CN106340044A - Camera external parameter automatic calibration method and calibration device - Google Patents
Camera external parameter automatic calibration method and calibration device Download PDFInfo
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- CN106340044A CN106340044A CN201510398944.3A CN201510398944A CN106340044A CN 106340044 A CN106340044 A CN 106340044A CN 201510398944 A CN201510398944 A CN 201510398944A CN 106340044 A CN106340044 A CN 106340044A
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Abstract
The invention provides a camera external parameter automatic calibration method and a calibration device. The method comprises the steps that 1 the relationship between a world coordinate system and a camera coordinate system is established; 2 a calibration plate image is acquired and converted; 3 the image is binarized; 4 connection domain information in the image is detected to acquire a calibration plate connection domain, and the grayscale image of the calibration plate is further extracted; 5 marking points on the calibration plate are extracted; 6 the center of the marking points is calculated; 7 the calculated center coordinates are sorted, and the correspondence relationship between world coordinates and image coordinates is established; 8 according to the correspondence relationship, distortion-free projection mapping model parameters are calculated, and distortion coefficients are used to calculate the accurate imaging model coefficients of a camera in the current state; and 9 back projection calculation is carried out on the detected calibration marking points according to the imaging model coefficients to acquire the external installation parameters of the camera.
Description
Technical field
The present invention relates to the method and apparatus of visual system, more particularly, it relates to join certainly outside video camera
Dynamic scaling method and caliberating device.
Background technology
Camera calibration refer to using shot by camera to image reduce the object in space.False
If shot by camera to image and three dimensions in object between exist below a kind of simple line
Sexual intercourse: [as]=m [thing].Here, matrix m can regard the geometric model of video camera imaging as,
Parameter in m is exactly camera parameters.Generally, these parameters are intended to obtain with calculating by experiment
's.The process that this solves parameter is known as camera calibration.
One of basic task of computer vision is that the image information obtaining from video camera calculates three-dimensional
The geological information of object in space, and thus rebuild and identification object, and space object surface point
Three-dimensional geometry position and its in the picture the mutual relation between corresponding point be by the geometry of video camera imaging
Model determines, these geometric model parameters are exactly camera parameters.In most conditions, these
Parameter just can must be obtained with calculating by experiment, and this process is referred to as camera calibration (or referred to as mark
Fixed).Calibration process is just to determine geometry and the optical parametric of video camera, and video camera is with respect to world coordinates
The orientation of system.
Join demarcation outside video camera, that is, calculate between the world coordinate system of definition and camera coordinate system
Transformational relation parameter.The conversion of two coordinate systems is mainly shown as that rotation transformation operation and translation become
Change operation, corresponding spin matrix r and translation matrix t of being to solve for out.
In current visual system, need to carry out calibrating external parameters to the video camera of rear dress, acquisition is taken the photograph
Transformational relation between camera and external world coordinate system.It is multiple to there is operating process in existing calibration system
The problems such as miscellaneous, stated accuracy is low, artificial participation calibration result judges.
Content of the invention
For operating process present in prior art complicated, stated accuracy is low, knot is demarcated in artificial participation
The problems such as fruit judges, it is an object of the invention to provide ginseng automatic calibration method and caliberating device outside video camera.
For achieving the above object, the present invention adopts the following technical scheme that
Join automatic calibration method outside a kind of video camera, comprise the following steps: step 1, set up the world and sit
Relation between mark system and camera coordinate system；Step 2, gathers and changes scaling board image；Step
Rapid 3, binary conversion treatment is carried out to image；Step 4, the connection domain information in detection image, marked
Fixed board connected domain, the gray level image of onestep extraction scaling board of going forward side by side；Step 5, extracts on scaling board
Index point；Step 6, asks for the center of circle of index point；Step 7, the central coordinate of circle calculating is sorted,
Set up the corresponding relation between world coordinates and image coordinate；Step 8, according to corresponding relation, calculates
The projection mapping model parameter of orthoscopic condition, and calculate photographic head in current state using distortion factor
Under accurately image model coefficient；Step 9, according to imaging model coefficient to the demarcation mark detecting
Point carries out back projection's calculating, draws the outside installation parameter of photographic head.
According to one embodiment of the invention, step 2 further includes: using mounted to be calibrated
Camera acquisition scaling board image, and coloured image is converted to 8 gray level images.
According to one embodiment of the invention, step 4 further includes: the connected domain letter in detection image
Breath, and screened according to scaling board physical arrangement feature, obtain scaling board connected domain；To extracting
Scaling board connected domain be filled with, obtain scaling board region template；By scaling board region template and step
Rapid 2 gray level images obtaining carry out AND-operation, extract the gray level image of scaling board.
According to one embodiment of the invention, step 5 further includes: repeat step 3, extracts bid
Demarcation index point in fixed board, and screened according to fixed point physical features, remove noise spot.
According to one embodiment of the invention, step 6 further includes: using asking for connected domain center of gravity
Method, asks for demarcating the center of circle of index point, is scaled cutting accordingly according to video camera imaging size.
According to one embodiment of the invention, step 8 further includes: using step 7 calculate right
Should be related to and video camera projection model, calculate the projection mapping model parameter of orthoscopic condition；Profit
Calculate accurately image model coefficient under current state for this photographic head with distortion factor.
For achieving the above object, the present invention adopts the following technical scheme that
Join automatic calibration device outside a kind of video camera, including scaling board it is characterised in that: scaling board bag
Include junior range line, scaling board edge, scaling board main body, demarcate index point；Scaling board main body is located at
The central authorities of scaling board, scaling board main body is provided with the demarcation index point of multiple centrosymmetry arrangements；Each
Demarcate, between index point, there are certain intervals；Scaling board edge is surrounded on the periphery of scaling board main body, and
There is certain width；Junior range line is located at the outside at scaling board edge, and around scaling board edge.
According to one embodiment of the invention, also include: aided ruler, aided ruler has scale.
In technique scheme, outside the video camera of the present invention, ginseng automatic calibration method and caliberating device lead to
The algorithm crossing image procossing calculates calibration result automatically, not only has higher stated accuracy, and subtracts
The cost joining staking-out work outside video camera, safeguards system precision are lacked.
Brief description
Fig. 1 is the flow chart joining automatic calibration method outside video camera；
Fig. 2 is the structural representation of scaling board；
Fig. 3 is the structural representation of aided ruler.
Specific embodiment
Further illustrate technical scheme with reference to the accompanying drawings and examples.
As shown in Figures 2 and 3, the present invention discloses first and joins automatic calibration device outside a kind of video camera,
Including scaling board and aided ruler.Wherein, scaling board mainly includes 4 parts it may be assumed that junior range line
N4, scaling board edge n1, scaling board main body n3, demarcation index point n2.
Specifically, scaling board main body n3 is located at the central authorities of scaling board, and scaling board main body n3 is provided with
The demarcation index point n2 of multiple centrosymmetry arrangements, scaling board main body n3 part is used for extracting only wraps
Determine the region of index point n2 containing criterion, scaling board is accurately positioned.Each demarcates index point
There are certain intervals, for determining the accurate coordinate position of world coordinate system residing for scaling board between n2.
Scaling board edge n1 is surrounded on the periphery of scaling board main body n3, and has certain width, for inciting somebody to action
Scaling board main body n3 and surrounding are isolated, during system operation, for scaling board from
Dynamic positioning.Junior range line n4 is located at the outside of scaling board edge n1, and around scaling board edge n1,
For determining the putting position parameter of scaling board.Aided ruler has scale, for determining scaling board
Put parameter.
As shown in figure 1, the scaling method of the present invention mainly includes following step:
Step s1: design calibration facility includes scaling board and aided ruler, thus setting up world coordinate system
Relation between system and camera coordinate system.
For the calibration facility in step s1, scaling board is as the standard demarcated, its own each index point
Between position relationship be clear and definite.In the horizontal direction, have between the center of circle of each index point determination away from
From；Also there is the distance of determination between vertical direction, the center of circle of each index point, according to application scenarios
Center of circle spacing can be carried out different definition by the difference of scope.
Step s2: using mounted camera acquisition scaling board image to be calibrated, and by cromogram
As being converted to 8 gray level images.
Step s3: to entire image according to the method for adaptive threshold, carry out image binaryzation process.
Step s4: the connection domain information in detection image, and carry out according to scaling board physical arrangement feature
Screening, obtains scaling board connected domain.The scaling board connected domain extracting is filled with, is demarcated
Plate region template, the gray level image that scaling board region template and step s2 are obtained carries out AND-operation,
Extract the gray level image of scaling board.
There is a set of automatic search strategy in step s4.System thinks only permission appearance one in uncalibrated image
Block participates in the scaling board demarcated, that is, only exist a scaling board connected domain.Scaling board connected domain was retrieved
Cheng Zhong, carries out scaling board range searching using the strategy shrinking step by step.Labelling first in entire image
Connected domain, if connected domain number > 1, continue search for shrinking image boundary, until in the figure searched for
Only exist one in picture and meet the connected domain demarcating plate features, then search terminates.
Step s5: repeat step s3, extract the demarcation index point n2 on scaling board.According to demarcation
Point physical features are screened, and remove noise spot.
Step s6: the method using asking for connected domain center of gravity, ask for demarcating the center of circle of index point n2,
Cutting is scaled accordingly according to video camera imaging size.
Step s7: the central coordinate of circle calculating is sorted, makes the circle in image coordinate and world coordinate system
Heart coordinate corresponds, and sets up the corresponding relation between world coordinates and image coordinate.
Step s8: the corresponding relation being calculated using step s7, and video camera projection model, meter
Calculate the projection mapping model parameter of orthoscopic condition.Then, calculate this shooting using distortion factor
Accurately image model coefficient under current state for the head.
Step s9: using the camera imaging model calculating, to the demarcation index point n2 detecting
Carry out back projection's calculating, draw the outside installation parameter of photographic head.
The method and device joining automatic Calibration outside the video camera of the present invention passes through image processing techniquess to collection
To scaling board image carry out detection and fixed point extracts, automatically calculate the outside of video camera and ginseng be installed
Number, it is to avoid the anthropic factor error in calibration process and manual intervention, reduces cost of labor, carries
High stated accuracy.
To further illustrate technique scheme below by an embodiment.
Step s1: during scaling board design, installation situation according to video camera to be demarcated and
Imaging contexts carry out suitable adjustment.The video camera mark in 5 meters of areas imagings is referred in the present invention
Fixed.It is designed to horizontal cross and is designed to 3 row, vertical longitudinal design becomes 5 row, demarcate mark for totally 15
Will point n2.
Demarcate board parameter as shown in Figure 2:
Scaling board edge n1, corresponding width t1=5cm, t2=5cm
Scaling board index point, corresponding diameter t3=10cm
Scaling board main body n3, fixed point horizontal spacing t4=10cm, fixed point longitudinal pitch
T5=10cm.
Junior range line n4.
Aided ruler parameter is as shown in Figure 3:
M1: aided ruler main part
The junior range line of m2: aided ruler
During demarcating board placing, the auxiliary of the junior range line m2 of aided ruler and scaling board is surveyed
Align away from line n4, determine that scaling board puts parameter information in horizontal and vertical orientation.
If being related to greatly in the case of (little) visual field in some fields, (minimizing) can be increased and demarcate mark
The line number of will point n2 or columns, increase the diameter that (reduction) demarcates index point n2, increase (reduction)
Spacing between each fixed point etc., above change belongs to protection scope of the present invention.
Step s2: initial acquisition to be scaling board coloured image.In 24 coloured images,
Each pixel is to combine storage by red, green, blue three primary colours.In order to reduce amount of calculation, using picture
The weighted array again of the order of vegetarian refreshments, forms new view data, that is, form 8 gray level images.
Step s3: the method to imagery exploitation otsu adaptive threshold, carry out at image binaryzation
Reason.
Step s4: after scaling board image binaryzation is processed, using the strategy shrinking step by step to scaling board
Region is detected.Because the surrounding of scaling board is designed with the edge of white, scaling board connected region
Domain is an independent connected domain；And scaling board connected domain has certain areal extent and certain width
Degree aspect ratio.These characteristic conditions are arranged to the qualitative criterion of scaling board connective region search.First,
Connected domain demarcation is carried out to entire image, if the connected domain number meeting testing conditions is more than 1,
Think in these connected domains in addition to comprising scaling board region, also comprise noise region.Now, will treat
The image range of detection shrinks fixed step size to picture centre, again searches in image range after shrinking
Rope, is carried out successively, only exists one and meet the company demarcating slat element in the image range being detected
Till logical domain.Empty filling process is carried out to the scaling board connected domain searching, so that this connected domain is formed
One complete scaling board connected domain.The gray-scale maps that scaling board connected domain after filling is calculated with s2
As carrying out AND-operation, you can extract the scaling board image in original image.
Step s5: using the method for step s3, two-value is carried out to the scaling board gray level image extracting
Change is processed.Obtain the index point connected domain in scaling board.Mathematical morphology is carried out to the image of binaryzation
Open operation, eliminate the noise data that boundary point brings.Obtain only fixed point connected domain.
Step s6: fixed point connected domain is marked, obtains the distribution of the connected domain of each index point
Information.The coordinate of the effective pixel points in each index point connected domain is weighted with the mode being averaging
Ask for the center of gravity of each connected domain, using this center of gravity as index point central coordinate of circle.
Step s7: take the zero for world coordinates for the index point in the lower left corner in scaling board, take vertical
Nogata, to for world coordinate system x direction, takes horizontal direction to be world coordinate system y direction.Mark will be demarcated
Will point n2 presses the order sequence in x direction in world coordinate system, obtains demarcating point sequence.In detection
To image coordinate system in central coordinate of circle in, take the lower left corner coordinate points be zero, with the world
Fixed point in coordinate system corresponds to.With this coordinate points for initial test point, calculate remaining fixed point successively
With origin coordinates point away from.Gained is taken distance-taxis, asks for 3 minimum points of distance.By sentencing
The angle proportionate relationship broken between this 3 points, is corresponded to world coordinate system x direction first respectively
Individual index point, the upper right cornet mark of first, world coordinate system y direction index point and zero
Point.After once search terminates, the next point taking x direction, as new initiating searches point, repeats s7
Search strategy, until the index point in the index point in whole image coordinate system and world coordinate system
All correspond to.
Step s8: the world coordinate system coordinate of index point is complete with the coordinate in the image coordinate system of index point
After becoming one-to-one relation, that is, determine imaging relations under current pose for the video camera.In conjunction with phase
The basic imaging moiety parameter of machine internal reference and basic imaging model y=tan θ, calculate under orthoscopic condition
Image coordinate projected position model.
R (θ)=k1 θ+k2 θ+k3 θ+k4 θ+k5 θ+...
On the basis of basic imaging model, coefficient of radial distortion in conjunction with video camera internal reference and tangentially abnormal
Variable coefficient, and the unit vector in radial direction and tangential direction, calculate this photographic head current
Accurately image model projection relation under attitude.
δ r (θ, ψ)=(l1 θ+l2 θ 3+l3 θ 5) (i1cos ψ+i2sin ψ+i3cos2 ψ+i4sin2
ψ)
δ t (θ, ψ)=(m1 θ+m2 θ 3+m3 θ 5) (j1cos ψ+j2sin ψ+j3cos2 ψ+j4
sin2ψ)
Xd=r (θ) ur (ψ)+δ r (θ, ψ) ur (ψ)+δ t (θ, ψ) ur (ψ)
Step s9: the outer ginseng parameter of video camera is for world coordinate system and camera coordinates system
's.We select to demarcate the plane that plane is residing for scaling board is world coordinate system, video camera itself light
Coordinate system determined by axle is camera coordinates system, by being rotated to camera coordinates system and translation,
Two coordinate systems can be made to overlap.Outside so-called video camera, ginseng is it is simply that solve between this two coordinates
Transformational relation, that is, solve spin matrix coefficient and translation matrix coefficient.There is following conversion between them
Relation:
Xc=rx+t
According to the camera intrinsic parameter evidence solving, the demarcation point coordinates of the image coordinate system extracting is entered
To spherical coordinate, spherical coordinate and image coordinate pass through homography matrix opening relationships for row back projection.Point
Solution homography matrix can get spin matrix and translation matrix.
H=[r1 r2 r3 t]
In sum, the invention provides a kind of method of video camera external parameter automatic Calibration, and carry
Supply a kind of calibrating template for automatic Calibration.Because in whole processing procedure, system is to collection
To image carry out automatic detection, automatically extract index point, it is to avoid the interference of anthropic factor, meanwhile,
Ensure that the precision of demarcation.
Those of ordinary skill in the art is it should be appreciated that above embodiment is intended merely to
The bright present invention, and it is not used as limitation of the invention, as long as the spirit in the present invention
Interior, the change of above example, modification all will be fallen in the range of claims of the present invention.
Claims (8)
1. join automatic calibration method outside a kind of video camera it is characterised in that comprising the following steps:
Step 1, sets up the relation between world coordinate system and camera coordinate system；
Step 2, gathers and changes scaling board image；
Step 3, carries out binary conversion treatment to image；
Step 4, the connection domain information in detection image, obtain scaling board connected domain, and carry further
Take the gray level image of scaling board；
Step 5, extracts the index point on scaling board；
Step 6, asks for the center of circle of index point；
Step 7, the central coordinate of circle calculating is sorted, sets up between world coordinates and image coordinate
Corresponding relation；
Step 8, according to described corresponding relation, calculates the projection mapping model parameter of orthoscopic condition,
And calculate accurately image model coefficient under current state for the photographic head using distortion factor；
Step 9, carries out back projection's meter according to described imaging model coefficient to the demarcation index point detecting
Calculate, draw the outside installation parameter of photographic head.
2. outside video camera as claimed in claim 1 ginseng automatic calibration method it is characterised in that described
Step 2 further includes:
Using mounted camera acquisition scaling board image to be calibrated, and coloured image is converted to
8 gray level images.
3. outside video camera as claimed in claim 2 ginseng automatic calibration method it is characterised in that described
Step 4 further includes:
Connection domain information in detection image, and screened according to scaling board physical arrangement feature, obtain
To scaling board connected domain；
The scaling board connected domain extracting is filled with, obtains scaling board region template；
The gray level image that scaling board region template and step 2 are obtained carries out AND-operation, extracts
The gray level image of scaling board.
4. outside video camera as claimed in claim 3 ginseng automatic calibration method it is characterised in that described
Step 5 further includes:
Repeat step 3, extracts the demarcation index point on scaling board, and according to fixed point physical features
Screened, removed noise spot.
5. outside video camera as claimed in claim 4 ginseng automatic calibration method it is characterised in that described
Step 6 further includes:
Method using asking for connected domain center of gravity, asks for demarcating the center of circle of index point, is become according to video camera
As size is scaled cutting accordingly.
6. outside video camera as claimed in claim 5 ginseng automatic calibration method it is characterised in that described
Step 8 further includes:
The corresponding relation being calculated using step 7 and video camera projection model, calculate undistorted shape
The projection mapping model parameter of state；
Calculate accurately image model coefficient under current state for this photographic head using distortion factor.
7. join automatic calibration device outside a kind of video camera, including scaling board it is characterised in that:
Described scaling board includes junior range line, scaling board edge, scaling board main body, demarcates index point；
Described scaling board main body is located at the central authorities of described scaling board, and scaling board main body is provided with multiple centers
The demarcation index point of symmetric arrays；
Each is demarcated has certain intervals between index point；
Described scaling board edge is surrounded on the periphery of described scaling board main body, and has certain width；
Described junior range line is located at the outside at described scaling board edge, and around described scaling board edge.
8. join automatic calibration device outside video camera as claimed in claim 7 it is characterised in that also wrapping
Include:
Aided ruler, described aided ruler has scale.
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