TWM561212U - Calibration equipment - Google Patents

Abstract

A calibration device adapted to correct an image capture device includes a depth correction screen, a depth correction bump plate, and a mobile machine. The depth correction bump plate has a plurality of bumps, and the projection lengths of the bumps are at least partially different. The mobile machine is used for the image capturing device, and the moving machine can drive the image capturing device to be close to or away from the depth correction screen for depth correction, or drive the image capturing device to move to the depth correction bump plate for depth correction. .

Description

Calibration equipment

The present invention relates to a calibration apparatus, and more particularly to a calibration apparatus having a correction bump plate.

With the advancement and evolution of technology, the traditional camera has gradually evolved from a camera that has been shooting planar two-dimensional information to a camera that can know the depth of the scene, which is the current common depth camera. The difference between a depth camera and a conventional camera is that the depth camera can capture three-dimensional information including the depth of the scene in addition to the two-dimensional image information of the scene. The design principle is to emit a reference beam for the scene to be tested, and calculate the distance of the captured object to calculate the depth information by calculating the time difference or phase difference reflected by the beam, and further know the three-dimensional information of the image.

In general, the depth camera lens and mechanism parts will produce tolerances during production and assembly, resulting in a three-dimensional information difference between the images captured by the depth camera, so the depth camera will be corrected before leaving the factory. However, at present, the depth camera only takes one screen at different shooting distances for depth correction, but the scene taken is often an object with depth, so it is still not enough to perform depth correction by shooting a screen at different distances. The three-dimensional information of the image captured by the depth camera is corrected to three-dimensional information conforming to the actual object.

The present invention provides a correction device for solving the problem that the prior art medium camera only takes one screen at different shooting distances for depth correction, and is still not enough to correct the three-dimensional information of the image captured by the depth camera to conform to the three-dimensional information of the actual object. problem.

A calibration apparatus disclosed in an embodiment of the present invention is adapted to correct an image capturing device, including a depth correction screen, a depth correction bump board, and a mobile machine. The depth correction bump plate has a plurality of bumps, and the projection lengths of the bumps are at least partially different. The mobile machine is used for the image capturing device, and the moving machine can drive the image capturing device to be close to or away from the depth correction screen for depth correction, or drive the image capturing device to move to the depth correction bump plate for depth correction. .

According to the calibration apparatus disclosed in the above embodiments, since the correction device has both the depth correction screen and the depth correction bump plate, and the depth correction bump plate has a plurality of bumps having different protruding lengths, the image capturing device transmits the image. The distance between the mobile machine and the depth correction screen can be adjusted for depth of different shooting distances, and can also be moved to the depth correction bump board through the moving machine to utilize the depth correction screen and the bumps of different protruding lengths respectively. The second depth correction is performed, so that the accuracy of the three-dimensional information of the image can be increased.

The above description of the present invention and the following description of the embodiments are intended to illustrate and explain the principles of the present invention and to provide a further explanation of the scope of the present application.

Please refer to FIG. 1. FIG. 1 is a perspective view of a calibration apparatus according to a first embodiment of the present invention.

The correction device 1 of the present embodiment is adapted to correct an image capture device 2, and the image capture device 2 is, for example, a depth camera. In general, the depth camera has both a TOF (time of flight) camera module and a three-color (RGB) camera module, and the RGB camera module is used to capture two-dimensional image information, and the TOF camera module is used for shooting. The depth information of the image, so that the three-dimensional information of the subject can be known. In practice, the resolution of the TOF camera module is less than the resolution of the RGB camera module.

The calibration device 1 includes a first image correcting plate 10, a second image correcting plate 20, a depth correcting screen 30, a depth correcting bump plate 40, a slide rail 50, and a moving machine table 60.

The first image correcting plate 10 and the second image correcting plate 20 are respectively disposed on the two stages by pivoting, and are respectively rotatable along the Z axis and the Y axis of the parallel two pivot axes to correct the first image. The board 10 and the second image correcting board 20 can adjust the pitch angle and the flip angle, so that the image capturing device 2 can capture the first image correcting plate 10 and the second image correcting plate 20 at different angles for image correction. In addition, the two loading stages can respectively drive the first image correcting plate 10 and the second image correcting plate 20 to be close to or away from the sliding rail 50 to adjust the first image correcting plate 10 and the second image correcting plate 20 and the image capturing device 2 distance.

Please refer to Figure 1 to Figure 3. 2 is a schematic plan view of the first image correcting plate of FIG. 1. 3 is a schematic plan view of the second image correcting plate of FIG. 1.

The first image correcting plate 10 has a plurality of first cells 11 and the second image correcting plate 20 has a plurality of second cells 21. The shapes of the first cells 11 and the second cells 21 may be, for example, squares, and the second cells 21 are different in size from the first cells 11, and the size of each second cell 21 is larger than each first. The size of the grid 11. The first cells 11 and the second cells 21 are used for image correction by the image capturing device 2.

The depth correction screen 30 is, for example, a white screen, and the depth correction screen 30 is located in the extending direction of the slide rail 50 and faces the slide rail 50. That is, the normal direction of the depth correction screen 30 is parallel to the extending direction of the slide rail 50. The depth correction screen 30 is used for the image capturing device 2 to perform depth correction at different shooting distances. In this embodiment, as shown in the figure, the image capturing device 2 is located between the depth correction screen 30 and the first image correcting plate 10.

Please refer to FIG. 4. FIG. 4 is a perspective view of the depth correction bump plate of FIG. 1. The depth correction bump plate 40 faces the slide rail 50 and is mounted on the same side as the first image correction plate 10. The depth correction bump plate 40 has a plurality of bumps 41, and the projection lengths of the bumps 41 are at least partially different and at least partially different in size. The protrusions of the depth correction bumps 40 are different in size and size, and the depth correction bumps 40 are suitable for depth correction by depth cameras of different resolutions, but are not limited thereto. Moreover, in the present embodiment and other embodiments, the bumps have various shapes, such as a rectangular parallelepiped, a cylinder, or a triangular cylinder.

In the present embodiment, the positions of the first image correcting plate 10, the second image correcting plate 20, the depth correcting screen 30, and the depth correcting convex plate 40 are merely illustrative and are not intended to limit the present invention. In other embodiments, the positions of the first image correcting plate, the second image correcting plate, the depth correcting screen, and the depth correcting convex plate may be adjusted according to actual needs.

Please refer to FIG. 1 and FIG. 5 together. FIG. 5 is an enlarged view of the mobile machine platform of FIG. 1.

The moving machine table 60 includes a frame body 61 and a storage table 62. The frame body 61 includes a body portion 611, a carrier portion 612, a rotating member 613 and a lifting member 614. The seat portion 611 is slidably disposed on the slide rail 50, and the rotating member 613 is disposed between the seat portion 611 and the carrier portion 612 for driving the carrier portion 612 to rotate. The lifting member 614 is disposed on the carrier portion 612, and the storage table 62 is disposed on the lifting member 614 for lifting the table 62. The storage table 62 has a storage surface 621 for the image capturing device 2 to be placed. In the present embodiment, the stage 62 is, for example, a pan/tilt, and the image capturing device 2 is rotated or moved in the X, Y, and Z directions by the stage 62 to perform fine adjustment of six axes. Further, the imaging position of the image capturing device 2 can be roughly adjusted by the rotating member 613 and the lifting member 614 of the frame body 61.

The calibration device 1 further includes a controller 80, which includes, for example, a computer, a control panel, and a drive unit. The computer is electrically connected to the control panel and the driving unit, and the control panel controls the driving unit through the computer to cause the driving unit to drive the moving machine table 60 to move. In the present embodiment, the driving unit is, for example, a driving motor, and the computer collects the correction data of the image capturing device 2 in addition to the calibration flow of the correction device 1.

In the present embodiment, the controller 80 is used to move the mobile station 60, control the calibration process of the calibration device 1 and collect correction data of the image capturing device 2, which is not intended to limit the present invention. In other embodiments, the setting of the controller can be omitted, and the mobile machine can be manually moved, and the calibration process can be manually controlled, and the image captured by the image capturing device is first stored in the image capturing device. In the memory, the correction data is collected by subsequent processing.

In this embodiment, the image capturing device 2 can be moved through the seat portion 611 of the frame 61 to the first image correcting position and a second image correcting position.

When the image capturing device 2 is located at the first image correcting position and the second image correcting position, the image capturing device 2 faces and captures the first image correcting plate 10 and the second image correcting plate 20 for image correction. For example, the smaller first cells 11 are used for image correction by a higher resolution RGB camera module, and the degree of deformation of the first cells 11 in the images captured by the RGB camera module is obtained. Know the correction parameters of the image distortion of the RGB camera module. In addition, the larger second cells 21 are used for image correction by the lower resolution TOF camera module, and by determining the degree of deformation of the second cells 21 in the image captured by the TOF camera module. Know the correction parameters of the image distortion of the TOF camera module.

In the embodiment, the image capturing device 2 is an RGB camera module and a TOF camera module having different resolutions, but is not limited thereto. In other embodiments, the image capturing device may only have an RGB camera module or a TOF camera module, so the first image correcting plate and the second image correcting plate may be set according to whether the image capturing device has different resolutions. The camera module is used as a judgment. That is, if the image capturing device only has an RGB camera module, only the first image correcting plate needs to be set.

In the present embodiment, the calibration device 1 further includes a range finder 70 disposed on the carrier portion 612. The range finder 70 is, for example, a laser range finder, and the image capturing device 2 can pass through the body of the frame 61. The portion 611 moves on the slide rail 50 to be located at a plurality of first depth correction positions. These first depth correction positions are respectively different from the distance between the depth correction screens 30, that is, between the first depth correction positions, there is a first depth correction position closest to the depth correction screen 30, and the second is closer to the first depth correction screen 30. The depth correction position, and so on, is pushed to the first depth correction position farthest from the depth correction screen 30.

In the present embodiment, the range finder 70 is disposed on the carrier portion 612, but is not limited thereto. In other embodiments, the range finder can be modified to be placed on the body portion or the like.

When the image capturing device 2 is located at these first depth correction positions, the image capturing device 2 captures the depth correction screen 30 for depth correction. In detail, when the image capturing device 2 is located at the first depth correction position closest to the depth correction screen 30, the TOF camera module of the image capturing device 2 captures the depth correction screen 30 to learn the image capturing device from the image. 2, the distance between the depth correction screen 30, and then the distance between the first depth correction position and the depth correction screen 30 is measured by the range finder 70, and then the distance learned from the image and the range finder are compared. The measured distance is 70 to obtain a depth correction parameter when the image capturing device 2 is closest to the first depth correction position of the depth correction screen 30. Then, the image capturing device 2 is moved to the first depth correction position next to the depth correction screen 30, and the foregoing operation is repeated to know the first depth correction of the image capturing device 2 next to the depth correction screen 30. The depth correction parameters of the position, and so on, the depth correction parameters of the image capturing device 2 at these first depth correction positions. In this way, by the image capturing device 2 gradually moving away from the depth correction screen 30 at the first depth correction position closest to the depth correction screen 30, the depth correction parameters of the image capturing device 2 under different shooting distances can be obtained, but Not limited to this. In other embodiments, the depth correction screen may be stepped closer to the depth correction from the first depth correction position furthest from the depth correction screen.

Furthermore, the image capturing device 2 can also move through the seat portion 611 of the frame body 61 to the slide rail 50 to be in the second depth correction position. When the image capturing device 2 is in the second depth correction position, the image capturing device 2 faces the depth correction bump plate 40 and photographs the bump 41 on the depth correction bump plate 40 for depth correction. In detail, when the depths of the images of the bumps 41 captured by the image capturing device 2 are obtained, the depths of the bumps 41 actually known by the comparison can be compared with the depths of the images of the bumps 41. Know the depth correction parameters.

In addition, it is also possible to determine whether the resolution of the image capturing device 2 is normal by capturing the image of the depth correction bump 40 by the image capturing device 2. In detail, when the image capturing device 2 captures the bumps 41, if the information related to the bumps 41 to be analyzed is not displayed in the image, the resolution of the image capturing device 2 is inaccurate, and The captured image information is corrected for resolution. In addition, if the number of pieces of information related to the bump 41 displayed in the image is greater than the number of pens originally set, it also indicates that the resolution of the image capturing device 2 is problematic. For example, if the bump 41 is square and the number of previously known image data is 5×5 pens, the image data of the bump 41 is 8×8 pens, which means that the image is captured. The resolution of the device 2 is analyzed to be larger than the number of data in the normal case. Therefore, it is determined that the resolution of the image capturing device 2 is inaccurate, and the resolution correction parameter is known through the captured image information.

Next, the calibration flow of the calibration apparatus 1 will be described. Please refer to FIG. 6. FIG. 6 is a calibration flowchart of the calibration apparatus 1 of FIG. 1.

First, in step S01, the image capturing device 2 is first moved between the first image correcting plate 10 and the second image correcting plate 20, and then the carrier portion 612 of the rotating frame 61 faces the image capturing device 2 first. The image correcting plate 10 is positioned at the first image correcting position to perform image distortion correction on the RGB camera module in the image capturing device 2.

Based on practical experience, the first step in the calibration of a depth camera or a conventional camera requires image distortion correction to correct the image captured by the camera. As a result, the correction accuracy of other subsequent correction items is improved.

Then, in step S02, the carrier portion 612 of the rotating frame body 61 faces the second image correcting plate 20 facing the second image correcting plate 20 and is photographed at the second image correcting position, thereby the TOF camera in the image capturing device 2 The module performs image correction.

Next, in step S03, the carrier portion 612 of the rotating frame body 61 faces the image capturing device 2 facing the depth correction screen 30, and adjusts the image capturing device 2 to approach or away from the depth correction screen 30 between the first depth correction positions. Thereby, the depth correction parameters of the image capturing device 2 under different shooting distances are obtained.

Next, in step S04, the frame body 61 is moved to the depth correction bump plate 40, and the carrier portion 612 of the rotating frame body 61 faces the depth correction bump plate 40 to perform the second depth correction of the image capturing device 2 And the resolution correction, thereby increasing the depth measurement accuracy of the image capturing device 2 and correcting the resolution of the image capturing device 2.

According to the calibration apparatus of the above embodiment, since the correction device has both the depth correction screen and the depth correction bump plate, and the depth correction bump plate has a plurality of bumps having different protruding lengths, the image capturing device transmits the moving machine The distance between the table adjustment and the depth correction screen is adjusted for depth of different shooting distances, and can also be moved to the depth correction bump board through the moving machine to respectively perform the depth correction screen and the bumps of different protruding lengths. The depth correction is repeated, so the accuracy of the three-dimensional information of the image can be increased.

In addition, by deeply correcting the bumps of the bump plate, it is also possible to determine whether the resolution of the image captured by the image capturing device is normal, and correct the resolution of the image capturing device, so that the depth camera can parse the object to Further improve the accuracy of the three-dimensional information of the image. In this way, the image capturing device after the second depth correction and the resolution correction can further improve the three-dimensional information accuracy of the image.

Furthermore, by using the first image correcting plate and the second image correcting plate, before performing depth correction and resolution correction on the image capturing device, the image distortion correction of the image capturing device is performed to improve the subsequent correction depth and The accuracy of the resolution.

Although the present invention has been described above in terms of the preferred embodiments thereof, it is not intended to limit the present invention, and it is intended that those skilled in the art can make some modifications and refinements without departing from the spirit and scope of the present invention. The scope of the new patent protection shall be subject to the definition of the scope of the patent application attached to this specification.

1‧‧‧ calibration equipment
2‧‧‧Image capture device
10‧‧‧First Image Correction Board
11‧‧‧ first grid
20‧‧‧Second image correction board
21‧‧‧second grid
30‧‧‧Deep correction screen
40‧‧‧Deep correction bump plate
41‧‧‧Bumps
50‧‧‧Slide rails
60‧‧‧Mobile machine
61‧‧‧ ‧ frame
611‧‧‧ body
612‧‧‧ Carrying frame
613‧‧‧Rotating components
614‧‧‧ Lifting members
62‧‧‧Stores
621‧‧‧Storage
70‧‧‧ Rangefinder
80‧‧‧Driver
X, Y, Z‧‧‧ axial
S01-S04‧‧‧Steps

1 is a perspective view of a calibration apparatus according to a first embodiment of the present invention. 2 is a schematic plan view of the first image correcting plate of FIG. 1. 3 is a schematic plan view of the second image correcting plate of FIG. 1. 4 is a perspective view of the depth correction bump plate of FIG. 1. Figure 5 is an enlarged view of the mobile station of Figure 1. 6 is a flow chart of correction of the calibration apparatus of FIG. 1.

Claims (10)

A correction device adapted to correct an image capture device, comprising: a depth correction screen; a depth correction bump plate having a plurality of bumps, and the protrusion lengths of the bumps are at least partially different; and a movement a machine for positioning the image capturing device, the moving machine can drive the image capturing device to be close to or away from the depth correction screen for depth correction, or to move the image capturing device to the depth correction convex Block plates for depth correction. The calibration device of claim 1, wherein the bumps of the depth correction bump plate are at least partially different in size and shape. The calibration device of claim 1, further comprising a slide rail, wherein the mobile machine is disposed on the slide rail to move the mobile machine station through the slide rail to have a plurality of first depth correction positions. The image capturing device performs depth correction on the first depth correction position through the depth correction screen, and the mobile station further has a second depth correction position through the slide rail movement, when the mobile machine station is located at the second depth Correcting the position, the image capturing device performs depth correction through the depth correction bump plate. The calibration device of claim 3, further comprising a first image correcting plate, the mobile station further having a first image correcting position, when the mobile station is located at the first image correcting position, The image capturing device performs image correction through the first image correcting plate. The calibration device of claim 4, wherein the first image correcting plate has a plurality of first cells for the image capturing device to perform image correction. The calibration device of claim 5, further comprising a second image correcting plate, wherein the second image correcting plate has a plurality of second cells, and the second cells are respectively corresponding to the sizes of the first cells The mobile device has a second image correcting position. When the mobile device is located at the second image correcting position, the image capturing device performs image correction through the second image correcting plate. The calibration device of claim 3, wherein the mobile station comprises a frame body and a storage table, the frame body is slidably mounted on the slide rail, and the storage table is disposed on the frame body, The shelf has a storage surface for the image capture device to be placed. The calibration apparatus of claim 7, wherein the frame body comprises a body portion, a carrier portion, a rotating member and a lifting member, the seat portion is slidably disposed on the sliding rail, the rotation The lifting member is disposed on the carrier portion, and the lifting member is configured to be driven between the seat portion and the carrier portion for driving the carrier portion to rotate. The shelf is raised and lowered. The calibration device of claim 1, further comprising a range finder, the range finder being disposed on the mobile station for measuring a distance between the range finder and the depth correction screen. The calibration device of claim 1, further comprising a controller for moving the mobile station, and the controller is configured to collect correction data of the image capturing device.