CN107464265A - A kind of parameter calibration system and method for binocular panorama camera - Google Patents
A kind of parameter calibration system and method for binocular panorama camera Download PDFInfo
- Publication number
- CN107464265A CN107464265A CN201710447084.7A CN201710447084A CN107464265A CN 107464265 A CN107464265 A CN 107464265A CN 201710447084 A CN201710447084 A CN 201710447084A CN 107464265 A CN107464265 A CN 107464265A
- Authority
- CN
- China
- Prior art keywords
- panorama camera
- binocular
- camera
- demarcation
- binocular panorama
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
Landscapes
- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Stereoscopic And Panoramic Photography (AREA)
- Studio Devices (AREA)
Abstract
The invention discloses a kind of parameter calibration system and method for binocular panorama camera.The system includes demarcation casing, camera support bar, characteristic pattern and demarcation main frame.Casing is demarcated to be used to provide demarcation space, camera support bar is used to support binocular panorama camera, characteristic pattern, for providing the characteristic point needed for parameter calibration, demarcate main frame, for controlling binocular panorama camera photographing panorama picture, and parameter calibration is carried out in casing is demarcated after the panoramic picture of binocular panorama camera shooting is received, and calibration result is stored in the memory cell of binocular panorama camera.The parameter calibration system and method for a kind of binocular panorama camera provided by the invention can carry out fast parameter demarcation to binocular panorama camera, easy to operate, assembling is flexibly in smaller space using the middle-size and small-size system being easily assembled.
Description
Technical field
The present invention relates to panorama camera field, more particularly to a kind of parameter calibration system and method for binocular panorama camera.
Background technology
With the increased popularity of pan-shot, the volume production problem of panoramic shooting system gets growing concern for and ground
Study carefully.Current most common panoramic shooting system is generally formed back-to-back by two with fish-eye camera module, Mei Geyu
The angle of visual field of eye camera module exceedes 180 degree, and two modules are spliced into 360 degree of panorama by image stitching technology jointly
Face.Parameter calibration is essential link during binocular panorama camera volume production, and the precision of demarcation is directly connected to image spelling
Effect is connect, the nominal time is directly connected to production efficiency.The demarcation of current most binocular panorama cameras is required to larger space, or
The complicated demarcation environment of dependency structure, operating process are also comparatively laborious.This undoubtedly causes the reduction of production efficiency, and space,
The waste of human resources.
In view of this, how to solve the parameter calibration problem in binocular panorama camera volume production, realize high efficiency, low cost
Scaling scheme, this is a urgent problem to be solved.
The content of the invention
, can be in smaller space the embodiments of the invention provide a kind of parameter calibration system and method for binocular panorama camera
In, fast parameter demarcation is carried out to binocular panorama camera using the middle-size and small-size system being easily assembled, easy to operate, assembling is flexibly.
First aspect of the embodiment of the present invention discloses a kind of parameter calibration system of binocular panorama camera, including following demarcation
Casing, camera support bar, characteristic pattern and demarcation main frame.
Demarcate casing to be used to provide demarcation space, and demarcate casing to include four planes, and being referred to as up and down
Plane, lower plane, left plane and right plane；Camera support bar is used to support binocular panorama camera, and camera support bar is located at
Demarcate the lower plane center of casing and vertical with lower plane；Characteristic pattern is used to provide the characteristic point needed for parameter calibration, and special
Pattern is levied on the inner surface in four planes of demarcation casing；Demarcation main frame is used to control binocular panorama camera to pan
Image, and parameter calibration is carried out in casing is demarcated after the panoramic picture of binocular panorama camera shooting is received, and demarcation is tied
Fruit is stored in the memory cell of binocular panorama camera.
Preferably, system also includes phase machine clamp, and phase machine clamp is used to fix binocular panorama camera, and phase machine clamp is fixed
In on camera support bar, and the photocentre of binocular panorama camera is overlapped with the geometric center of demarcation casing.
Preferably, demarcate adjacent plane in four planes of casing to be mutually perpendicular to, be separated by plane and be parallel to each other.
Preferably, characteristic pattern is multiple, and multiple characteristic patterns are equal apart from the photocentre of binocular panorama camera.
Preferably, characteristic point is included on multiple characteristic patterns, and characteristic point is the seam of binocular panorama camera under different distance
Match point is closed, demarcates suture match point of the main frame according to different distance, calculates the splicing ginseng of different distance binocular panorama camera
Number.
In the embodiment of the present invention, there is provided a kind of parameter calibration method of binocular panorama camera, can in smaller space,
Fast parameter demarcation is carried out to binocular panorama camera using the middle-size and small-size system being easily assembled, easy to operate, assembling is flexibly.
Second aspect of the embodiment of the present invention discloses a kind of parameter calibration method of binocular panorama camera, including following step
Suddenly：Step 1, binocular panorama camera is positioned on phase machine clamp, and binocular panorama camera and demarcation main frame is subjected to data company
Connect；Step 2, demarcate main frame and send instruction control binocular panorama camera and taken pictures, binocular panorama camera is by the panorama sketch of shooting
As being transmitted back to computer；Step 3, according to the panoramic picture of shooting, host computer image procossing and nonlinear equation optimization are demarcated
Method for solving calculates panorama camera parameter and splicing parameter；Step 4, the shape by the camera parameter calculated according to splicing parameter
Formula writes the memory cell of panorama camera as calibration result.
Preferably, step 3 includes：Denoising is filtered to the panorama original image of shooting；Determined using circle detection method
The region of characteristic pattern；In characteristic pattern region, the angle point that rectangle docks in characteristic pattern is determined using angular-point detection method,
As characteristic point；Using pixel coordinate of the space coordinates and same characteristic point of characteristic point in binocular panorama camera, with reference to fish
Glasses head model, image mosaic model, list Nonlinear System of Equations, and solve equation group and obtain panorama camera parameter and splicing
Parameter.
In the embodiment of the present invention, there is provided a kind of parameter calibration system and method for binocular panorama camera, can be smaller
In space, fast parameter demarcation, easy to operate, assembling spirit are carried out to binocular panorama camera using the middle-size and small-size system being easily assembled
It is living.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, make required in being described below to embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing.
Fig. 1 is a kind of structure of the embodiment of parameter calibration system one of binocular panorama camera disclosed in the embodiment of the present invention
Figure；
Fig. 2 is the structure chart of the disclosed demarcation embodiment of casing one of the embodiment of the present invention；
Fig. 3 is the structure chart of the embodiment of sectional view one of the disclosed demarcation casing of the embodiment of the present invention；
Fig. 4 is the exemplary plot of the embodiment of characteristic pattern one disclosed in the embodiment of the present invention；
Fig. 5 is a kind of flow chart of the embodiment of parameter calibration method one of binocular panorama camera disclosed in the embodiment of the present invention；
Fig. 6 is a kind of embodiment of step 3 one of the parameter calibration method of binocular panorama camera disclosed in the embodiment of the present invention
Flow chart.
Main element symbol description
| Demarcate casing | 10 |
| Demarcate main frame | 20 |
| Camera support bar | 30 |
| Characteristic pattern | 40 |
| Phase machine clamp | 50 |
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
Term " comprising " and " having " in description and claims of this specification and above-mentioned accompanying drawing and they appoint
What is deformed, it is intended that covers non-exclusive include.Such as contain the process of series of steps or unit, method, system, production
The step of product or system are not limited to list or unit, but alternatively also including the step of not listing or unit, or
Alternatively also include for the intrinsic other steps of these processes, method, product or system or unit.
, can be in smaller space the embodiments of the invention provide a kind of parameter calibration system and method for binocular panorama camera
In, fast parameter demarcation is carried out to binocular panorama camera using the middle-size and small-size system being easily assembled, easy to operate, assembling is flexibly.
Referring to Fig. 1, Fig. 1 is that a kind of parameter calibration system one of binocular panorama camera is implemented disclosed in the embodiment of the present invention
The structure chart of mode.As shown in figure 1, a kind of parameter calibration system of binocular panorama camera disclosed in the embodiment of the present invention includes mark
Determine casing 10, demarcation main frame 20, camera support bar 30 and characteristic pattern 40.
In the present embodiment, demarcate casing 10 to be used to provide demarcation space, and demarcate casing to include four up and down
Plane, and plane, lower plane, left plane and right plane are referred to as, and demarcate adjacent plane in four planes of casing
It is mutually perpendicular to, is separated by plane and is parallel to each other, that is to say, that this four planes is the four sides up and down of cuboid, if seamed edge
It is equal, then it is the four sides up and down of square.That is, demarcation casing 10 provides a relatively small demarcation sky
Between so that demarcation environment miniaturization.
Camera support bar 30 is used to support binocular panorama camera, and camera support bar 30 is positioned at the lower plane of demarcation casing 10
Center and vertical with lower plane.Specifically, the effect of camera support bar 30 has two：One is support binocular panorama camera,
Can normally shooting image or video；The second is in order that binocular panorama camera be in demarcation casing center,
Ensure the integrality of shooting image.
In addition, in order to keep the more firm shooting image of binocular panorama camera or video, it is however generally that, in camera branch
Phase machine clamp 50 is fixed with strut（Do not shown in Fig. 1, but Fig. 2 has display）, phase machine clamp 50 is for fixing binocular panorama phase
Machine, and phase machine clamp is fixed on camera support bar, and cause in the photocentre of binocular panorama camera and the geometry of demarcation casing 10
The heart overlaps.
Characteristic pattern 40 is used to provide the characteristic point needed for parameter calibration, and characteristic pattern 40 is positioned at the four of demarcation casing 10
On inner surface in individual plane, characteristic pattern 40 is generally multiple, and multiple characteristic patterns are apart from the photocentre of binocular panorama camera
It is equal, characteristic point is included on multiple characteristic patterns, and characteristic point is the suture match point of binocular panorama camera under different distance,
Suture match point of the main frame according to different distance is demarcated, calculates the splicing parameter of different distance binocular panorama camera.
Demarcation main frame 20 is used to control binocular panorama camera photographing panorama picture, and is receiving the shooting of binocular panorama camera
Parameter calibration is carried out after panoramic picture in casing is demarcated, and calibration result is stored in the memory cell of binocular panorama camera
In.Demarcation main frame 20 can be the processor that computer, host computer, GPU etc. have calculation processing power.
In order to which the parameter calibration system of more detailed description binocular panorama camera provided by the invention is how to realize ginseng
Number demarcation, Fig. 2, Fig. 3 and Fig. 4 are referred to, wherein, Fig. 2 is the disclosed demarcation embodiment party of casing 10 1 of the embodiment of the present invention
The structure chart of formula, Fig. 3 are the structure charts of the embodiment of sectional view one of the disclosed demarcation casing 10 of the embodiment of the present invention, and Fig. 4 is
The exemplary plot of the embodiment of characteristic pattern 40 1 disclosed in the embodiment of the present invention.
Refering to Fig. 2, demarcation casing 10, camera support bar 30, characteristic pattern 40 and phase machine clamp 50 are as shown in the figure.Camera
Support bar 30 is located at the lower plane center of demarcation casing 10 and, phase machine clamp 50 fixation binocular panorama camera vertical with lower plane,
And phase machine clamp is fixed on camera support bar, and cause the geometric center weight of the photocentre and demarcation casing 10 of binocular panorama camera
Close, characteristic pattern 40 is multiple, and Fig. 2 show 8 characteristic patterns.
How to be drawn for the number of characteristic pattern, referring to Fig. 3, Fig. 3 is the sectional view for demarcating casing 10, it is special
Sign pattern 40 is distributed in inner surface and on the equidistant several groups of positions of photocentre, 131 be the demarcation section rectangle of casing 10 in figure
Circumscribed circle, 133 be the inscribed circle of section rectangle, and 132 be circle of the radius between 123 and 121, it can be seen from geometrical relationship,
The intersection point of inscribed circle 133 and inwall may have 2（Non- equilateral rectangle）Or 4（Square）, describe for convenience, we are with just
Exemplified by cube, illustrate the position arrangement method of characteristic pattern 40, it is assumed that the radius of circumscribed circle 131 is R1, and the radius of inscribed circle 133 is
R3, the radius of circle 132 therebetween is R2, when radius is equal to R1 or R3, demarcates on the section of casing 10 and arrives central point O
Equidistant point has 4；When radius R2 is between R1 and R3, demarcate on the section of casing 10 has 8 to the equidistant points of central point O
It is individual.So our cans according to the seamed edge length of demarcation casing 10 come the number for characteristic pattern 40 of arranging.
After the arrangement position and number of characteristic pattern 40 has been grasped, it needs to be understood that included by characteristic pattern
The content of characteristic point, specifically see Fig. 4, and Fig. 4 is the example of the embodiment of characteristic pattern 40 1 disclosed in the embodiment of the present invention
Figure.
As shown in figure 4, the outline of characteristic pattern 40 is ellipse, the a-quadrant of elliptical internal and its supplementary set B area point
It is not made up of different colours, such as a-quadrant is white, B area is black.Adjacent rectangle block angle point docks in a-quadrant, can basis
The quantity for increasing or decreasing rectangular block is needed to carry out the difference of marker characteristic pattern.
By the embodiment of the present invention, demarcation casing 10, camera support bar 30 and characteristic pattern in present invention implementation
Case 40 forms a middle-size and small-size system being easily assembled, and demarcation main frame 20 is by controlling binocular panorama camera shooting image or regarding
Frequency carries out fast parameter demarcation, easy to operate, assembling is flexible.
Referring to Fig. 5, Fig. 5 is a kind of reality of parameter calibration method one of binocular panorama camera disclosed in the embodiment of the present invention
Apply the flow chart of mode.Present implementation flow be the binocular panorama camera based on Fig. 1 or Fig. 2 parameter calibration system under it is real
Existing, idiographic flow is as follows：
Step S500, binocular panorama camera is positioned on phase machine clamp, and binocular panorama camera and demarcation main frame are entered into line number
According to connection；
Step S502, demarcation main frame send instruction control binocular panorama camera and taken pictures, and binocular panorama camera is by the complete of shooting
Scape image transmitting returns computer；
Step S504, according to the panoramic picture of shooting, demarcate host computer image procossing and nonlinear equation optimization method
Calculate panorama camera parameter and splicing parameter；
Step S506, using the camera parameter calculated according to splicing parameter form as calibration result, write panorama camera
Memory cell.
In embodiments of the present invention, it is preferred that emphasis is the position and number of characteristic pattern, enable to demarcation main frame to exist
It is more enough more efficient when calculating panorama camera parameter and splicing parameter, accurately.
In the embodiment of the present invention, by demarcating casing, camera support bar, phase machine clamp and the demarcation of characteristic pattern composition
Environment, fast parameter demarcation can be carried out to binocular panorama camera, easy to operate, assembling is flexibly in smaller space.
Referring to Fig. 6, Fig. 6 is a kind of step of the parameter calibration method of binocular panorama camera disclosed in the embodiment of the present invention
The flow chart of 3 one embodiments.
Step 3 specifically includes：
Step S600, denoising is filtered to the panorama original image of shooting；
Step S602, the region of characteristic pattern is determined using circle detection method；
Step S604, in characteristic pattern region, the angle point that rectangle docks in characteristic pattern is determined using angular-point detection method, is made
It is characterized a little；
Step S606, using pixel coordinate of the space coordinates and same characteristic point of characteristic point in binocular panorama camera, with reference to
Fish eye lens model, image mosaic model, list Nonlinear System of Equations, and solve equation group and obtain panorama camera parameter and spelling
Connect parameter.
In embodiments of the present invention, it is preferred that emphasis is the position and number of characteristic pattern, enable to demarcation main frame to exist
It is more enough more efficient when calculating panorama camera parameter and splicing parameter, accurately.
In the embodiment of the present invention, by demarcating casing, camera support bar, phase machine clamp and the demarcation of characteristic pattern composition
Environment, fast parameter demarcation can be carried out to binocular panorama camera, easy to operate, assembling is flexibly in smaller space.
It should be noted that for foregoing each method embodiment, in order to be briefly described, therefore it is all expressed as a series of
Combination of actions, but those skilled in the art should know, the present invention is not limited by described sequence of movement because
According to the present invention, some steps can use other orders or carry out simultaneously.Secondly, those skilled in the art should also know
Know, embodiment described in this description belongs to preferred embodiment, and involved action and module are not necessarily of the invention
It is necessary.
In the above-described embodiments, the description to each embodiment all emphasizes particularly on different fields, and does not have the portion being described in detail in some embodiment
Point, it may refer to the associated description of other embodiment.
In several embodiments provided herein, it should be understood that disclosed device, can be by another way
Realize.For example, device embodiment described above is only schematical, for example, the division of unit, only a kind of logic
Function divides, and can have other dividing mode when actually realizing, such as multiple units or component can be combined or can collected
Into to another system, or some features can be ignored, or not perform.Another, shown or discussed mutual coupling
Close or direct-coupling or communication connection can be by some interfaces, the INDIRECT COUPLING or communication connection of device or unit, can be with
It is electrical or other forms.
The embodiment of the present invention is described in detail above, specific case used herein to the principle of the present invention and
Embodiment is set forth, and the explanation of above example is only intended to help the method and its core concept for understanding the present invention；
Meanwhile for those of ordinary skill in the art, according to the thought of the present invention, can in specific embodiments and applications
There is change part, to sum up above-mentioned, this specification content should not be construed as limiting the invention.
Claims (7)
1. a kind of parameter calibration system of binocular panorama camera, it is characterised in that the system includes：
Casing is demarcated, space is demarcated for providing, and the demarcation casing includes four planes, and being referred to as up and down
Plane, lower plane, left plane and right plane；
Camera support bar, for supporting the binocular panorama camera, and the camera support bar is under the demarcation casing
Planar central and vertical with lower plane；
Characteristic pattern, for providing the characteristic point needed for parameter calibration, and the characteristic pattern is positioned at the four of the demarcation casing
On inner surface in individual plane；
Main frame is demarcated, is clapped for controlling the binocular panorama camera photographing panorama picture, and receiving the binocular panorama camera
Parameter calibration is carried out in the demarcation casing after the panoramic picture taken the photograph, and calibration result is stored in the binocular panorama camera
Memory cell in.
2. the parameter calibration system of binocular panorama camera according to claim 1, it is characterised in that the system also includes
Phase machine clamp, the phase machine clamp is used to fix the binocular panorama camera, and the phase machine clamp is fixed on the camera branch
On strut, and the photocentre of the binocular panorama camera is overlapped with the geometric center of the demarcation casing.
3. the parameter calibration system of binocular panorama camera according to claim 2, it is characterised in that the demarcation casing
Adjacent plane is mutually perpendicular in four planes, is separated by plane and is parallel to each other.
4. the parameter calibration system of binocular panorama camera according to claim 2, it is characterised in that the characteristic pattern is
It is multiple, and the multiple characteristic pattern is equal apart from the photocentre of the binocular panorama camera.
5. the parameter calibration system of binocular panorama camera according to claim 4, it is characterised in that the multiple characteristic pattern
Include characteristic point in case, and the characteristic point is the suture match point of the binocular panorama camera under different distance, the demarcation
Main frame calculates the splicing parameter of different distance binocular panorama camera according to the suture match point of different distance.
6. a kind of usage right requires the parameter calibration side of the binocular panorama camera parameter calibration system any one of 1-5
Method, it is characterised in that methods described includes：
Step 1, the binocular panorama camera is positioned on the phase machine clamp, and by the binocular panorama camera and the mark
Determine main frame and carry out data connection；
Step 2, the demarcation main frame sends the instruction control binocular panorama camera and taken pictures, and the binocular panorama camera will
The panoramic picture of shooting is transmitted back to computer；
Step 3, according to the panoramic picture of the shooting, the demarcation host computer image procossing and nonlinear equation Optimization Solution
Method calculates the panorama camera parameter and splicing parameter；
Step 4, it is the camera parameter calculated is described complete as calibration result, write-in according to the form of the splicing parameter
The memory cell of scape camera.
7. scaling method according to claim 6, it is characterised in that the step 3 includes：
Denoising is filtered to the panorama original image of shooting；
The region of the characteristic pattern is determined using circle detection method；
In the characteristic pattern region, the angle point that rectangle docks in the characteristic pattern is determined using angular-point detection method, is made
It is characterized a little；
Using pixel coordinate of the space coordinates and same characteristic point of the characteristic point in binocular panorama camera, with reference to flake mirror
Head model, image mosaic model, list Nonlinear System of Equations, and solve equation group and obtain the panorama camera parameter and splicing
Parameter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710447084.7A CN107464265B (en) | 2017-06-14 | 2017-06-14 | Parameter calibration system and method for binocular panoramic camera |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710447084.7A CN107464265B (en) | 2017-06-14 | 2017-06-14 | Parameter calibration system and method for binocular panoramic camera |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107464265A true CN107464265A (en) | 2017-12-12 |
| CN107464265B CN107464265B (en) | 2021-05-11 |
Family
ID=60543775
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710447084.7A Active CN107464265B (en) | 2017-06-14 | 2017-06-14 | Parameter calibration system and method for binocular panoramic camera |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107464265B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108171759A (en) * | 2018-01-26 | 2018-06-15 | 上海小蚁科技有限公司 | The scaling method of double fish eye lens panorama cameras and device, storage medium, terminal |
| CN109472827A (en) * | 2018-10-26 | 2019-03-15 | 珠海格力电器股份有限公司 | Camera pose estimation method and device, storage medium and robot |
| CN109767476A (en) * | 2019-01-08 | 2019-05-17 | 像工场(深圳)科技有限公司 | A kind of calibration of auto-focusing binocular camera and depth computing method |
| CN109978954A (en) * | 2019-01-30 | 2019-07-05 | 杭州飞步科技有限公司 | The method and apparatus of radar and camera combined calibrating based on cabinet |
| CN111200729A (en) * | 2018-11-20 | 2020-05-26 | 余姚舜宇智能光学技术有限公司 | Automatic calibration equipment and method for panoramic camera module |
| WO2020139915A1 (en) * | 2018-12-27 | 2020-07-02 | Facebook Technologies, Llc | Head mounted display calibration using portable docking station with calibration target |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1128063A (en) * | 1993-07-30 | 1996-07-31 | 考金特光学技术公司 | Condensing and collecting optical system using an ellipsoidal reflector |
| US20080240612A1 (en) * | 2007-03-30 | 2008-10-02 | Intel Corporation | Non-overlap region based automatic global alignment for ring camera image mosaic |
| CN101727670A (en) * | 2009-11-10 | 2010-06-09 | 西安交通大学 | Flexible calibrating method and device for variable-format multiple-camera system |
| CN103906989A (en) * | 2011-12-26 | 2014-07-02 | 三菱重工业株式会社 | Method for calibrating camera measurement system |
| CN104408730A (en) * | 2014-12-08 | 2015-03-11 | 北京市新技术应用研究所 | Calibration device for fish eye lens |
| CN104567816A (en) * | 2014-12-25 | 2015-04-29 | 北京林业大学 | Panoramic normal-case forest sample plot photographing mobile phone device and tree measuring method thereof |
| CN104835163A (en) * | 2015-05-11 | 2015-08-12 | 华中科技大学 | Embedded real-time high-speed binocular vision system for moving target detection |
| TWI555378B (en) * | 2015-10-28 | 2016-10-21 | 輿圖行動股份有限公司 | An image calibration, composing and depth rebuilding method of a panoramic fish-eye camera and a system thereof |
| CN206039140U (en) * | 2016-09-26 | 2017-03-22 | 成都通甲优博科技有限责任公司 | Panoramic camera organizes calibration device |
| CN106846415A (en) * | 2017-01-24 | 2017-06-13 | 长沙全度影像科技有限公司 | A kind of multichannel fisheye camera binocular calibration device and method |
| EP3195256A1 (en) * | 2014-09-17 | 2017-07-26 | Pilz GmbH & Co. KG | Method and apparatus for identifying structural elements of a projected structural pattern in camera images |
-
2017
- 2017-06-14 CN CN201710447084.7A patent/CN107464265B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1128063A (en) * | 1993-07-30 | 1996-07-31 | 考金特光学技术公司 | Condensing and collecting optical system using an ellipsoidal reflector |
| US20080240612A1 (en) * | 2007-03-30 | 2008-10-02 | Intel Corporation | Non-overlap region based automatic global alignment for ring camera image mosaic |
| CN101727670A (en) * | 2009-11-10 | 2010-06-09 | 西安交通大学 | Flexible calibrating method and device for variable-format multiple-camera system |
| CN103906989A (en) * | 2011-12-26 | 2014-07-02 | 三菱重工业株式会社 | Method for calibrating camera measurement system |
| EP3195256A1 (en) * | 2014-09-17 | 2017-07-26 | Pilz GmbH & Co. KG | Method and apparatus for identifying structural elements of a projected structural pattern in camera images |
| CN104408730A (en) * | 2014-12-08 | 2015-03-11 | 北京市新技术应用研究所 | Calibration device for fish eye lens |
| CN104567816A (en) * | 2014-12-25 | 2015-04-29 | 北京林业大学 | Panoramic normal-case forest sample plot photographing mobile phone device and tree measuring method thereof |
| CN104835163A (en) * | 2015-05-11 | 2015-08-12 | 华中科技大学 | Embedded real-time high-speed binocular vision system for moving target detection |
| TWI555378B (en) * | 2015-10-28 | 2016-10-21 | 輿圖行動股份有限公司 | An image calibration, composing and depth rebuilding method of a panoramic fish-eye camera and a system thereof |
| CN206039140U (en) * | 2016-09-26 | 2017-03-22 | 成都通甲优博科技有限责任公司 | Panoramic camera organizes calibration device |
| CN106846415A (en) * | 2017-01-24 | 2017-06-13 | 长沙全度影像科技有限公司 | A kind of multichannel fisheye camera binocular calibration device and method |
Non-Patent Citations (3)
| Title |
|---|
| 张小玉 等: "基于OpenCV的长波红外摄像机标定研究", 《电子设计工程》 * |
| 胡广胜 等: "红外与可见光双摄像机标定方法研究", 《科技创新与应用》 * |
| 蔺想红,王维盛: "一种基于特征匹配的全景图自动拼接方法", 《西北师范大学学报 自然科学版》 * |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108171759A (en) * | 2018-01-26 | 2018-06-15 | 上海小蚁科技有限公司 | The scaling method of double fish eye lens panorama cameras and device, storage medium, terminal |
| CN109472827A (en) * | 2018-10-26 | 2019-03-15 | 珠海格力电器股份有限公司 | Camera pose estimation method and device, storage medium and robot |
| CN111200729A (en) * | 2018-11-20 | 2020-05-26 | 余姚舜宇智能光学技术有限公司 | Automatic calibration equipment and method for panoramic camera module |
| CN111200729B (en) * | 2018-11-20 | 2024-05-07 | 余姚舜宇智能光学技术有限公司 | Automatic calibration equipment and method for panoramic camera module |
| WO2020139915A1 (en) * | 2018-12-27 | 2020-07-02 | Facebook Technologies, Llc | Head mounted display calibration using portable docking station with calibration target |
| US11042034B2 (en) | 2018-12-27 | 2021-06-22 | Facebook Technologies, Llc | Head mounted display calibration using portable docking station with calibration target |
| CN109767476A (en) * | 2019-01-08 | 2019-05-17 | 像工场(深圳)科技有限公司 | A kind of calibration of auto-focusing binocular camera and depth computing method |
| CN109767476B (en) * | 2019-01-08 | 2023-04-07 | 像工场(深圳)科技有限公司 | Automatic focusing binocular camera calibration and depth calculation method |
| CN109978954A (en) * | 2019-01-30 | 2019-07-05 | 杭州飞步科技有限公司 | The method and apparatus of radar and camera combined calibrating based on cabinet |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107464265B (en) | 2021-05-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107464265A (en) | A kind of parameter calibration system and method for binocular panorama camera | |
| US10460459B2 (en) | Stitching frames into a panoramic frame | |
| US9866752B2 (en) | Systems and methods for producing a combined view from fisheye cameras | |
| CN103763479B (en) | The splicing apparatus and its method of real time high-speed high definition panorama video | |
| CN110663245A (en) | Apparatus and method for storing overlapping regions of imaging data to produce an optimized stitched image | |
| CN106157304A (en) | A kind of Panoramagram montage method based on multiple cameras and system | |
| CN108846796B (en) | Image splicing method and electronic equipment | |
| CN105894549A (en) | Panorama assisted parking system and device and panorama image display method | |
| CN105894451A (en) | Method and device for splicing panoramic image | |
| CN102903090A (en) | Method, device and system for synthesizing panoramic stereograms, and browsing device for panoramic stereograms | |
| CN103020900B (en) | Method and device for image processing | |
| CN107690673A (en) | Image processing method and device and server | |
| CN111292413A (en) | Image model processing method and device, storage medium and electronic device | |
| EP3664433A1 (en) | Information processing device, information processing method, and program, and interchangeable lens | |
| CN110009567A (en) | For fish-eye image split-joint method and device | |
| CN108259762A (en) | A kind of roaming type panorama sketch automatic shooting system and method | |
| CN102831816B (en) | Device for providing real-time scene graph | |
| WO2019032184A1 (en) | Annotation generation for an image network | |
| CN105989354A (en) | Positioning method and system | |
| CN113253842A (en) | Scene editing method and related device and equipment | |
| CN106127681B (en) | A kind of image-pickup method, virtual reality image transmission method and display methods | |
| CN114511447A (en) | Image processing method, device, equipment and computer storage medium | |
| US20100259630A1 (en) | Device for helping the capture of images | |
| JP2022507714A (en) | Surveying sampling point planning method, equipment, control terminal and storage medium | |
| CN103546680A (en) | Deformation-free omni-directional fisheye photographic device and method for implementing same |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: Building 4D, Gongyanhui Science and Technology Industrial Park, No. 160, Xihu West Road, Wujin National High and New Technology Industrial Development Zone, Changzhou City, Jiangsu Province, 213166 Patentee after: Pi Technology (Changzhou) Co.,Ltd. Address before: No.09, 8th Floor, International Student Entrepreneurship Building, No. 29 South Ring, High tech Zone, Nanshan District, Shenzhen, Guangdong Province, 518000 Patentee before: SHENZHEN PISOFTTECH TECHNOLOGY Co.,Ltd. |