WO2022041128A1 - 用于多个相机的自动标定方法及系统 - Google Patents
用于多个相机的自动标定方法及系统 Download PDFInfo
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- WO2022041128A1 WO2022041128A1 PCT/CN2020/112155 CN2020112155W WO2022041128A1 WO 2022041128 A1 WO2022041128 A1 WO 2022041128A1 CN 2020112155 W CN2020112155 W CN 2020112155W WO 2022041128 A1 WO2022041128 A1 WO 2022041128A1
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- calibration
- cameras
- multiple cameras
- screen
- map
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000010586 diagram Methods 0.000 claims description 17
- 230000000694 effects Effects 0.000 claims description 9
- 239000003086 colorant Substances 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 239000011521 glass Substances 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001010 compromised effect Effects 0.000 description 1
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- 230000001360 synchronised effect Effects 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
Definitions
- the present invention relates to the technical field of machine vision, and in particular, to an automatic calibration method and system for multiple cameras.
- an automatic calibration system consisting of two freely movable parallel plates.
- the hardware consists of two upper and lower parallel glass plates with adjustable heights.
- the upper glass plate can move freely.
- Checkerboard calibration map; the lower glass plate is fixed, and the camera is placed on the lower glass plate to shoot the movable upper glass plate calibration map to complete the calibration.
- a high-precision automatic calibration board and a calibration method are introduced in the prior art.
- the first surface is provided with a black and white checkerboard pattern, and the white checkerboard is drawn with simple graphics or blanks inside to represent binary information or for feature recognition. , the black and white checkerboards are arranged alternately for coordinate calibration; a high-precision automatic calibration method is provided, which disperses the QR code information into the white squares of the checkerboard, and retains the high-density coordinates of the checkerboard. Independent establishment of world coordinates provides a denser checkerboard array and improves calibration accuracy.
- the calibration usually requires at least one calibration image, each of which needs to move and rotate the calibration plate, which takes a long time, and Calibration personnel are required to participate; if one of the multiple cameras shakes, multiple cameras need to be re-calibrated; the calibration map cannot be automatically generated and automatically rotated and translated on the calibration screen; after the calibration map is transformed for multiple cameras Can not automatically shoot and can not automatically save the pictures after shooting; using the calibration board or the checkerboard printed on paper, the accuracy of the calibration board checkerboard will be damaged.
- the present invention provides an automatic calibration method and system for multiple cameras.
- the specific technical solutions are as follows:
- An automatic calibration method for multiple cameras comprising the following steps:
- S2 display the calibration map on the calibration screen, and use a plurality of the cameras to shoot the calibration map;
- step S5 Detect whether the number of pictures reaches the preset threshold, if the detection result is no, return to step S4, and if the determination result is yes, execute step S6;
- the step S3 of "making the calibration image on the calibration screen generate a rotation and/or translation effect, and using a plurality of the cameras to shoot the calibration image again” includes:
- the calibration map is photographed by a plurality of the cameras to obtain a plurality of pictures
- the pictures are stored, and a plurality of the cameras are calibrated by using the stored pictures.
- the step S3 of "making the calibration image on the calibration screen generate a rotation and/or translation effect, and using a plurality of the cameras to shoot the calibration image again” includes:
- the size of the calibration graph on the calibration screen remains unchanged.
- the stored calibration map can be automatically generated on the calibration screen, and the calibration map can calibrate a plurality of the cameras through rotation and/or translation.
- the positions of a plurality of the cameras and the calibration map are kept fixed.
- a plurality of the cameras are arranged at preset positions, so that the plurality of cameras can take pictures of the entire display area of the calibration screen.
- the shape of the calibration map is a rectangle, and the calibration map includes a plurality of checkerboards.
- the shape of the checkerboard is square; the colors of two adjacent checkerboards in the calibration diagram are different.
- an automatic calibration system for a plurality of cameras includes a camera fixing frame, a plurality of cameras and a calibration screen
- the camera fixing frame includes at least one support structure
- the plurality of cameras are fixed on On the support structure, the plurality of cameras face the calibration screen for photographing the calibration map on the calibration screen
- the control module includes:
- the initialization unit is used to initialize the multiple cameras
- a shooting control unit used for displaying a calibration map on a calibration screen, using a plurality of the cameras to shoot the calibration map, and by displaying a control instruction, the calibration map on the calibration screen has a rotation and/or translation effect, Using a plurality of the cameras to shoot the calibration map again, and in this cycle, to obtain a larger number of pictures, until the number of detected pictures reaches a preset threshold;
- a calibration unit configured to calibrate a plurality of the cameras according to the obtained pictures.
- the calibration screen includes a flat panel display.
- the calibration screen is connected to a preset computer host, so as to display different calibration diagrams in sequence under the control of the computer host.
- the calibration map can be automatically generated and rotated and/or translated on the calibration screen.
- the calibration personnel can control the start of the calibration in front of the computer and observe the entire calibration process without the need for the calibration personnel to participate in the rotation and/or translation of the calibration screen.
- Multiple cameras The calibration map can be automatically and synchronously shot after the calibration map is transformed, and the captured image can be automatically saved.
- the program can complete the shooting of the calibration map of multiple cameras at one time. The position of the camera is fixed on the support structure, and there will be no shaking. As a result, the calibration of multiple cameras is affected.
- the use of a calibration screen with a completely flat surface can ensure that the checkerboard has no distortion and high contrast.
- Embodiment 1 is a schematic diagram of an automatic calibration method for multiple cameras in Embodiment 1;
- Embodiment 2 is a schematic diagram of an automatic calibration system of a plurality of cameras in Embodiment 1;
- FIG. 3 is a schematic diagram of the automatic calibration system for multiple cameras in Embodiment 2 in another state.
- this embodiment provides an automatic calibration method and system for multiple cameras, and the specific technical solutions are as follows:
- An automatic calibration method for multiple cameras comprising the following steps:
- S2 display the calibration diagram 3 on the calibration screen 2, and use a plurality of cameras 4 to photograph the calibration diagram 3;
- step S5 Detect whether the number of pictures reaches the preset threshold, if the detection result is no, return to step S4, and if the determination result is yes, execute step S6;
- S6 Calibrate the plurality of cameras 4 through the obtained pictures.
- the entire calibration process can be completed within 30 seconds. Compared with manually moving the calibration plate, it takes at least 10 minutes, and this embodiment can shorten the calibration time; compared with moving the calibration plate by a mechanical arm or a robot or mechanical structure, this embodiment is more stable and should not be shaken.
- the plurality of cameras 4 are kept fixed to the positions of the calibration FIG. 3 .
- the calibration screen 2 is connected to a preset computer host, so as to display different calibration diagrams 3 in sequence under the control of the computer host.
- the multiple cameras 4 Preferably, to initialize the multiple cameras 4, use Python combined with OpenCV to write a script to control the multiple cameras 4 to open, and the multiple cameras 4 are automatically initialized and configured internally. The script needs to wait for a few seconds until the internal initialization of the multiple cameras 4 is completed. .
- Multiple cameras 4 are set to 640*480 resolution, and the frame rate is 30FPS.
- the shape of the calibration diagram 3 is a rectangle, and the calibration diagram 3 includes a plurality of checkerboards.
- the shape of the checkerboard is square, and the colors of the two adjacent checkerboards in Figure 3 are different.
- S3 to make the calibration map 3 on the calibration screen 2 produce a rotation and/or translation effect, and use a plurality of cameras 4 to shoot the calibration map 3 again” includes:
- the calibration diagram 3 is photographed by a plurality of cameras 4 to obtain a plurality of pictures;
- the pictures are stored, and the plurality of cameras 4 are calibrated through the stored pictures.
- the checkerboard is photographed with multiple cameras 4 at the same time and stored.
- the stored calibration map 3 can be automatically generated on the calibration screen 2, and the calibration map 3 can be used to calibrate multiple cameras 4 through rotation and/or translation.
- the camera synchronous shooting module is written in Python combined with OpenCV, but if control software or language is used, it also belongs to the protection scope of the present invention.
- this embodiment provides an automatic calibration system for multiple cameras 4, including a camera fixing frame, multiple cameras 4 and a calibration screen 2,
- the camera fixing frame includes at least one supporting structure 1, a plurality of The camera 4 is fixed on the support structure 1, and a plurality of cameras 4 face the calibration screen 2 for shooting the calibration diagram 3 on the calibration screen, and also includes a control module, and the control module includes:
- an initialization unit used for initializing the multiple cameras 4;
- the shooting control unit is used to display the calibration map 3 on the calibration screen 2, use a plurality of cameras 4 to shoot the calibration map 3, and by displaying the control instructions, make the calibration map 3 on the calibration screen 2 produce a rotation and/or translation effect, using multiple cameras.
- Each camera 4 shoots the calibration image again, and this cycle is used to obtain a larger number of images, until the number of detected images reaches a preset threshold;
- the calibration unit is used for calibrating the plurality of cameras 4 through the obtained pictures.
- the multiple cameras 4 are set at preset positions, so that the multiple cameras 4 can capture the entire display area of the calibration screen 2 .
- the support structure 1 of the camera fixing frame is 1m*1m*1m in size and made of aluminum alloy, which is used for fixing multiple cameras 4, and has a stable structure and is convenient for camera installation.
- Calibration screen 2 is an advertising machine with a flat back, RGB color screen, size 32 inches, length 0.73m, width 0.43m, height 0.05m, can directly display the computer screen, with HDMI interface, the checkerboard is directly displayed on the calibration screen 2 .
- the calibration screen 2 includes a flat panel display, and the calibration screen 2 and its installation and fixation use a flat-panel advertising machine, but if other types of flat-panel display devices are used, it also falls within the protection scope of the present invention.
- the calibration screen with a completely flat surface is used with high precision, which can ensure that the checkerboard is completely free of distortion and has high contrast.
- the installation and fixation of the calibration screen 2 is to place the calibration screen 2 on the ground to ensure that the calibration diagram 3 displayed on the calibration screen 2 can be completely photographed by multiple cameras 4 at the same time.
- Multiple cameras 4 frame rate supports 60FPS, resolution supports 1920*1080, and the interface is USB3.0.
- the plurality of cameras 4 are inclined downward, toward the calibration screen 2 .
- the multiple cameras 4 and their installation and fixation specifically adopt a four-camera solution, and the four cameras shoot synchronously, which is more efficient, and the calibration map shooting of the four cameras can be completed once the program is run.
- the four cameras shoot synchronously, which is more efficient, and the calibration map shooting of the four cameras can be completed once the program is run.
- other numbers of cameras it also falls within the protection scope of the present invention.
- this embodiment provides an automatic calibration method and system for multiple cameras. Compared with Embodiment 1, the main differences of this embodiment are:
- S3 "makes the calibration map 3 on the calibration screen 2 produce a rotation and/or translation effect, and uses multiple cameras 4 to shoot the calibration map 3 again” includes:
- the size of the calibration map 3 on the calibration screen 2 remains unchanged.
- modules in the device in the implementation scenario may be distributed in the device in the implementation scenario according to the description of the implementation scenario, or may be located in one or more devices different from the implementation scenario with corresponding changes.
- the modules of the above implementation scenarios may be combined into one module, or may be further split into multiple sub-modules.
Abstract
Description
Claims (11)
- 一种用于多个相机的自动标定方法,其特征在于,包括以下步骤:S1:对多个相机进行初始化设置;S2:在标定屏上显示标定图,使用多个所述相机拍摄所述标定图;S3:通过显示控制指令,使所述标定屏上的所述标定图产生旋转和/或平移效果,使用多个所述相机再次拍摄所述标定图;S4:重复步骤S3,以得到更多数量的图片;S5:检测图片的数量是否达到预设阀值,若检测结果为否,返回步骤S4,若判断结果为是,则执行步骤S6;S6:通过获得的所述图片来对多个所述相机进行标定。
- 按照权利要求1所述的一种用于多个相机的自动标定方法,其特征在于,S3所述“使所述标定屏上的所述标定图产生旋转和/或平移效果,使用多个所述相机再次拍摄所述标定图”包括:通过多个所述相机对所述标定图进行拍摄,得到多张图片;将所述图片进行存储,并通过存储的所述图片对多个所述相机进行标定。
- 按照权利要求1所述的一种用于多个相机的自动标定方法,其特征在于,S3所述“使所述标定屏上的所述标定图产生旋转和/或平移效果,使用多个所述相机再次拍摄所述标定图”包括:所述标定图进行旋转和/或平移前,和进行旋转和/或平移后,所述标定图在所述标定屏的尺寸保持不变。
- 按照权利要求2所述的一种用于多个相机的自动标定方法,其特征在于,所述存储后的标定图能在所述标定屏上自动生成,所述标定图能通 过旋转和/或平移对多个所述相机进行标定。
- 按照权利要求1所述的一种用于多个相机的自动标定方法,其特征在于,多个所述相机与所述标定图的位置保持固定。
- 按照权利要求1所述的一种用于多个相机的自动标定方法,其特征在于,多个所述相机设置在预设位置,以使得多个所述相机均可拍摄到所述标定屏的全部显示区域。
- 按照权利要求1所述的一种用于多个相机的自动标定方法,其特征在于,所述标定图的形状为长方形,所述标定图包括多个棋盘格。
- 按照权利要求1所述的一种用于多个相机的自动标定方法,其特征在于,所述棋盘格的形状为正方形;所述标定图中相邻的两所述棋盘格的颜色不一样。
- 一种用于多个相机的自动标定系统,其特征在于,包括相机固定框、多个相机和标定屏,所述相机固定框架包括至少一个支撑结构,所述多个相机固定在所述支撑结构上,所述多个相机朝向所述标定屏用于拍摄所述标定屏上的标定图,还包括控制模块,所述控制模块包括:初始化单元,用于对多个相机进行初始化设置;拍摄控制单元,用于在标定屏上显示标定图,使用多个所述相机拍摄所述标定图,通过显示控制指令,使所述标定屏上的所述标定图产生旋转和/或平移效果,使用多个所述相机再次拍摄所述标定图,以此循环,以得到更多数量的图片,直至检测图片的数量达到预设阀值;标定单元,用于通过获得的图片来对多个所述相机进行标定。
- 按照权利要求9所述的用于多个相机的自动标定系统,其特征在于,所述标定屏包括平板显示器。
- 按照权利要求9所述的用于多个相机的自动标定系统,其特征在于,所述标定屏连接预设的电脑主机,以在所述电脑主机的控制下依次显示不同的所述标定图。
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