2) The image of the case 'also extends the calibration time. Therefore, 'how to propose a machine calibration system and method for the above problems can improve the calibration time is too long: door: type :: since-^ is the user ’s earnest hope and the creator here = creator based on many years of relationship Two and this: Developed a linear camera calibration system and method, 4 = Description: Set up a lot of cameras and check the machine to create a special certificate of the special system to control the image of multiple cameras. The invention cooperates with the system The calibration of the pattern result of the degree of freedom is shortened. Therefore, please refer to the best display method. Free structure 1 0 4 For a kind of system, the user of the system including the calibration chart pattern is not allowed to take photos in a timeline. The main board shall include the line mechanism, and shall be approved in each case. The calibration plate needs to be actuated and the camera calibration system can shorten the calibration of the camera, and the standard system used by a calibration degree of freedom. It can also be used in conjunction with the calibration scan to take pictures in the same system, method and time. The calibration pattern for the special pattern of the line image display. A calibration method. The image used on the front plate can be adjusted. Internal calibration. Multiple simple cameras and adjustable calibration plates can be used. Figure 2: This is the calibration of the linear camera according to the present invention. The linear camera calibration system includes two 103,-a linear camera 101, a calibration plate 20, the door 'misholding mechanism 104, and-the controller m is connected to the clip ----- Bei Nai or Controller Tool 05 I > KJJL IIP JULLKi. ^ 1228909

To control the 5 ch lost machine slot ^ 1 Q 4 ^ Japan, two to move the cylinder. The traditional linear camera 1 0 1 is in the correction: send "use V-type ::-type special camera 101 for image scanning; +, Xi-specific calibration plate 201, as shown in Figure 4 2a 213, Aligning the pattern 215 and the opposite two plates 205 of the light and dark stripes, only need to adjust the axis of the calibration plate and the linear camera., 1, series, that is to adjust the clamping mechanism to calibrate each degree of freedom The various degrees of freedom of the camera 101 are shown, 3 ^ 04. / V / ^ 303-^ ^ 301 ^ ^, Λ 304 and the angle axis of the angle direction 3 2 2. Invention '$ Linear camera calibration system, unified The controller can control the clamping mechanism 104 according to the following type to calibrate the relative position of the linear camera 101 and the calibration plate 201: (1) first move the image acquisition range 002 of the linear camera 丨 01 to the guard. The alignment pattern 215 on the plate is as shown in the fourth figure, and then the light and dark stripe pattern 2 on the correction plate 201 is used to adjust the focal length of the linear camera 丨 〇1; (2) the correction plate 201 has a dedicated vertical The direction angle 212 is the vertical angle axis 3G3. As shown in the sixth figure, the linear image scanned by the angle ^ will have Different widths: When the vertical angle axis 3 0 3 of the linear camera 101 is scanned in a counterclockwise direction = oblique position 1 0 1 2, a counterclockwise linear image of unequal width will be obtained 1 2 ' ; And in a clockwise oblique position 丨 〇 丨 3, a clockwise linear image of unequal width 丨 0 丨 3 will be obtained; if the vertical angle axis is in an untilted position 1 〇11, then Will get a linear image of the same width 1228909

Year Month_Year Amendment Year. Month 7th Case No. 92133122 V. Description of Invention (4) 1011 ’. Therefore, the purpose of the correction is to adjust the vertical angle axis 303 so that two linear images scanned in the vertical direction can be adjusted to the same width, and the vertical angle axis 3 0 3 is corrected. At this time, even if the horizontal angle axis 301, the height axis 304, and the height direction angle axis 302 are not corrected, the correction result of the vertical angle axis 303 will not be affected. (3) As shown in the seventh figure, after the vertical angle axis 303 is corrected, if the horizontal angle axis 301 is not calibrated, two linear images of the horizontal angle correction graph 2 13 scanned are different; When the horizontal angle axis 3 0 1 of the linear camera 1 0 1 is tilted at a counter clockwise position 1 0 1 5 during scanning, a counter-clockwise linear image of uneven width 5 1 will be obtained; When the tilt position 1 016 in a clockwise direction is obtained, a clockwise linear image 1016 of unequal width is obtained; if the horizontal angle axis 3 0 1 is in an untilted position 10 14, a first class is obtained The wide linear image 1014 is adjusted; the horizontal angle axis 301 is adjusted to make the linear image width equal, and the calibration of the axis 301 is completed. > Dingdao 丨 J degree (4) ㈣The angle axis 3G2 in the height direction will not affect the linearity = distortion, = will change the working shift of the linear camera 101 to the calibration sheet 201 and the positive degree axis 30 4 It also affects the linear camera 2 01 Bu Zhan Ding a ^ J not soil the camera 1 0 1 to the working distance on the correction # 201, and the working distance and the image can be used to use the two boundary map on the correction board 201丨 The resolution is related, _ and the height direction angle are to reach 0. Only the parent positive plate 2 0 1 can be combined in multiple ways, as shown in the fifth figure and each line :: i! 〇 machine 1 ° 1 split Chuanjiao 4 calibration board 2 0 !,

The actual scanning position of the linear camera 丨 〇1, and the dotted line =. = The line part is 1228909… instead of 挟 μ 04 Η 19 Amendment No. 92133122, the description of the invention (5) In the quasi-pattern 215, each linear camera 1 〇1 The vertical difference is smaller than the length of the alignment pattern 2 1 5. Due to the lack of μ, the multiple linear cameras can be corrected on the same straight line, and correction patterns can also be obtained with the Risi Temple to sum up. The present invention is really-rare. Please request, love according to law File a claim; = claim for invention patents to protect the rights of creators. The patent of Chaya ’s patent in this case is to limit the scope of the patent of the present invention to the above. For example, “::::” is an example, not for immediate explanation, but the correction method of the present invention is ^ 〇 Linear photography (such as a face-shaped camera / camera in a narrow and long imaging area) is used in the camera book and illustrations of the type to construct the machine / wherever the application of the present invention is described, it shall be shared by Chen Ming. The present invention is more like 1228909! "Case No. 92133122, which is a simple illustration of a modified diagram. The first diagram is a schematic diagram of a conventional technical system architecture. The second diagram is a diagram of a preferred embodiment of the system architecture of the present invention. The third diagram It is a schematic diagram of each DOF axis of a linear camera; the fourth diagram is a schematic diagram of a dedicated calibration plate according to a preferred embodiment of the present invention; the fifth diagram is a schematic diagram of the actual scanning line and the position to be calibrated of the combination of multiple calibration plates; Figure 6 is a schematic diagram of the vertical angle axis adjustment; Figure 7 is a schematic diagram of the horizontal angle axis adjustment; 1 0 1 linear camera 1 0 2 motion controller 2 0 1 calibration plate 2 0 3 standard calibration plate 1 0 4 Holding mechanism 1 0 3 image display 2 0 2 camera image acquisition range 21 1 boundary pattern 212 vertical angle correction figure 213 horizontal angle correction figure 2 1 5 alignment pattern 2 1 6 light and dark stripe pattern 301 horizontal angle axis 302 height direction Angle axis 303 Vertical angle axis 304 Height axis ❿

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Claims (1)

Trend & Sixth, apply for a linear camera calibration system, linear camera; /, the system includes: a shaft clamping mechanism, which can adjust multiple degrees of freedom of the camera, a calibration plate, with a pattern on it to calibrate each A set of proprietary patterns from the user, the set of dedicated-controllers, can drive the mind: the scanning results of the two patterns, calibration 4, private movement, according to the set of special settings. Only the relative position of the Feng line camera and the calibration plate 2. As described in item i of the scope of the patent application, the following: i includes the πm π earth tone 1 ~ camera: quasi 糸 manual calibration-3.such as : The linear camera calibration described in item 1 of the J patent scope captures its unique set of ΓΓΓΐΐ's set of exclusive patterns, which enables the linear camera to obtain a line of equal width in the private direction and a vertical angle. Flute < 5 TS π π + brackets Λ, 丨 a ..? Y system, in which the two inflammation holding mechanism can perform calibration without using the controller. η is the use of the system 4. The line type camera system described in item 3 of the scope of the patent application, wherein the set of proprietary patterns on the front plate of the frame includes a $ positive pattern used to calibrate each degree of freedom and a Calibration pattern to verify results. 5. The linear camera calibration system described in item 4 of the scope of patent application, wherein the correction pattern used to verify the result may be a matrix-type arrangement pattern. 6. The linear camera calibration system according to item 3 of the scope of patent application, wherein the set of proprietary patterns on the calibration plate includes a corresponding geometric pattern combination, a set of light and dark stripe patterns, and an alignment pattern. ~ Page 12 1228909%-, ί: > '· *… 4 ,,-.' 1 sa π.]-Li 9213 Assist —_ Patent application scope si ^ -----'— 7 · Rushen 4 patent Scope item 3 / system, where multiple cameras, cameras, and camera calibration systems can be combined on the same line. Ren Jiuyu calibrated a number of this line-type photography with the same date.8. For example, the patent application scope No. 6 system, in which the calibration plate _ 、,, " camera calibration system Δ Yishihan corresponding group of geometric map security A Newman group A vertical angle correction pattern and a wood, and a contains an angle correction pattern such as the R direction of the patent application scope. ~ The linear camera system described in item 6 of the car. The light and dark stripe pattern can be used to help adjust the camera weight. 10.-Linear camera calibration method, which provides-a calibration plate, which has the following two : The set of exclusive patterns is used to calibrate each free and exclusive pattern of the camera. The horizontal and vertical adjustment of a clamping mechanism is moved to the camera's image range to the vertical axis of the calibration plate. The group on the right is Gang An. With this proprietary pattern on the right front panel, adjust a "vertical axis, -horizontal angle axis, -right angle axis." Long-term direction angle 1 1 · As the method of patent application scope item I 0, in which the set of proprietary maps on the calibration board; the calibration pattern used for camera calibration, one is used to calibrate each free one 1 2 · As shown in item 11 of the scope of patent application = :, father pattern. Method, which is the calibration chart camera calibration scheme used to verify the results. The system can be a matrix arrangement. 13. The linear camera calibration method described in item 10 of the patent scope, in which the group on the right front panel is specialized, and the Jiaofeng square system is a group of corresponding , 1228909 1¾¾ pages amended as Grandma Jj 190 mega, what is the scope of the patent application? ", Such as :: group light and dark stripe pattern and -S quasi-pattern. Method, of which ::: 13 of the patent scope The vertical camera angle of the linear camera is too high == The corresponding geometric pattern combination contains a 15-bit image, and the horizontal angle correction of the group is ΗAn *, where the linear camera calibration is: Sweep "::: up :: == time of shooting" to make line shadows of-equal width: normal method, in which the horizontal direction angle is corrected, and the camera is calibrated at a level and a square, by the line type The horizontal angle of the camera angle correction chart on the board is as follows: ^ Patent application; method, in which multiple correction boards can be combined = a device for calibrating a square-line camera. I is to use a plurality of the U. For example, the 17th method in the scope of patent application, in which the vertical axis of each of the linear cameras is corrected by using a plurality of the line machines, and the calibration of the line camera is less than the pair. The length of the quasi-pattern ~ the error of the machine in the direction of the vertical axis 第 14 页