CN114067002B - Binocular camera external parameter determination method and system - Google Patents
Binocular camera external parameter determination method and system Download PDFInfo
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Abstract
The invention provides a binocular camera external parameter determination method and a binocular camera external parameter determination system, wherein the binocular camera external parameter determination method comprises the following steps: respectively acquiring a rotation matrix of each camera in a binocular camera unit according to the position of the camera in the binocular camera unit; acquiring a translation vector of each camera with respect to the reference coordinate system; and determining external parameters of the binocular camera unit according to the rotation matrix and the translation vector. Acquiring reference indexes for determining external parameters of the binocular camera unit through the positions of two cameras in the binocular camera unit: the rotation matrix and the translation vector can rapidly determine external parameters of the binocular camera unit on an engineering detection site, and the detection efficiency and convenience of the binocular camera unit in the engineering detection site are greatly improved.
Description
Technical Field
The invention relates to the technical field of machine vision, in particular to a binocular camera external parameter determining method and system.
Background
The binocular cameras are widely applied to engineering measurement, for example, when three-dimensional deformation or displacement measurement of a large civil engineering structure is carried out on an engineering site, due to the limitation of site conditions, the baseline distance between the binocular cameras and the included angle between the two cameras are probably required to be temporarily adjusted on site, so that the measurement system can cover the whole measurement range and can ensure the required measurement accuracy. Therefore, unlike other binocular stereo vision measurement systems, a three-dimensional deformation or displacement measurement instrument for large civil engineering structures generally requires on-site adjustment of the baseline distance or the included angle between the left and right cameras. After the baseline distance or the included angle between the left camera and the right camera is adjusted, the internal and external parameters of the binocular camera need to be calibrated again on site.
The calibration of the binocular camera generally adopts a checkerboard or a dot calibration board and the like as a reference object, and calculates internal and external parameters and distortion parameters of the camera by establishing a relationship between a three-dimensional coordinate of a known point on the reference object and a pixel coordinate of the known point. The calibration algorithm mainly comprises a direct linear transformation method, a two-step calibration method and a Zhang Zhengyou calibration method, wherein the Zhang Zhengyou calibration method acquires a plurality of plane calibration plate images at a plurality of different visual angles, and then internal and external parameters of the binocular camera are obtained through a series of calculation and optimization. The whole calibration process of the engineering site is complicated and time-consuming, and the engineering adaptability is limited. In fact, adjusting the baseline distance or the angle between the left and right cameras only affects the external parameters; the internal parameters can be completely calibrated in advance in a laboratory, and the calibrated internal parameters can be called for use on site.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, the present invention aims to provide a binocular camera extrinsic parameter determination method system, which is used for solving the problem that extrinsic parameters of the camera in the prior art are inconvenient to determine.
In order to achieve the above objects and other related objects, the present invention provides a binocular camera extrinsic parameter determining method, including the steps of:
step 1: respectively acquiring a rotation matrix of each camera in the binocular camera unit through the positions of the cameras in the binocular camera unit, wherein the step of acquiring the rotation matrix comprises: the method comprises the steps that a connecting line of optical centers of two cameras in the binocular camera unit is taken as a first coordinate axis, the two cameras are defined as a first camera and a second camera respectively, the optical center of one camera is set as an origin point, a plane intersecting the first coordinate axis is defined as a reference plane, and two intersecting straight lines in the reference plane are defined as a second coordinate axis and a third coordinate axis respectively; establishing a reference coordinate system by using the origin, the first coordinate axis, the second coordinate axis and the third coordinate axis, defining an included angle between an optical axis of each camera and the third coordinate axis as a matrix element, and determining a rotation matrix through the matrix element;
step 2: acquiring a translation vector of each camera with respect to the reference coordinate system, wherein the step of acquiring a translation vector comprises: defining components of the distance between the optical center of each camera and the origin on the first coordinate axis, the second coordinate axis and the third coordinate axis respectively as vector elements by taking the reference coordinate system as a reference, and determining translation vectors through the vector elements;
and step 3: and determining external parameters of the binocular camera unit according to the rotation matrix and the translation vector.
Preferably, the first coordinate axis, the second coordinate axis and the third coordinate axis are mutually perpendicular in pairs.
Preferably, the first coordinate axis is a horizontal direction, the second coordinate axis is a vertical downward direction, the camera in the binocular camera unit in which the reference coordinate system is located is defined as a first camera, the other camera in the binocular camera unit is defined as a second camera, and a mathematical expression of a rotation matrix of the first camera with respect to the reference coordinate system is as follows:
the mathematical expression of the rotation matrix of the second camera with respect to the reference coordinate system is:
wherein,
is an angle between the optical axis of the first camera and the third coordinate axis,
is an angle between the optical axis of the second camera and the third coordinate axis,
is a rotation matrix of the first camera with respect to the reference coordinate system,
a rotation matrix of the second camera relative to the reference coordinate system.
Preferably, the mathematical expression of the translation vector of the first camera with respect to the reference coordinate system is:
the mathematical expression of the translation vector of the second camera with respect to the reference coordinate system is:
wherein,
for a translation vector of the first camera with respect to the reference coordinate system, the
A translation vector of the second camera relative to the reference coordinate system,
is the distance between the optical center of the first camera and the optical center of the second camera.
Preferably, the rotation matrix of the first camera, the translation vector of the first camera, the rotation matrix of the second camera and the translation vector of the second camera are determined according to the followingCalculating the external parameter rotation matrix of the binocular camera unit by a formula
And translation vector
：
A binocular camera extrinsic parameter determination system, comprising: the binocular camera unit comprises a binocular camera unit and a binocular camera unit external parameter calculation module;
the binocular camera unit comprises the first camera and the second camera, and a reference plane of the system is determined and a reference coordinate system is established by setting the optical center of one camera as an origin and combining the defined first coordinate axis, the second coordinate axis and the third coordinate axis;
and the binocular camera unit external parameter calculation module is used for acquiring the parameters of the rotation matrix and the translation vector of the first camera and the second camera in the binocular camera unit, and calculating and obtaining the overall external parameters of the binocular camera unit according to the rotation matrix and the translation vector of the first camera and the second camera.
Preferably, the device further comprises a rotary table and a rigid connecting rod, the first camera and the second camera are respectively connected with the rigid connecting rod through the rotary table, displacement scales are arranged on the rigid connecting rod, and angle scales are arranged on the rotary table.
As described above, the binocular camera extrinsic parameter determination method and system of the present invention have the following beneficial effects:
acquiring reference indexes for calibrating external parameters of the binocular camera unit through the positions of two cameras in the binocular camera unit: the rotation matrix and the translation vector can rapidly determine the external parameters of the camera on the engineering detection site, and the detection efficiency and convenience of using the binocular camera unit on the engineering site are greatly improved.
Drawings
Fig. 1 is a schematic flowchart illustrating a binocular camera extrinsic parameter determining method according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a binocular camera extrinsic parameter determination system according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a binocular camera unit according to an embodiment of the present invention.
Description of the reference numerals
A first camera 11, a second camera 12, a rigid connection rod 13.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention.
Referring to fig. 1 to 3, it should be noted that the drawings provided in the present embodiment are only schematic illustrations of the basic idea of the present invention, and only the components related to the present invention are shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, number and ratio of the components in actual implementation may be changed arbitrarily, and the layout of the components may be more complicated. The structures, proportions, sizes, and other dimensions shown in the drawings and described in the specification are for understanding and reading the present disclosure, and are not intended to limit the scope of the present disclosure, which is defined in the claims, and are not essential to the art, and any structural modifications, changes in proportions, or adjustments in size, which do not affect the efficacy and attainment of the same are intended to fall within the scope of the present disclosure. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.
Referring to fig. 1 and 3, an embodiment of the present invention provides a method for determining external parameters of a binocular camera, including the following steps:
s1: respectively acquiring a rotation matrix of each camera in the binocular camera unit through the positions of the cameras in the binocular camera unit, wherein the step of acquiring the rotation matrix comprises: the method comprises the steps that a connecting line of optical centers of two cameras in the binocular camera unit is taken as a first coordinate axis, the two cameras are defined as a first camera and a second camera respectively, the optical center of one camera is set as an origin point, a plane intersecting the first coordinate axis is defined as a reference plane, and two intersecting straight lines in the reference plane are defined as a second coordinate axis and a third coordinate axis respectively; establishing a reference coordinate system by using the origin, the first coordinate axis, the second coordinate axis and the third coordinate axis, defining an included angle between the optical axis of each camera and the third coordinate axis as a matrix element, determining a rotation matrix through the matrix element, and using the rotation matrix as a reference index for calibrating external parameters of the binocular camera unit;
s2: acquiring a translation vector of each of the cameras with respect to the reference coordinate system, wherein the step of acquiring a translation vector comprises: defining components of the distance between the optical center of each camera and the origin on the first coordinate axis, the second coordinate axis and the third coordinate axis as vector elements by taking the reference coordinate system as a reference, determining a translation vector through the vector elements, and using the translation vector as another reference index for calibrating external parameters of the binocular camera unit;
s3: and determining external parameters according to the rotation matrix and the translation vector, and determining the external parameters of the binocular camera unit. Acquiring reference indexes for calibrating external parameters of the binocular camera unit through the positions of two cameras in the binocular camera unit: the rotation matrix and the translation vector can rapidly determine the external parameters of the camera on the engineering detection site, and the detection efficiency and convenience of using the binocular camera unit on the engineering site are greatly improved. The reference coordinate system may be an orthogonal coordinate system, a non-orthogonal coordinate system or a polar coordinate system, and the external parameters are determined by determining the rotation matrix and the translation vector in the reference coordinate system and further by operation.
In order to further improve the calculation efficiency and facilitate calibration, calibration and operation can be performed under an orthogonal coordinate system, wherein the first coordinate axis, the second coordinate axis and the third coordinate axis are perpendicular to each other in pairs. For example, a world coordinate system may be selected, which is the absolute coordinate system of the system, with the coordinates of all points on the screen determining their respective positions at the origin of the coordinate system before the user coordinate system is established.
In some implementations, the first coordinate axis is a horizontal direction, the second coordinate axis is a vertical downward direction, the camera in the binocular camera unit in which the reference coordinate system is located is defined as a first camera, another camera in the binocular camera unit is defined as a second camera, and further, a direction from the first camera to the second camera is a second camera
The positive direction of the axis, vertically downwards is
The positive direction of the axis, with
And
the other direction in which the axes are all orthogonal is
A shaft, then:
wherein,
、
and
respectively representing the angle that the corresponding coordinate axis should rotate, can be derived:
、
and
are respectively 0,
And 0, therefore:
thus, the mathematical expression of the rotation matrix of the first camera with respect to the reference coordinate system is:
similarly, the mathematical expression of the rotation matrix of the second camera with respect to the reference coordinate system is:
wherein,
is an angle between the optical axis of the first camera and the third coordinate axis,
is an angle between the optical axis of the second camera and the third coordinate axis,
is a rotation matrix of the first camera with respect to the reference coordinate system,
for the rotation matrix of the second camera relative to the reference coordinate system, when the optical axes of the first camera and the second camera are rotated counterclockwise
In the axial direction, when
Or
Is a positive value; when the optical axes of the first camera and the second camera are rotated clockwise
In the axial direction, when
Or
Is negative.
In some implementations, respective translation vectors may be acquired from the relative positions of the first camera and the second camera, the mathematical expression of the translation vector of the first camera with respect to the reference coordinate system being:
the mathematical expression of the translation vector of the second camera with respect to the reference coordinate system is:
wherein,
for a translation vector of the first camera with respect to the reference coordinate system, the
A translation vector of the second camera relative to the reference coordinate system,
is the distance between the optical center of the first camera and the optical center of the second camera.
By the rotation matrix of the first camera, the translation vector of the first camera, the rotation matrix of the second camera and the translation vector of the second camera, any space point is subjected to
If the three-dimensional coordinates thereof in the reference coordinate system are
The image coordinates in the first camera are
The image coordinates in the second camera are
Then, there are:
from the above formula
Then, there are:
the positional relationship of the second camera with respect to the first camera is available
And
is shown, and
and
the following formula is satisfied:
the external parameter rotation matrix of the binocular camera unit can be calculated according to the following formula
And translation vector
：
Referring to fig. 2, the present invention further provides a binocular camera extrinsic parameter determining system in another embodiment, including: the binocular camera unit comprises a binocular camera unit and a binocular camera unit external parameter calculation module;
the binocular camera unit comprises the first camera and the second camera, and a reference plane of the system is determined and a reference coordinate system is established by setting the optical center of one camera as an origin and combining the defined first coordinate axis, the second coordinate axis and the third coordinate axis;
and the binocular camera unit external parameter calculation module is used for acquiring the parameters of the rotation matrix and the translation vector of the first camera and the second camera in the binocular camera unit, and calculating and obtaining the overall external parameters of the binocular camera unit according to the rotation matrix and the translation vector of the first camera and the second camera.
Referring to fig. 3, the present invention provides a binocular camera, which determines the extrinsic parameters of the binocular camera by using the method for determining the extrinsic parameters of the binocular camera, and includes a binocular camera unit including a first camera 11 and a second camera 12, wherein the first camera 11 and the second camera 12 are movably connected to the rigid connection rod 13, respectively.
In some implementation processes, the first camera 11 and the second camera 12 are respectively connected to the rigid connecting rod 13 through the rotating table, displacement scales are arranged on the rigid connecting rod 13, angle scales are arranged on the rotating table, the rotational degree of freedom of the cameras can be adjusted by rotating the rotating table, and the degree of freedom of the cameras can be adjusted by moving the rotating table.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (4)
1. A binocular camera extrinsic parameter determination method is characterized by comprising the following steps:
step 1: respectively acquiring a rotation matrix of each camera in the binocular camera unit through the positions of the cameras in the binocular camera unit, wherein the step of acquiring the rotation matrix comprises:
step 1.1: the method comprises the steps that a connecting line of optical centers of two cameras in the binocular camera unit is taken as a first coordinate axis, the two cameras are defined as a first camera and a second camera respectively, the optical center of one camera is set as an origin point, a plane intersecting the first coordinate axis is defined as a reference plane, and two intersecting straight lines in the reference plane are defined as a second coordinate axis and a third coordinate axis respectively;
step 1.2: establishing a reference coordinate system by using the origin, the first coordinate axis, the second coordinate axis and the third coordinate axis, defining an included angle between an optical axis of each camera and the third coordinate axis as a matrix element, and determining a rotation matrix through the matrix element;
the first coordinate axis is a horizontal direction, the second coordinate axis is a vertical downward direction, the camera in which the reference coordinate system is located in the binocular camera unit is defined as a first camera, the other camera in the binocular camera unit is defined as a second camera,
the mathematical expression of the rotation matrix of the first camera with respect to the reference coordinate system is:
the mathematical expression of the rotation matrix of the second camera with respect to the reference coordinate system is:
wherein,
is an angle between the optical axis of the first camera and the third coordinate axis,
is an angle between the optical axis of the second camera and the third coordinate axis,
is a rotation matrix of the first camera with respect to the reference coordinate system,
a rotation matrix for the second camera relative to the reference coordinate system;
step 2: acquiring a translation vector of each camera with respect to the reference coordinate system, wherein the step of acquiring a translation vector comprises: with the reference coordinate system in the step 1.2 as a reference, defining components of the distance between the optical center of each camera and the origin on the first coordinate axis, the second coordinate axis and the third coordinate axis as vector elements, and determining a translation vector through the vector elements;
the mathematical expression of the translation vector of the first camera with respect to the reference coordinate system is:
the mathematical expression of the translation vector of the second camera with respect to the reference coordinate system is:
wherein,
is the first phaseTranslation vector of the machine with respect to said reference coordinate system, said
A translation vector of the second camera relative to the reference coordinate system,
is the distance between the optical center of the first camera and the optical center of the second camera;
and 3, step 3: determining external parameters of the binocular camera unit according to the rotation matrix and the translation vector;
calculating the extrinsic parameters of the binocular camera unit according to the following formula by using the rotation matrix of the first camera, the translation vector of the first camera, the rotation matrix of the second camera and the translation vector of the second camera:
wherein,
as the rotation matrix parameters of the binocular camera unit,
and the parameters are the translation vector parameters of the binocular camera unit.
2. The binocular camera extrinsic parameter determining method of claim 1, wherein the first coordinate axis, the second coordinate axis and the third coordinate axis are perpendicular to each other two by two.
3. A binocular camera extrinsic parameter determination system for implementing the binocular camera extrinsic parameter determination method of any one of claims 1 to 2, comprising: a binocular camera unit and a binocular camera unit outside parameter calculation module,
the binocular camera unit comprises the first camera and the second camera, and a reference plane of the system is determined and a reference coordinate system is established according to the first coordinate axis, the second coordinate axis and the third coordinate axis by setting the optical center of one camera as an origin;
and the binocular camera unit external parameter calculation module is used for acquiring the rotation matrix and the translation vector of the first camera and the second camera in the binocular camera unit, and calculating and obtaining the overall external parameters of the binocular camera unit according to the rotation matrix and the translation vector of the first camera and the second camera.
4. The binocular camera external parameter determining system according to claim 3, comprising a turntable and a rigid connecting rod, wherein the first camera and the second camera are respectively connected with the rigid connecting rod through the turntable, displacement scales are arranged on the rigid connecting rod, and angle scales are arranged on the turntable.
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