CN109615663A - Panoramic video bearing calibration and terminal - Google Patents
Panoramic video bearing calibration and terminal Download PDFInfo
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- CN109615663A CN109615663A CN201811515339.XA CN201811515339A CN109615663A CN 109615663 A CN109615663 A CN 109615663A CN 201811515339 A CN201811515339 A CN 201811515339A CN 109615663 A CN109615663 A CN 109615663A
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- G—PHYSICS
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- 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
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- H04N23/81—Camera processing pipelines; Components thereof for suppressing or minimising disturbance in the image signal generation
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Abstract
The invention discloses a kind of panoramic video bearing calibration and terminal, method includes: to establish calibration reference frame；First camera coordinate system, second camera coordinate system, image physical coordinates system and image pixel coordinates system are established respectively under the calibration reference frame；Calculate separately the first parameter matrix and the second parameter matrix of the first camera coordinate system and second camera coordinate system relative to the calibration reference frame；Geometry site according to first camera lens relative to second camera lens calculates transition matrix of first parameter matrix relative to second parameter matrix；Panorama camera device is demarcated according to the transition matrix；Obtain the initial pictures pixel coordinate of pixel on the fault image of calibrated panorama camera device shooting；The initial pictures pixel coordinate is corrected, the image pixel coordinates after being corrected.The accurate calibration of panorama camera device may be implemented and solve the problems, such as pattern distortion in panoramic shooting.
Description
Technical field
The present invention relates to field of camera technology more particularly to a kind of panoramic video bearing calibration and terminals.
Background technique
With the continuous mature and development of VR technology, VR technology is had begun in social fields such as medical treatment, amusement and education
It played an important role, the development of VR technology will play huge impetus to the progress of society.
Panoramic camera is applied to courage Mars probes earliest, and first ground toward on other planets is sent as the mankind
Face mobile robot, being fitted with a pair of can shoot the panoramic camera of martian surface photochrome and various sensors are set
It is standby.Sweden's E Lebulu university AASS mobile robot laboratory development in 2007 goes out a kind of spherical secure machine people
GroundBot.The robot has disposed variable-focus video camera to shoot ambient enviroment in the two sides of spherical main body, generates 360 degree of void
Quasi- panoramic space.Enhance robot to the observation sensing capability and remote monitoring ability of environment using the panoramic picture of acquisition, and
Using robot SLAM (Simultaneous Localization and Mapping, synchronous positioning with build figure) technology into
Row robot autonomous localization and navigation.The Global of the same year, Carnegie Mellon University and NASA in cooperation
In Connection project, a panoramic shooting machine people Gigapan is developed.Panoramic shooting machine people, which uses, has overlapping
Single image shot method, generate be up to 1,000,000,000 pixels panoramic picture.
The difference that panoramic camera is formed according to hardware at present can be divided into more lens type panoramic cameras and single-lens formula
Panoramic camera.Single-lens formula panoramic camera generally uses single fish eye lens, and fish eye lens is a kind of ultrashort focal length, super wide
The camera lens at angle, the shooting visual field can meet or exceed 180 °.Refraction principle based on light, fish-eye design and manufacture
Some specific projection model is generally followed, such as equidistant projection model, projection model and parameter determine fish-eye view
Wild, resolution distribution situation.Fish eye images have serious distortion, as the straight line in scene may be at song in fish eye images
Line, therefore fish eye images are not suitable for eye-observation, and correcting fisheye image is needed to remove or subtract at " seeming " normal image
Few distortion, this process are generally known as projective invariant correction.More lens type panoramic cameras pass through regularly first
Multiple common lens are arranged to cover the entire shooting visual field, then pass through the technologies such as image registration, image mosaic and image co-registration
To generate complete, seamless panoramic picture.
The task of camera calibration mainly includes the determination of intrinsic parameter, outer parameter and aberration coefficients in videographic measurment, is being counted
The image of video camera acquisition calibrated reference is mostly used in calculation machine vision research, then by analyzing the images to solve camera parameters,
It is broadly divided into three classes: traditional scaling method, scaling method and self-calibrating method based on active vision.Based on space coordinate essence
Really the method for known control point calibrating camera is classical camera marking method, needs to construct several control points, then
The image at these control points is acquired with video camera to be calibrated and extracts the picture point at each control point, further according to the space coordinate at control point
The parameter of video camera is calculated with the image coordinate of corresponding picture point.Existing most of binocular camera scaling methods are all based on this
Kind of classical scaling method, while relying on existing public view field region between two video cameras, when being not present between binocular camera
When common visual field or smaller visual field crossover range, then the external parameter of binocular camera can not be sought.
Lens distortion refers to spatial point, and there are positions between practical imaging point and ideal image point on video camera imaging face
Distortion error, the type of pattern distortion specifically include that radial distortion, decentering distortion and thin prism distortion.Radial distortion is mainly
As camera lens surface portion caused by the variation existing defects of radial buckling, the radial displacement of the negative sense of picture point is exactly so-called
Barrel distortion, it will cause the marginal point for occuping outside more crowded.Imaging scale reduces and the radial displacement of forward direction is known as resting the head on
Shape distortion, the point relative diffusion and imaging scale that it will cause outside increase.Decentering distortion mainly by optical system optical center with
Caused by geometric center is inconsistent, i.e., the optical axis center of each lens cannot be strictly conllinear.This kind of distortion not only contains radial distortion, but also contains
Tangential distortion.Thin prism distorts mainly as caused by the defects of lens design and production and video camera assembling process, than
This kind of distortion of such as small skew of image sensing array or camera lens part is equivalent to attached a thin rib in optical system
Mirror can not only cause radial missing, but also can cause tangential error.
Therefore, how demarcate and how to be corrected fault image to video camera when panning video is
We obtain the precondition of high quality panoramic video.
Summary of the invention
The technical problems to be solved by the present invention are: a kind of panoramic video bearing calibration and terminal are provided, it can be well
Solve the problems, such as pattern distortion in panoramic shooting.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention are as follows:
A kind of panoramic video bearing calibration, comprising:
The first image information that the first scaling board is acquired by the first camera lens of panorama camera device, is filled by panoramic shooting
The second camera lens set acquires the second image information of the second scaling board；
Calibration reference frame is established according to first scaling board and the second scaling board；In the calibration reference frame
It is lower to establish first camera coordinate system, second camera coordinate system, image physical coordinates system and image pixel coordinates system respectively；
The first camera coordinate system and second camera coordinate system are calculated separately relative to the calibration reference frame
First parameter matrix and the second parameter matrix；
Geometry site according to first camera lens relative to second camera lens calculates first parameter matrix
Transition matrix relative to second parameter matrix；
Panorama camera device is demarcated according to the transition matrix；
Obtain the initial pictures pixel coordinate of pixel on the fault image of calibrated panorama camera device shooting；
The initial pictures pixel coordinate is corrected, the image pixel coordinates after being corrected.
Another technical solution that the present invention uses are as follows:
A kind of panoramic video corrects terminal, including processor, memory and is stored on the memory and can be in institute
The computer program run on processor is stated, the processor performs the steps of when executing the computer program
The first image information that the first scaling board is acquired by the first camera lens of panorama camera device, is filled by panoramic shooting
The second camera lens set acquires the second image information of the second scaling board；
Calibration reference frame is established according to first scaling board and the second scaling board；In the calibration reference frame
It is lower to establish first camera coordinate system, second camera coordinate system, image physical coordinates system and image pixel coordinates system respectively；
The first camera coordinate system and second camera coordinate system are calculated separately relative to the calibration reference frame
First parameter matrix and the second parameter matrix；
Geometry site according to first camera lens relative to second camera lens calculates first parameter matrix
Transition matrix relative to second parameter matrix；
Panorama camera device is demarcated according to the transition matrix；
Obtain the initial pictures pixel coordinate of pixel on the fault image of calibrated panorama camera device shooting；
The initial pictures pixel coordinate is corrected, the image pixel coordinates after being corrected.
The beneficial effects of the present invention are: the image information by acquiring the first scaling board and the second scaling board respectively is built
Vertical coordinate system simultaneously acquires transition matrix, and the accurate calibration of panorama camera device may be implemented；To the pixel on fault image
The problem of image pixel coordinates are corrected, and can well solve pattern distortion in panoramic shooting.
Detailed description of the invention
Fig. 1 is the flow chart of the panoramic video bearing calibration of the embodiment of the present invention one；
Fig. 2 is the Newton iteration process of the embodiment of the present invention one；
Fig. 3 is that the panoramic video of the embodiment of the present invention two corrects the structural schematic diagram of terminal.
Label declaration:
100, panoramic video corrects terminal；1, processor；2, memory.
Specific embodiment
To explain the technical content, the achieved purpose and the effect of the present invention in detail, below in conjunction with embodiment and cooperate attached
Figure is explained.
The most critical design of the present invention is: by the image information for acquiring the first scaling board and the second scaling board respectively,
It establishes coordinate system and acquires transition matrix, the accurate calibration of panorama camera device may be implemented.
Please refer to Fig. 1 and Fig. 2, a kind of panoramic video bearing calibration, comprising:
The first image information that the first scaling board is acquired by the first camera lens of panorama camera device, is filled by panoramic shooting
The second camera lens set acquires the second image information of the second scaling board；
Calibration reference frame is established according to first scaling board and the second scaling board；In the calibration reference frame
It is lower to establish first camera coordinate system, second camera coordinate system, image physical coordinates system and image pixel coordinates system respectively；
The first camera coordinate system and second camera coordinate system are calculated separately relative to the calibration reference frame
First parameter matrix and the second parameter matrix；
Geometry site according to first camera lens relative to second camera lens calculates first parameter matrix
Transition matrix relative to second parameter matrix；
Panorama camera device is demarcated according to the transition matrix；
Obtain the initial pictures pixel coordinate of pixel on the fault image of calibrated panorama camera device shooting；
The initial pictures pixel coordinate is corrected, the image pixel coordinates after being corrected.
As can be seen from the above description, the beneficial effects of the present invention are: by acquiring the first scaling board and the second calibration respectively
The image information of plate establishes coordinate system and acquires transition matrix, the accurate calibration of panorama camera device may be implemented；To distortion figure
The problem of being corrected as the image pixel coordinates of upper pixel, pattern distortion in panoramic shooting can be well solved.
Further, it is described according to the transition matrix to panorama camera device carry out calibration specifically include:
Using the transition matrix as initial matrix, optimization is iterated to the initial matrix, the parameter after being optimized
Matrix；
Panorama camera device is demarcated according to the parameter matrix.
Seen from the above description, being iterated optimization to transition matrix can be further improved stated accuracy.
Further, at least there is 5 ° of weight in the visual angle at the visual angle at first camera lens both ends and second camera lens both ends
Folded area.
Seen from the above description, the first camera lens and the second camera lens can complete panoramic video shooting.
Further, described that the initial pictures pixel coordinate is corrected, the image pixel coordinates after being corrected
It specifically includes:
The image physical coordinates of the pixel are calculated according to the initial pictures pixel coordinate；
Described image physical coordinates are corrected using Newton iteration method, the image physical coordinates after being corrected；
The image pixel coordinates after correction are calculated according to the image physical coordinates after correction.
Seen from the above description, it is solved by Newton iteration method on the corresponding orthoscopic image of pixel on fault image
Point, the correction of fault image can be well realized.
Referring to figure 3., another technical solution of the present invention are as follows:
A kind of panoramic video corrects terminal 100, including processor 1, memory 2 and is stored on the memory 2 simultaneously
The computer program that can be run on the processor 1, the processor 1 realize following step when executing the computer program
It is rapid:
The first image information that the first scaling board is acquired by the first camera lens of panorama camera device, is filled by panoramic shooting
The second camera lens set acquires the second image information of the second scaling board；
Calibration reference frame is established according to first scaling board and the second scaling board；In the calibration reference frame
It is lower to establish first camera coordinate system, second camera coordinate system, image physical coordinates system and image pixel coordinates system respectively；
The first camera coordinate system and second camera coordinate system are calculated separately relative to the calibration reference frame
First parameter matrix and the second parameter matrix；
Geometry site according to first camera lens relative to second camera lens calculates first parameter matrix
Transition matrix relative to second parameter matrix；
Panorama camera device is demarcated according to the transition matrix；
Obtain the initial pictures pixel coordinate of pixel on the fault image of calibrated panorama camera device shooting；
The initial pictures pixel coordinate is corrected, the image pixel coordinates after being corrected.
Further, it is described according to the transition matrix to panorama camera device carry out calibration specifically include:
Using the transition matrix as initial matrix, optimization is iterated to the initial matrix, the parameter after being optimized
Matrix；
Panorama camera device is demarcated according to the parameter matrix.
Further, at least there is 5 ° of weight in the visual angle at the visual angle at first camera lens both ends and second camera lens both ends
Folded area.
Further, described that the initial pictures pixel coordinate is corrected, the image pixel coordinates after being corrected
It specifically includes:
The image physical coordinates of the pixel are calculated according to the initial pictures pixel coordinate；
Described image physical coordinates are corrected using Newton iteration method, the image physical coordinates after being corrected；
The image pixel coordinates after correction are calculated according to the image physical coordinates after correction.
Please refer to Fig. 1 and Fig. 2, the embodiment of the present invention one are as follows:
A kind of panoramic video bearing calibration, includes the following steps:
S1, the first image information that the first scaling board is acquired by the first camera lens of panorama camera device, are taken the photograph by panorama
As the second camera lens of device acquires the second image information of the second scaling board.In the present embodiment, the first scaling board and the second calibration
Plate has different uncalibrated image or size, as added different colours or tag block of different shapes in gridiron pattern, for
Left and right lattice difference size can be set to distinguish in achromaticity camera, and two scaling boards are located in same electronic display, gridiron pattern
Upper each grid length is 1.In the present embodiment, the first camera lens and the second camera lens are fish eye lens, and first camera lens two
At least there is 5 ° of overlay region in the visual angle at the visual angle at end and second camera lens both ends.
S2, calibration reference frame is established according to first scaling board and the second scaling board；In the calibration with reference to seat
First camera coordinate system, second camera coordinate system, image physical coordinates system and image pixel coordinates system are established respectively under mark system.
S3, the first camera coordinate system and second camera coordinate system are calculated separately relative to the calibration reference frame
The first parameter matrix and the second parameter matrix.
S4, the geometry site according to first camera lens relative to second camera lens calculate first parameter
Transition matrix of the matrix relative to second parameter matrix.
S5, panorama camera device is demarcated according to the transition matrix.
In the present embodiment, it is assumed that space memory P on one point, the coordinate representation under world's physical coordinates system be P (X, Y,
Z), the coordinate corresponded under camera coordinates system is P (Xc, Yc, Zc), then can describe two with spin matrix R and translation matrix T
The relationship put under coordinate system:
A calibration reference frame W is established, with the first scaling board M1With the second scaling board M2As calibrated reference, entirely
Two wide-angle lens of scape photographic device respectively shoot the first, second scaling board, the first scaling board M1On all controls
System point is in calibration reference frame W and first camera coordinate system C1Relationship R1, T1Description, the second scaling board M2On it is all
Control point is in reference frame W and camera coordinate system C2Relationship R2, T2Description.Respectively to C1And C2Linear dimensions is solved,
Obtain the first camera lens C1The outer ginseng matrix R of calibration1、T1With the second camera lens C2The outer ginseng matrix R of calibration2、T2.According to the first camera lens and
The corresponding geometrical relationship of second camera lens, the transfer for same calibration reference frame W, between two camera coordinates systems
Relationship is matrix R, T, and relational expression is as follows:
In the present embodiment, step S5 is specifically included:
S51, using the transition matrix as initial matrix, optimization is iterated to the initial matrix, after being optimized
Parameter matrix.Absorb multiple series of images, in the hope of R, T be initial value, be iterated optimization, realization parameter Accurate Calibration.
S52, panorama camera device is demarcated according to the parameter matrix.
S6, the initial pictures pixel coordinate for obtaining pixel on the fault image of calibrated panorama camera device shooting.
S7, the initial pictures pixel coordinate is corrected, the image pixel coordinates after being corrected.
In the present embodiment, step S7 is specifically included:
S71, the image physical coordinates that the pixel is calculated according to the initial pictures pixel coordinate.
S72, described image physical coordinates are corrected using Newton iteration method, the image physics after being corrected is sat
Mark.
S73, the image pixel coordinates after correction are calculated according to the image physical coordinates after correction.
It, will in the present embodimentWithRegard initial estimate p as0(x0,y0) point, i.e.,It is forced to measure
Short range degree can use the difference (x for approaching value Yu original initial estimated valuen+1-xn) and (yn+1-yn) judge, when difference is sufficiently small,
Think that approximate algorithm terminates, the result x obtained at this timen+1And yn+1Projection coordinate's value as after distortion correction, Newton iteration method
Specific implementation flow chart is as shown in Figure 2.
Referring to figure 3., the embodiment of the present invention two are as follows:
A kind of panoramic video corrects terminal 100, corresponding with the method for embodiment one, including processor 1, memory 2 with
And it is stored in the computer program that can be run on the memory 2 and on the processor 1, the processor 1 executes described
It is performed the steps of when computer program
The first image information that the first scaling board is acquired by the first camera lens of panorama camera device, is filled by panoramic shooting
The second camera lens set acquires the second image information of the second scaling board；
Calibration reference frame is established according to first scaling board and the second scaling board；In the calibration reference frame
It is lower to establish first camera coordinate system, second camera coordinate system, image physical coordinates system and image pixel coordinates system respectively；
The first camera coordinate system and second camera coordinate system are calculated separately relative to the calibration reference frame
First parameter matrix and the second parameter matrix；
Geometry site according to first camera lens relative to second camera lens calculates first parameter matrix
Transition matrix relative to second parameter matrix；
Panorama camera device is demarcated according to the transition matrix；
Obtain the initial pictures pixel coordinate of pixel on the fault image of calibrated panorama camera device shooting；
The initial pictures pixel coordinate is corrected, the image pixel coordinates after being corrected.
Further, it is described according to the transition matrix to panorama camera device carry out calibration specifically include:
Using the transition matrix as initial matrix, optimization is iterated to the initial matrix, the parameter after being optimized
Matrix；
Panorama camera device is demarcated according to the parameter matrix.
Further, at least there is 5 ° of weight in the visual angle at the visual angle at first camera lens both ends and second camera lens both ends
Folded area.
Further, described that the initial pictures pixel coordinate is corrected, the image pixel coordinates after being corrected
It specifically includes:
The image physical coordinates of the pixel are calculated according to the initial pictures pixel coordinate；
Described image physical coordinates are corrected using Newton iteration method, the image physical coordinates after being corrected；
The image pixel coordinates after correction are calculated according to the image physical coordinates after correction.
In conclusion a kind of panoramic video bearing calibration provided by the invention and terminal, by the first, second scaling board
Differentiation and design, seek the corresponding relationship of object point under picture point under camera coordinates system and calibration reference frame, can with obtain it is steady
Fixed, accurate calibrating parameters；In conjunction with pattern distortion correcting principle, obtained using Newton iteration method solve system of equation corresponding without abnormal
Become the point on image, to realize the correction of fault image.
The above description is only an embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalents made by bright specification and accompanying drawing content are applied directly or indirectly in relevant technical field, similarly include
In scope of patent protection of the invention.
Claims (8)
1. a kind of panoramic video bearing calibration characterized by comprising
The first image information that the first scaling board is acquired by the first camera lens of panorama camera device, passes through panorama camera device
Second camera lens acquires the second image information of the second scaling board；
Calibration reference frame is established according to first scaling board and the second scaling board；Divide under the calibration reference frame
First camera coordinate system, second camera coordinate system, image physical coordinates system and image pixel coordinates system are not established；
Calculate separately first of the first camera coordinate system and second camera coordinate system relative to the calibration reference frame
Parameter matrix and the second parameter matrix；
It is opposite to calculate first parameter matrix for geometry site according to first camera lens relative to second camera lens
In the transition matrix of second parameter matrix；
Panorama camera device is demarcated according to the transition matrix；
Obtain the initial pictures pixel coordinate of pixel on the fault image of calibrated panorama camera device shooting；
The initial pictures pixel coordinate is corrected, the image pixel coordinates after being corrected.
2. panoramic video bearing calibration according to claim 1, which is characterized in that it is described according to the transition matrix to complete
Scape photographic device carries out calibration and specifically includes:
Using the transition matrix as initial matrix, optimization is iterated to the initial matrix, the parameter matrix after being optimized；
Panorama camera device is demarcated according to the parameter matrix.
3. panoramic video bearing calibration according to claim 1, which is characterized in that the visual angle at first camera lens both ends with
At least there is 5 ° of overlay region in the visual angle at second camera lens both ends.
4. panoramic video bearing calibration according to claim 1, which is characterized in that described to be sat to the initial pictures pixel
Mark is corrected, and the image pixel coordinates after being corrected specifically include:
The image physical coordinates of the pixel are calculated according to the initial pictures pixel coordinate；
Described image physical coordinates are corrected using Newton iteration method, the image physical coordinates after being corrected；
The image pixel coordinates after correction are calculated according to the image physical coordinates after correction.
5. a kind of panoramic video corrects terminal, including processor, memory and it is stored on the memory and can be described
The computer program run on processor, which is characterized in that the processor realizes following step when executing the computer program
It is rapid:
The first image information that the first scaling board is acquired by the first camera lens of panorama camera device, passes through panorama camera device
Second camera lens acquires the second image information of the second scaling board；
Calibration reference frame is established according to first scaling board and the second scaling board；Divide under the calibration reference frame
First camera coordinate system, second camera coordinate system, image physical coordinates system and image pixel coordinates system are not established；
Calculate separately first of the first camera coordinate system and second camera coordinate system relative to the calibration reference frame
Parameter matrix and the second parameter matrix；
It is opposite to calculate first parameter matrix for geometry site according to first camera lens relative to second camera lens
In the transition matrix of second parameter matrix；
Panorama camera device is demarcated according to the transition matrix；
Obtain the initial pictures pixel coordinate of pixel on the fault image of calibrated panorama camera device shooting；
The initial pictures pixel coordinate is corrected, the image pixel coordinates after being corrected.
6. panoramic video according to claim 5 corrects terminal, which is characterized in that it is described according to the transition matrix to complete
Scape photographic device carries out calibration and specifically includes:
Using the transition matrix as initial matrix, optimization is iterated to the initial matrix, the parameter matrix after being optimized；
Panorama camera device is demarcated according to the parameter matrix.
7. panoramic video according to claim 5 corrects terminal, which is characterized in that the visual angle at first camera lens both ends with
At least there is 5 ° of overlay region in the visual angle at second camera lens both ends.
8. panoramic video according to claim 5 corrects terminal, which is characterized in that described to be sat to the initial pictures pixel
Mark is corrected, and the image pixel coordinates after being corrected specifically include:
The image physical coordinates of the pixel are calculated according to the initial pictures pixel coordinate；
Described image physical coordinates are corrected using Newton iteration method, the image physical coordinates after being corrected；
The image pixel coordinates after correction are calculated according to the image physical coordinates after correction.
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