CN104284103A - Calibration method of internal parameters of thermal infrared camera - Google Patents
Calibration method of internal parameters of thermal infrared camera Download PDFInfo
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- CN104284103A CN104284103A CN201410499801.7A CN201410499801A CN104284103A CN 104284103 A CN104284103 A CN 104284103A CN 201410499801 A CN201410499801 A CN 201410499801A CN 104284103 A CN104284103 A CN 104284103A
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000010438 heat treatment Methods 0.000 claims abstract description 50
- 229910052755 nonmetal Inorganic materials 0.000 claims abstract description 20
- 239000000523 sample Substances 0.000 claims abstract description 11
- 239000000463 material Substances 0.000 claims abstract description 10
- 238000012545 processing Methods 0.000 claims abstract description 4
- 229910052751 metal Inorganic materials 0.000 claims description 19
- 239000002184 metal Substances 0.000 claims description 19
- 239000000758 substrate Substances 0.000 claims description 18
- 230000003287 optical effect Effects 0.000 claims description 8
- 238000013461 design Methods 0.000 claims description 5
- 238000009826 distribution Methods 0.000 claims description 5
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000003384 imaging method Methods 0.000 claims description 3
- 238000002360 preparation method Methods 0.000 claims description 2
- 238000009413 insulation Methods 0.000 abstract description 6
- 238000000605 extraction Methods 0.000 abstract description 4
- 238000009529 body temperature measurement Methods 0.000 abstract description 3
- 238000001228 spectrum Methods 0.000 abstract 1
- 229910052782 aluminium Inorganic materials 0.000 description 4
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 4
- PNEYBMLMFCGWSK-UHFFFAOYSA-N Alumina Chemical compound [O-2].[O-2].[O-2].[Al+3].[Al+3] PNEYBMLMFCGWSK-UHFFFAOYSA-N 0.000 description 3
- 239000004411 aluminium Substances 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 229910010271 silicon carbide Inorganic materials 0.000 description 2
- 230000003595 spectral effect Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000013021 overheating Methods 0.000 description 1
- 125000006850 spacer group Chemical group 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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- Investigating Or Analyzing Materials Using Thermal Means (AREA)
Abstract
The invention discloses a calibration method of internal parameters of a thermal infrared camera, and provides a thermal infrared camera calibration system and method suitable for a thermal infrared stereoscopic vision spectrum range of 8-14 micrometers. The thermal infrared camera calibration system in the thermal infrared stereoscopic vision is composed of a computer (13), an image capture card (12), the thermal infrared camera (7), a thermal infrared lens (9), a calibration board assembly (5) and a constant temperature heating assembly (1), and the constant temperature heating assembly is composed of a base board, a heat insulation pad, a heating element (15), an insulation heat-conductive fin (18), a heating panel, a constant temperature heating controller (14) and a temperature measurement probe (16). According to the calibration method of the internal parameters of the thermal infrared camera, the three measures of constant temperature heating, surface matting processing and selection of nonmetal matting materials are adopted, a calibration board assembly thermal infrared image which is uniform, has no mirror surface reflection and is good in contrast ratio can be obtained, corner extraction is carried out beneficially, and the internal parameters of the thermal infrared camera are calibrated conveniently. The calibration method of the internal parameters of the thermal infrared camera and the thermal infrared camera calibration system and method are suitable for calibrating the camera in the thermal infrared stereoscopic vision.
Description
Technical field
The present invention relates to a kind of thermal infrared camera intrinsic parameter scaling method, belong to infrared technical field of computer vision.
Background technology
The much equipment of power industry all runs under the state of high temperature, high pressure, High Rotation Speed, high voltage, big current, all has close relationship with heat.In numerous power outages, the interruption maintenance caused because of equipment local overheating happens occasionally.Thermal infrared imager instant heating thermal camera detects infrared heat by noncontact, is changed Heat of Formation image and temperature value, can analyze the fault zone of heating.
A conventional thermal image detection thermal infrared video camera, the heat distribution of a plane can only be surveyed, application is restricted, if the method for binocular or multi-vision visual under reference visible ray, adopt multiple stage thermal infrared video camera to detect, then the method for available thermal infrared stereoscopic vision rebuilds target surface three dimensional temperature to be measured distribution simultaneously.Under visible ray, stereoscopic vision needs to carry out inside and outside parameter demarcation to multiple cameras, and then carries out three-dimensional appearance reconstruction.Similarly, thermal infrared stereoscopic vision also needs first to carry out inside and outside parameter demarcation to thermal infrared video camera.
Traditional gridiron pattern scaling board cannot be applicable to the demarcation of thermal infrared stereoscopic vision, because the black and white cell of identical material at the same temperature to lead to emissivity at thermal infrared 8-14 μm of spectral coverage band similar, on thermal infrared area array sensor obtain on heat picture and present similar intensity profile, thus cannot to demarcate to realize thermal infrared stereoscopic vision by extraction unit lattice angular coordinate.
Summary of the invention
The object of the invention is, the problem of thermal infrared stereoscopic vision demarcation cannot be applicable to for traditional gridiron pattern scaling board, a kind of manufacture method being applicable to the thermal infrared camera calibration plate of 8-14 μm of spectral coverage of thermal infrared stereoscopic vision is provided.This manufacture method can meet the extraction requirement of the inside and outside parameter of thermal infrared area array sensor, solves the problem of calibrating of thermal infrared stereoscopic vision.
Technical scheme of the present invention is achieved like this:
A kind of thermal infrared camera intrinsic parameter of the present invention scaling method comprises the following steps:
(1) heating panel in scaling board assembly lower surface and heated at constant temperature assembly is fitted tightly; Open heated at constant temperature assembly, design temperature T; After waiting for certain hour, reach predetermined temperature T;
(2) fixedly lay the thermal infrared video camera being furnished with thermal infrared camera lens, make its optical axis perpendicular to scaling board assembly, and the intersection point of optical axis and scaling board assembly and scaling board assembly center superposition, thermal infrared optical center to the vertical range of scaling board assembly is
d; Video camera bnc interface is connected to image pick-up card bnc interface by coaxial cable, image pick-up card inserts the PCI slot of computer, install driver and after opening thermal infrared video camera, obtain the real-time thermal infrared gray level image of scaling board assembly in a computer; Metal on scaling board assembly is different from nonmetal blockage temperature, and the emissivity of metal and nonmetallic materials is different, therefore the similar chessboard shape of real-time thermal infrared gray level image of scaling board assembly, i.e. the distribution of black and white cell proper alignment; Determine imaging viewing field angle FOV by the focal length of thermal infrared camera lens and the area of thermal infrared focal plane array, change
d, make scaling board assembly be positioned within the scope of FOV completely;
(3) capture the thermal infrared digital picture of a width scaling board assembly, the camera intrinsic parameter scaling method that common visible ray stereoscopic vision is general can be adopted; Namely obtain by image procossing the pixel coordinate that (N-1) takes advantage of (N-1) individual angle point, then carry out comparing calculation with the locus coordinate of these angle points, the intrinsic parameter of thermal infrared video camera can be drawn.
The calibration system that a kind of thermal infrared camera marking method of the present invention adopts is made up of computer, image pick-up card, thermal infrared video camera, thermal infrared camera lens, scaling board assembly and heated at constant temperature assembly.
Wherein heated at constant temperature assembly is made up of base plate, heat insulating mattress, heating element, insulating heat-conductive sheet, heating panel, heated at constant temperature controller and temperature probe.Heat insulating mattress is placed on base plate, and heating element is placed on heat insulating mattress, is insulating heat-conductive sheet between heating panel and heating element; Heating element is connected with heated at constant temperature controller by wire, provides heating element operating voltage by heated at constant temperature controller, makes it generate heat; Temperature probe is used for measuring temperature, and is connected with heated at constant temperature controller, and the voltage signal providing temperature corresponding is to heated at constant temperature controller.
Heating element in described heated at constant temperature assembly is heater strip, and heater strip is evenly coiled into square spiral planar structure, make heating evenly; Heater strip is connected with heated at constant temperature controller by connecting line, provides heating wire works voltage by heated at constant temperature controller, makes it generate heat.Heat insulating mattress is used for floor spacer; Heating panel is made up of the square-shaped metal of uniform thickness.Be insulating heat-conductive sheet between heating panel and heater strip, it has high thermal conductivity and insulating properties, takes into account heat conduction and prevents heater strip and directly contact and short circuit with heating panel.Temperature probe is used for measuring temperature, and is connected with heated at constant temperature controller, and the voltage signal providing temperature corresponding is to heated at constant temperature controller.Heated at constant temperature controller connects 220V civil power, and first design temperature T during work, now for heater strip provides operating voltage, makes it heat.Heater strip conducts heat to heating panel by insulating heat-conductive sheet, and its temperature is raised.Temperature probe real time temperature measurement, the voltage signal of its correspondence is that heated at constant temperature controller receives and judges.When temperature does not arrive T, then continue to provide heating wire works voltage; When temperature reaches T, then stop providing heating wire works voltage; After power-off, be reduced to T as at temperature, then again heater strip powered, elevate the temperature; So repeatedly, to reach the object of constant temperature.
Described scaling board assembly is made up of square-shaped metal substrate and the nonmetal platelet of square; Metal substrate and nonmetal platelet have different emissivity and thermal conduction characteristic; The nonmetal platelet of square embeds in the square groove of square-shaped metal substrate.
The preparation method of described scaling board assembly is: process a square and have certain thickness metal substrate; Upper surface is carried out matte management, prevents mirror-reflection.Then being divided into N at upper surface takes advantage of the length of side of N number of area equation to be
wlittle square.Interval is chosen little square and is opened square groove, and the degree of depth of groove is
h, then finally N is outputed
2/ 2, volume is
w 2take advantage of
hsquare groove, obtain slotted substrate.Processing N
2/ 2 length of sides are
w, thickness is
hthe nonmetal platelet of square.The material that nonmetal platelet is selected has the heat insulation feature of dumb light.Then, one by one by N
2/ 2 nonmetal platelets embed in slotted substrate, obtain scaling board assembly.
The invention has the beneficial effects as follows, the associated components of the inventive method to calibration system have employed heated at constant temperature, matte surface process, and select the three kinds of measures of nonmetal dulling material, obtain uniformity, contrast good scaling board component heat infrared image reflective without minute surface, the extraction requirement of the inside and outside parameter of thermal infrared area array sensor can be met, solve the problem of calibrating of thermal infrared stereoscopic vision; The inventive method is conducive to angle point grid, facilitates thermal infrared camera intrinsic parameter and demarcates.
The camera intrinsic parameter that the present invention is applicable in thermal infrared stereoscopic vision is demarcated.
Accompanying drawing explanation
Fig. 1 is thermal infrared camera calibration systems structural representation of the present invention;
Fig. 2 is scaling board establishment of component schematic flow sheet of the present invention;
In the drawings, 1 is heated at constant temperature assembly; 2 is base plates; 3 is heat insulating mattresss; 4 is heating panels; 5 is scaling board assemblies; 6 is thermal infrared focal plane arrays; 7 is thermal infrared video cameras; 8 is video camera coaxial cable interface (abbreviation bnc interfaces); 9 is thermal infrared camera lenses; 10 coaxial cables; 11 is image pick-up card bnc interfaces; 12 is image pick-up cards; 13 is computers; 14 is heated at constant temperature controllers; 15 is heating elements; 16 is temperature probes; 17 is connecting lines; 18 is insulating heat-conductive sheets; 19 is metal substrates; 20 is slotted substrate; 21 is square grooves; 22 is nonmetal platelets.
Embodiment
The specific embodiment of the invention as shown in Figure 1 and Figure 2.
Camera calibration systems in thermal infrared stereoscopic vision is made up of computer 13, image pick-up card 12, thermal infrared video camera 7, thermal infrared camera lens 9, scaling board assembly 5 and heated at constant temperature assembly 1.Wherein heated at constant temperature assembly 1 is made up of base plate 2, heat insulating mattress 3, heating element 15, insulating heat-conductive sheet 18, heating panel 4, heated at constant temperature controller 14 and temperature probe 16.
In the present embodiment, the heating element 15 in heated at constant temperature assembly 1 is heater strips, and heater strip is evenly coiled into square spiral planar structure, make heating evenly; Heater strip is connected with heated at constant temperature controller 14 by connecting line, provides heating wire works voltage by heated at constant temperature controller 14, makes it generate heat.Heat insulating mattress 3 is for heat insulation to base plate 2; Heating panel 4 is made up of the square-shaped metal of uniform thickness, and make of steel plate in the present embodiment, thickness is 1cm, and the length of side is 45cm.Be insulating heat-conductive sheet 18 between heating panel 4 and heater strip, insulating heat-conductive sheet 18 material is aluminium oxide ceramics in the present embodiment, and it has high thermal conductivity and insulating properties, takes into account heat conduction and prevents heater strip and directly contact and short circuit with heating panel 4.Temperature probe 16 is used for measuring temperature, and is connected with heated at constant temperature controller 14, and the voltage signal providing temperature corresponding is to heated at constant temperature controller 14.Heated at constant temperature controller 14 connects 220V civil power, and first design temperature T during work, now for heater strip 15 provides operating voltage, makes it heat.Heater strip 15 is conducted heat to heating panel 14 by insulating heat-conductive sheet 18, and its temperature is raised.Temperature probe 16 real time temperature measurement, the voltage signal of its correspondence is that heated at constant temperature controller 14 reception judges.When temperature does not arrive T, then continue to provide heater strip 15 operating voltage; When temperature reaches T, then stop providing heater strip 15 operating voltage; After power-off, be reduced to T as at temperature, then again heater strip 15 powered, elevate the temperature; So repeatedly, to reach the object of constant temperature.
Scaling board assembly 5 is made by metal and nonmetal bi-material, and they have different emissivity and thermal conduction characteristic, and its Making programme as shown in Figure 2.
First, process a square and there is certain thickness metal substrate 19.In an embodiment, select metal aluminum sheet, being processed into the length of side is 40cm, and thickness is that the flat board of 4cm is as substrate.Upper surface is carried out matte management, prevents mirror-reflection.Then being divided into N at upper surface takes advantage of the length of side of N number of area equation to be
wlittle square.In an embodiment, get N=10, be then divided into 100 length of sides
wthe little square of=4cm.Interval is chosen little square and is opened square groove 21, and the degree of depth of groove is
h, then finally N is outputed
2/ 2, volume is
w 2take advantage of
hsquare groove 21, obtain slotted substrate 20.In an embodiment, get
hfor 2cm.Processing N
2/ 2 length of sides are
w, thickness is
hthe nonmetal platelet 22 of square.In an embodiment, nonmetal platelet 22 selects carbofrax material, has the advantages that dumb light is heat insulation.Then, one by one by N
2/ 2 nonmetal platelets 22 embed in slotted substrate 20, obtain scaling board assembly 5.
When carrying out the camera calibration in thermal infrared stereoscopic vision, as Fig. 1 arrangement system.
First, the heating panel 4 in scaling board assembly 5 lower surface and heated at constant temperature assembly 1 is fitted tightly.Area because of heating panel 4 is greater than the area of scaling board assembly 5, is convenient to better heat transfer.Open heated at constant temperature assembly 1, design temperature T, the present embodiment T=80
0c.After waiting for certain hour, reach predetermined temperature 80
0c.
Fixedly lay the thermal infrared video camera 7 being furnished with thermal infrared camera lens 9, make its optical axis perpendicular to scaling board assembly 5, and the intersection point of optical axis and scaling board assembly 5 and scaling board assembly 5 center superposition, thermal infrared camera lens 9 center to the vertical range of scaling board assembly 5 is
d.Video camera coaxial cable interface 8 is connected to image pick-up card bnc interface 11 by coaxial cable 10, image pick-up card 12 inserts the PCI slot of computer 13, install driver and after opening thermal infrared video camera 7, the real-time thermal infrared gray level image of scaling board assembly 5 can be obtained in computer 13.Because aluminium conducts heat good, carborundum thermal insulation is good, therefore the aluminium on scaling board assembly 5 is different from carborundum blockage temperature, and the emissivity of aluminium and carbofrax material is different, therefore the similar chessboard shape of real-time thermal infrared gray level image of scaling board assembly 5, i.e. the distribution of black and white cell proper alignment.Determine imaging viewing field angle FOV (i.e. Field of view) by the focal length of thermal infrared camera lens 9 and the area of thermal infrared focal plane array 6, change
d, scaling board assembly 5 is positioned within the scope of FOV completely.
Capture the thermal infrared digital picture of a width scaling board assembly 5, the camera intrinsic parameter scaling method that common visible ray stereoscopic vision is general can be adopted.Namely obtain by image procossing the pixel coordinate that (N-1) takes advantage of (N-1) individual angle point (the present embodiment be 9 take advantage of 9 angle points), carry out comparing calculation with the locus coordinate of these angle points again, the intrinsic parameter of thermal infrared video camera 7 can be drawn.Similar with visible ray stereoscopic vision, place multiple stage thermal infrared video camera and demarcate simultaneously, adopt calibration system of the present invention can obtain the outer parameter of multiple stage thermal infrared video camera, thus realize the demarcation of thermal infrared stereoscopic vision.
Claims (7)
1. a thermal infrared camera intrinsic parameter scaling method, is characterized in that, said method comprising the steps of:
(1) heating panel in scaling board assembly lower surface and heated at constant temperature assembly is fitted tightly; Open heated at constant temperature assembly, design temperature T; After waiting for certain hour, reach predetermined temperature T;
(2) fixedly lay the thermal infrared video camera being furnished with thermal infrared camera lens, make its optical axis perpendicular to scaling board assembly, and the intersection point of optical axis and scaling board assembly and scaling board assembly center superposition, thermal infrared optical center to the vertical range of scaling board assembly is
d; Video camera bnc interface is connected to image pick-up card bnc interface by coaxial cable, image pick-up card inserts the PCI slot of computer, install driver and after opening thermal infrared video camera, obtain the real-time thermal infrared gray level image of scaling board assembly in a computer; Metal on scaling board assembly is different from nonmetal blockage temperature, and the emissivity of metal and nonmetallic materials is different, therefore the similar chessboard shape of real-time thermal infrared gray level image of scaling board assembly, i.e. the distribution of black and white cell proper alignment; Determine imaging viewing field angle FOV by the focal length of thermal infrared camera lens and the area of thermal infrared focal plane array, change
d, make scaling board assembly be positioned within the scope of FOV completely;
(3) capture the thermal infrared digital picture of a width scaling board assembly, the camera intrinsic parameter scaling method that common visible ray stereoscopic vision is general can be adopted; Namely obtain by image procossing the pixel coordinate that (N-1) takes advantage of (N-1) individual angle point, then carry out comparing calculation with the locus coordinate of these angle points, the intrinsic parameter of thermal infrared video camera can be drawn.
2. a kind of thermal infrared camera intrinsic parameter scaling method according to claim 1, it is characterized in that, described scaling board assembly is made up of square-shaped metal substrate and the nonmetal platelet of square; Metal substrate and nonmetal platelet have different emissivity and thermal conduction characteristic; The nonmetal platelet of square embeds in the square groove of square-shaped metal substrate.
3. a kind of thermal infrared camera intrinsic parameter scaling method according to claim 2, it is characterized in that, the preparation method of described scaling board assembly is: will have certain thickness square-shaped metal substrate and carry out matte management, is then divided into N at upper surface and takes advantage of the length of side of N number of area equation to be
wlittle square; Interval is chosen little square and is opened square groove, and the degree of depth of groove is
h, then finally N is outputed
2/ 2, volume is
w 2take advantage of
hsquare groove, obtain slotted substrate; Processing N
2/ 2 length of sides are
w, thickness is
hthe nonmetal platelet of square; One by one by N
2/ 2 nonmetal platelets embed in slotted substrate, obtain scaling board assembly.
4. a kind of thermal infrared camera intrinsic parameter scaling method according to claim 1, it is characterized in that, described heated at constant temperature assembly is made up of base plate, heat insulating mattress, heating element, insulating heat-conductive sheet, heating panel, heated at constant temperature controller and temperature probe; Heat insulating mattress is placed on base plate, and heating element is placed on heat insulating mattress, is insulating heat-conductive sheet between heating panel and heating element; Heating element is connected with heated at constant temperature controller by wire, provides heating element operating voltage by heated at constant temperature controller, makes it generate heat; Temperature probe is used for measuring temperature, and is connected with heated at constant temperature controller, and the voltage signal providing temperature corresponding is to heated at constant temperature controller.
5. a kind of thermal infrared camera intrinsic parameter scaling method according to claim 4, it is characterized in that, described heating panel is made up of the square-shaped metal of uniform thickness.
6. a kind of thermal infrared camera intrinsic parameter scaling method according to claim 4, it is characterized in that, described heating element is heater strip, and heater strip is evenly coiled into square spiral planar structure, make heating evenly.
7. a kind of thermal infrared camera intrinsic parameter scaling method according to claim 4, it is characterized in that, described insulating heat-conductive sheet has high thermal conductivity and insulating properties, takes into account heat conduction and prevents heater strip and directly contact and short circuit with heating panel.
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Cited By (9)
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| CN105913414A (en) * | 2016-04-01 | 2016-08-31 | 歌尔声学股份有限公司 | Calibration device for infrared camera visual system and calibration method |
| CN107067442A (en) * | 2017-06-07 | 2017-08-18 | 云南师范大学 | A kind of infrared scaling board synchronous with visible ray dual camera |
| CN107204016A (en) * | 2016-03-17 | 2017-09-26 | 中航华东光电（上海）有限公司 | Multi-functional scaling board |
| CN107306325A (en) * | 2016-04-22 | 2017-10-31 | 宁波舜宇光电信息有限公司 | The device of utilization space measurement of coordinates camera module visual field and its application |
| CN109186653A (en) * | 2018-08-11 | 2019-01-11 | 西安应用光学研究所 | It is a kind of suitable for the high-precision of visible light/infrared camera calibration, inexpensive scaling board and scaling method |
| CN109887037A (en) * | 2019-01-22 | 2019-06-14 | 西安工程大学 | A kind of scaling method suitable for the distortion of inclined in type laser interferometry lens imaging |
| CN110298887A (en) * | 2019-05-31 | 2019-10-01 | 中国人民解放军陆军工程大学 | Visible light infrared dual-waveband composite calibration plate |
| CN113503975A (en) * | 2021-09-13 | 2021-10-15 | 四川大学 | Calibration plate and infrared temperature measurement mapping calibration method |
| CN114942039A (en) * | 2022-05-18 | 2022-08-26 | 清华大学深圳国际研究生院 | Multi-sensor combined calibration device and calibration method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107204016A (en) * | 2016-03-17 | 2017-09-26 | 中航华东光电（上海）有限公司 | Multi-functional scaling board |
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| CN109887037A (en) * | 2019-01-22 | 2019-06-14 | 西安工程大学 | A kind of scaling method suitable for the distortion of inclined in type laser interferometry lens imaging |
| CN109887037B (en) * | 2019-01-22 | 2023-03-14 | 西安工程大学 | Calibration method suitable for oblique laser interferometry lens imaging distortion |
| CN110298887A (en) * | 2019-05-31 | 2019-10-01 | 中国人民解放军陆军工程大学 | Visible light infrared dual-waveband composite calibration plate |
| CN113503975A (en) * | 2021-09-13 | 2021-10-15 | 四川大学 | Calibration plate and infrared temperature measurement mapping calibration method |
| CN114942039A (en) * | 2022-05-18 | 2022-08-26 | 清华大学深圳国际研究生院 | Multi-sensor combined calibration device and calibration method |
| CN114942039B (en) * | 2022-05-18 | 2024-05-07 | 清华大学深圳国际研究生院 | Multi-sensor combined calibration device and calibration method |
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