CN107507244A - Camera calibration method, proving operation method and the caliberating device of a kind of single-frame images - Google Patents
Camera calibration method, proving operation method and the caliberating device of a kind of single-frame images Download PDFInfo
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- CN107507244A CN107507244A CN201710618857.3A CN201710618857A CN107507244A CN 107507244 A CN107507244 A CN 107507244A CN 201710618857 A CN201710618857 A CN 201710618857A CN 107507244 A CN107507244 A CN 107507244A
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- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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Abstract
The invention discloses a kind of camera calibration method of single-frame images, proving operation method and caliberating device, the caliberating device that the spherical calibration element cooperation of calibration substrate corner is arranged on using one piece of calibration substrate and at least eight carries out camera calibration, camera to be calibrated gathers a frame uncalibrated image towards the caliberating device, each spherical calibration element is projected as ellipticity image in the imaging of camera to be calibrated, so that uncalibrated image includes the array image with constant spacing and multiple ellipticity images on the outside of array image corner, and the long axis of each ellipticity image intersect, utilize the principal point coordinate parameters of its intersection point calculation camera to be calibrated.The present invention can be based on a width uncalibrated image and a caliberating device completes camera calibration, have the characteristics that practical, demarcation speed is fast, precision is high, camera calibration in the case of especially suitable for radial distortion and/or tangential distortion be present, such as mobile phone, flat board, wearable device intelligent terminal.
Description
Technical field
The present invention relates to camera calibration field, more particularly, to a kind of caliberating device, one kind based on single frames uncalibrated image and
The camera calibration method of single caliberating device, and a kind of camera calibration based on single frames uncalibrated image and single caliberating device
Operating method.
Background technology
Camera calibration is very important technology in image processing techniques, should in image measurement process and machine vision
, must to determine the three-dimensional geometry position of space object surface point and its correlation between corresponding points in the picture in
The geometrical model of camera imaging must be established, these geometrical model parameters are exactly camera parameter.These parameters in most conditions
It must can just be obtained by experiment with calculating, this process for solving parameter is just referred to as camera calibration.
Camera calibration work is rapidly completed to realize, needs a kind of side that camera calibration can be completed based on a two field picture badly
Method and caliberating device.As shown in figure 1, Fig. 1 describes a kind of existing caliberating device, the caliberating device includes the demarcation He of support 7
The different calibration substrate 1 of four postures demarcated on support is arranged on, by analyzing the image of four calibration substrates 1
Processing, complete camera calibration.Although this kind of caliberating device can realize that camera calibration can be completed by only shooting an image,
The caliberating device exist stated accuracy is unstable, relative attitude between by caliberating device has a great influence, due to using multiple demarcation
The problems such as substrate causes overall occupancy volume big.
For example Zhang Zhengyou is proposed using the caliberating device of a chessboard shape to carry out scaling method.The mark
The method of determining needs camera to shoot multiple uncalibrated images to caliberating device from different perspectives, and the angle for shooting picture is The more the better.
This method can realize the demarcation to camera inner parameter and external parameter, its accuracy with shooting angle increase and
The increasing of definition and increase.But the demarcation picture that Zhang Zhengyou standardizations needs are shot is too many, once demarcation is needed to more
Two field picture is handled, this for need to a large amount of camera calibrations or wish only do succinct Fast Calibration in the case of not
It is too applicable.
In addition, for Intelligent mobile equipments such as mobile phone, flat board, wearable devices, its camera imaging can typically occur simultaneously
Radial distortion and tangential distortion.
The content of the invention
The goal of the invention of the present invention is：For above-mentioned problem, there is provided a kind of caliberating device, one kind is based on single
The camera calibration method of frame uncalibrated image and single caliberating device, and one kind is based on single frames uncalibrated image and single demarcation dress
The camera calibration operating method put.
The technical solution adopted by the present invention is as follows：
(1) caliberating device
The present invention proposes a kind of caliberating device, including calibration substrate, and several marks are provided with the calibration substrate
Structure, several described sign structures are arranged to form the array structure with fixed range, outside the corner of the array structure
Side is provided with least two spherical calibration elements, and the spherical calibration element and the sign structure are in same visible surface, at least
Eight spherical calibration elements are projected as ellipticity image in the imaging of camera, and at least eight ellipticity images
Long axis intersect.
Based on above-mentioned caliberating device embodiment, further, in the corner of the calibration substrate, the both sides at each angle are equal
It is provided with least one spherical calibration element.
Based on any of the above-described caliberating device embodiment, further, the sign structure includes rectangular structure.
Based on any of the above-described caliberating device embodiment, further, the sign structure includes toroidal structure.
Based on any of the above-described caliberating device embodiment, further, the spherical calibration element includes ball.
Based on any of the above-described caliberating device embodiment, further, the spherical calibration element includes segment.
Based on any of the above-described caliberating device embodiment, further, the spherical calibration element is arranged on by connector
The corner of the calibration substrate.
Based on any of the above-described caliberating device embodiment, further, the spherical calibration element is set by way of bonding
Put in the corner of the calibration substrate.
Based on any of the above-described caliberating device embodiment, further, holding tank is provided with the calibration substrate, it is described
Spherical calibration element is arranged on the fixed position of the calibration substrate by the holding tank.
Based on any of the above-described caliberating device embodiment, further, several described sign structures are painting made of printing
Layer.
(2) scaling method
The invention also provides a kind of camera calibration method based on single-frame images, the scaling method includes following step
Suddenly：
The uncalibrated image that a frame is gathered by camera to be calibrated towards a caliberating device is obtained, is wrapped in the uncalibrated image
Include the array image with constant spacing and multiple ellipticities formed by spherical calibration element on the outside of array image corner
Image；
Binary conversion treatment is carried out to the uncalibrated image, obtains bianry image；
In the bianry image, connected region is extracted, according to the Shape Indexes and area index of connected region, it is determined that
Ellipticity candidate region；
The ellipticity candidate region is extracted oval, by each oval long axis, calculate the master of camera to be calibrated
Point coordinates parameter, carry out camera calibration.
Based on the embodiment of above-mentioned scaling method, further, when oval to ellipticity candidate region extraction, count
Each oval elliptic parameter is calculated, the elliptic parameter includes elliptical center coordinate, major semiaxis, semi-minor axis and the anglec of rotation, obtained
To each oval long paraxial equation, it is determined that each oval long axis.
Based on the embodiment of any of the above-described scaling method, further, the principal point coordinate parameters of camera to be calibrated are calculated
Process includes one of following two.
One is：
1. set iteration count k=1；
2. randomly choosing two from all transverse lines seeks its intersection point；
3. the intersection point is calculated the distance between to remaining every long axis；
4. the long number of axle of the distance in prescribed skew ε is calculated, and using long axis of the distance in prescribed skew ε as treating
Major axis set is handled, if the long number of axle is more than threshold value t, according to the pending major axis set, simultaneous major axis equation group, and
Solution of equations is tried to achieve using least square method, that is, tries to achieve the principal point coordinate parameters of camera to be calibrated；Otherwise continue executing with 5.；
5. setting iteration count k=k+1, if k is less than a pre-set count values K, go to 2., otherwise to the long number of axle most
Big pending major axis set, simultaneous major axis equation group, tries to achieve solution of equations using least square, that is, tries to achieve phase to be calibrated
The principal point coordinate parameters of machine.
Secondly it is：
The ratio ρ of each oval major semiaxis and semi-minor axis is sought, ellipse is screened according to ratio ρ, after screening
Oval major axis set simultaneous major axis equation group, and try to achieve solution of equations using least square method, that is, try to achieve phase to be calibrated
The principal point coordinate parameters of machine.
Based on the embodiment of any of the above-described scaling method, further, the scaling method also includes internal reference demarcation step
Suddenly：Restriction relation is calculated by the homography matrix between the uncalibrated image captured by camera to be calibrated and the caliberating device；
According to the principal point coordinate parameters and restriction relation, the intrinsic parameter of camera to be calibrated is calculated.
Based on the embodiment of any of the above-described scaling method, further, the scaling method also includes external parameters calibration and walked
Suddenly：According to the principal point coordinate parameters and the intrinsic parameter, and the angle point information of described image array, phase to be calibrated is calculated
The outer parameter of machine.
Based on the embodiment of any of the above-described scaling method, further, the scaling method also includes radial distortion and cut
To the processing step of distortion：By nonlinear least square method treat calibration for cameras intrinsic parameter and outer parameter carry out it is non-linear
Optimization.
Based on the embodiment of any of the above-described scaling method, further, the scaling method also includes parameter optimization and walked
Suddenly：Intrinsic parameter, outer parameter and the distortion factor that calibration for cameras is treated by nonlinear least square method carry out nonlinear optimization.
(3) proving operation method
The invention also provides a kind of camera calibration operating method based on single-frame images, the proving operation method bag
Include following steps：
There is the corner of the calibration substrate of several sign structures at one, be respectively provided with least two spherical calibration elements, institute
State spherical calibration element and the sign structure is in same visible surface, and several described sign structures are arranged to form and had
The array structure of fixed range, each spherical calibration element are located at the outside of array structure corner；
Camera to be calibrated gathers a frame uncalibrated image towards the caliberating device, and each spherical calibration element is being waited to mark
Determine to be projected as ellipticity image in the imaging of camera, the uncalibrated image includes the array image and extremely with constant spacing
Few eight ellipticity images, and the long axis of at least eight ellipticity images intersect；
The uncalibrated image is transmitted to demarcation and handles main frame by camera to be calibrated；
The demarcation processing main frame extracts all ellipticity images from the uncalibrated image, and calculates each institute
The long axis of ellipticity image are stated, pass through camera to be calibrated described in the intersection point calculation of the long axis of each ellipticity image
Principal point coordinate parameters.
In summary, by adopting the above-described technical solution, the beneficial effects of the invention are as follows：Proposed by the invention one
Kind new caliberating device and scaling method and corresponding proving operation method, the caliberating device by calibration substrate with it is multiple spherical
Calibration element coordinates, and at least two spherical calibration elements are provided with the corner of calibration substrate, and camera is carried out using the caliberating device
During demarcation, it can realize and camera calibration work is completed based on a caliberating device, frame collection image.Should in factory calibration etc.
In, and can be applied to simultaneously radial distortion and tangential distortion be present in the case of, suitable for towards mobile phone, flat board, can wear
The camera calibration of the intelligent terminals such as equipment is worn, has the characteristics that practical, demarcation speed is fast, precision is high.
Brief description of the drawings
Examples of the present invention will be described by way of reference to the accompanying drawings.
Fig. 1 is the existing caliberating device (caliberating device that four plate standardizations use) with four calibration substrates.
Fig. 2 is the top view of the embodiment based on eight spherical calibration elements in the present invention.
Fig. 3 is the top view of the embodiment based on 12 spherical calibration elements in the present invention.
Fig. 4 is that the calibration maps obtained by IMAQ are carried out to the embodiment based on eight spherical calibration elements in the present invention
Picture.
Fig. 5 is to one of oval analysis schematic diagram in uncalibrated image.
Fig. 6 is to two of the oval analysis schematic diagram in uncalibrated image.
Fig. 7 is the side view illustrated example one of the present invention.
Fig. 8 is the side view illustrated example two of the present invention.
Fig. 9 is the side view illustrated example three of the present invention.
Figure 10 is the side view illustrated example four of the present invention.
Figure 11 is the side view illustrated example five of the present invention.
Figure 12 is the side view illustrated example six of the present invention.
Figure 13 is the top view of an alternative embodiment of the invention.
In figure, 1- calibration substrates, the spherical calibration elements of 2-, 201- is oval, 202- long axis, 3- sign structures, 4- connections
Part, 5- holding tanks, 6- array structures, 7- demarcation supports, 8- bonds, P- uncalibrated images, O- principal points.
Embodiment
All features disclosed in this specification, or disclosed all methods or during the step of, except mutually exclusive
Feature and/or step beyond, can combine in any way.
Any feature disclosed in this specification (including any accessory claim, summary), unless specifically stated otherwise,
Can alternative features equivalent by other or with similar purpose replaced.I.e., unless specifically stated otherwise, each feature is one
An example in serial equivalent or similar characteristics.
(1) caliberating device
The present invention proposes a kind of caliberating device, mainly includes calibration substrate 1 and multiple is connected with the calibration substrate 1
Spherical calibration element 2, be provided with several sign structures 3 on the calibration substrate 1, several described sign structures 3 are arranged
The array structure 6 with fixed range is formed, the spherical calibration element 2 and the sign structure 3 are in same visible surface, are
Avoid occurring radial distortion or tangential distortion during camera imaging, or even both distortion occur simultaneously, reduce this several distortion feelings
Condition impacts to camera calibration, is provided with least two spherical calibration elements 2 on the outside of the corner of the array structure 6, that is, wraps
At least eight spherical calibration elements are included, at least eight spherical calibration elements 2 are projected as ellipticity image in the imaging of camera,
And at least eight the long axis of the ellipticity image intersect.
If spherical calibration element is arranged on the outside of the edge of calibration substrate, particularly edge middle position, easily by abnormal
Becoming influences and causes demarcation precision not high.Preferably, the spherical calibration element 2 can be arranged on the four of the calibration substrate 1
Angle, the both sides at each angle are provided with least one spherical calibration element 2.
Caliberating device as shown in Figure 2 includes eight spherical calibration elements, the both sides difference at each angle of the calibration substrate
One spherical calibration element is set.Caliberating device as shown in Figure 3, it includes 12 spherical calibration elements, the calibration substrate it is each
Angle is respectively arranged with three spherical calibration elements, wherein the both sides at each angle are respectively arranged with a spherical calibration element, each angle
Apical lateral is additionally provided with a spherical calibration element.
Heretofore described same visible surface refers to be seen simultaneously in spherical calibration element 2 and sign structure 3,
In the visual range of camera, it can be gathered and be imaged by camera simultaneously, when carrying out camera calibration, several Hes of sign structure 3
At least two spherical calibration elements 2 can be imaged in a two field picture.
For example, when several sign structures 3 are distributed in the front of the calibration substrate 1, the spherical calibration element 2 is not
The back side of the calibration substrate 1 can be distributed in, unless the caliberating device is two-sided setting, front and rear two sides is provided with simultaneously
Several 3 and at least eight spherical calibration elements 2 of sign structure.
For another example, sign structure 3 is not necessarily positioned to the surface of the calibration substrate 1, when the surface of the calibration substrate 1
For transparent panel when, the sign structure 3 can also be arranged on the inside of the calibration substrate 1.Through transparent panel it can be seen that mark
Will structure 3, when carrying out camera calibration, several 3 and at least eight spherical calibration elements 2 of sign structure can image in a frame
In image.
Heretofore described spherical calibration element 2 and the sign structure 3 are in same visible surface, it is desirable to spherical calibration element 2
Do not blocked by the calibration substrate 1, the spherical calibration element 2 can be directly placed at the surface of the calibration substrate 1；Can also
The fixed position on the surface of calibration substrate 1 is arranged on by connector 4；The holding tank on calibration substrate 1 can also be passed through
5 are arranged on the fixed position on the surface of calibration substrate 1；Even, spherical mark can also be fixed by other links
Determine part 2, as long as so that at least eight spherical calibration elements 2 and some sign structures 3 in the visual range of camera, and
And spherical calibration element 2 and link do not block the sign structure 3 preferably.Certainly, in order to easy to use convenient, can also lead to
The mode of bonding is crossed, spherical calibration element 2 is bonded in the surface of calibration substrate 1.
In addition, in multiple spherical calibration elements 2, the centre of sphere the hanging down from the plane of calibration substrate 1 of each spherical calibration element 2
Straight distance is general identical.Certainly, the centre of sphere of each spherical calibration element 2 can also from the vertical range of the plane of calibration substrate 1
Mutually different, as long as in camera calibration, at least two spherical calibration elements 2 are projected as ellipse in the imaging of camera
201, and its oval long axis 202 can intersect, that is, the angle theta ∈ (0 °, 180 °) of every two long axis 202.
This kind of caliberating device structure proposed by the present invention is mainly used in camera calibration scene, it is possible to achieve based on one
The camera calibration work of caliberating device and frame collection image, wherein, several 3 and at least eight spherical demarcation of sign structure
Part 2 is used as spotting simultaneously.
For example, when carrying out camera calibration to caliberating device as shown in Figure 2, camera to be calibrated only needs to demarcate this
Device carries out an IMAQ, obtains uncalibrated image P as shown in Figure 4, spherical calibration element 2 projects in the imaging of camera
For ellipse 201, the long axis 202 of each ellipse 201 are then calculated from frame uncalibrated image P, then calculate every long axis
202 intersecting point coordinate in frame uncalibrated image P, it is the coordinate information that can obtain principal point for camera O using the intersecting point coordinate, i.e.,
Principal point for camera O demarcation is completed, as shown in Figure 5.The homography relation between camera imaging and caliberating device is finally utilized, with
And the angle point information extracted from several sign structures 3 i.e. imaging of array structure 6, complete the inside and outside parameter demarcation of camera.
In the ideal case, the uncalibrated image P collected can be as shown in figure 5, the long axis of wherein each ellipse 201
202 intersection point just overlaps with principal point O.However, generally, the setting position on calibration substrate 1 of spherical calibration element 2
Put it is not strictly necessary that, when carrying out camera calibration, obtained uncalibrated image P may be as shown in fig. 6, each two ellipse 201
Long axis 202 have an intersection point, obtain multiple intersection points, and principal point O coordinate position is determined by each intersection point.
In general, several described sign structures 3 need to be arranged to form the array structure 6 with fixed range, in addition
The sign structure 3 can be coating made of printing.As shown in Fig. 2 This embodiment describes a kind of caliberating device, it is marked
Will structure 3 is rectangular structure, and each rectangular structure is arranged in one using the length and width of its own as fixed range
Tessellated array structure.As shown in figure 13, This embodiment describes a kind of caliberating device, its sign structure 3 is toroidal
Structure, each toroidal structure are arranged in a round spot array structure using its diameter or other length as fixed range.Certainly,
Described rectangular structure and the surface color and polish of toroidal need the surface color and polish with calibration substrate obvious aberration to be present,
The surface of calibration substrate can be light color, and the surface of corresponding sign structure can be dark color, or vice versa, most preferably divide
Cai Yong not black and white.In addition, in several described sign structures 3, each sign structure 3 can not be only one kind, also may be used
To include two or more mark, the mark of rectangular structure is such as both included, includes the mark of toroidal structure again,
Various sizes of mark is can also be, can be changed according to actual conditions such as the scaling method of reply, stated accuracy requirements.
The spherical calibration element 2 can be the ball of ball, i.e. standard, can also use segment, when using segment conduct
During spherical calibration element 2, do not use preferably height be less than the radius of a ball segment because height be less than the radius of a ball segment its in phase
Imaging in machine may not be a complete occluded ellipse, is unfavorable for calculating oval long axis, is unfavorable for follow-up mark
Fixed processing.
As shown in fig. 7, when Fig. 7 is described using ball as spherical calibration element, the portion of the side view of the caliberating device
Point, spherical calibration element 2 is contacted for 1 point with calibration substrate, and spherical calibration element 2 can also may be used by gravity pressure on calibration substrate 1
So that on calibration substrate 1, the fixed position of the calibration substrate 1 can also be arranged on by connector 4 by magnetic absorption
Place.As shown in Figure 10, connector 4, such as connecting rod are provided with the calibration substrate 1, the bottom of spherical calibration element 2 opens up
There is the hole to match with connector 4, spherical calibration element 2 can be inserted on connector 4；Can also be on spherical calibration element 2
Connector 4 is set, the hole to match with connector 4 is opened up on calibration substrate 1, spherical calibration element 2 is then inserted into demarcation base
In hole on plate 1；It can also be and offer hole on spherical calibration element 2 and calibration substrate 1, it is then right by connector 4
Connect.As shown in figure 9, holding tank 5 can also be opened up on the calibration substrate 1, so that the spherical calibration element 2 can pass through institute
The fixed position that holding tank 5 is arranged on the calibration substrate 1, certain in general are stated, holding tank 5 needs with spherical calibration element 2
Correspond.As shown in figure 8, an also settable bond 8 on spherical calibration element 2, directly passes through bond 8 and calibration substrate 1
Adhesion is fixed.
As shown in figure 11, This embodiment describes a kind of caliberating device, using four segments as spherical calibration element, this
Under embodiment, the bottom of spherical calibration element 2 is contacted with the face of calibration substrate 1, and structural stability is stronger, and the spherical calibration element 2 also may be used
On calibration substrate 1, either to be set by gravity pressure by magnetic absorption on calibration substrate 1 or by connector 4
The fixed position put in the calibration substrate 1 is as shown in figure 12.In addition, the bottom of spherical calibration element 2 can not be plane,
Can there are texture structure or other attachment structures, also have accordingly, on calibration substrate and texture structure or other attachment structure phases
The structure of matching, so that spherical calibration element can be directly connected to calibration substrate by the texture structure or other attachment structures.
Caliberating device proposed by the invention is not limited to foregoing embodiment.The present invention expands to any
The new feature disclosed in this manual or any new combination.Those skilled in the art can select 8,12 ..., very
Corner and the other positions being arranged on to more spherical calibration elements on calibration substrate, as long as coplanar with sign structure is to be in
Same visible surface, in addition, spherical calibration element does not block sign structure preferably, it may be provided at what some sign structures were formed
Around pattern array configuration 6.It is anti-that white, black, height can be selected from the spherical calibration element of any color in the present invention
The spherical calibration element of light, it is oval beneficial to being extracted in uncalibrated image P.When being demarcated, it is necessary at least two spherical marks
Determine part 2 to project in the imaging of camera in ellipse, and two oval long axis intersect.The present invention by a calibration substrate with
At least two spherical calibration elements coordinate, and when carrying out camera calibration using the caliberating device, can realize based on a demarcation dress
Put, frame collection image completes camera calibration work.Factory calibration etc. application in, have it is practical, scaling method is simple
List, the features such as speed is fast, precision is high is demarcated, while also reduce the space-consuming of caliberating device.
(2) scaling method
Camera model is common national forest park in Xiaokeng.The relation of three-dimensional point and its subpoint on 2d
It is as follows：
S represents scale factor in formula, and only for convenience of calculating, for homogeneous coordinates, scale factor will not change coordinate value
's.R represents spin matrix, and t represents translation matrix, and R, t are the contacts between world coordinate system and camera coordinate system.A is to take the photograph
The internal reference matrix of camera, (u0,v0) be coordinate system principal point, α, β are the scale factors of image axle, γ describe two image axles it
Between inclined degree.The point of two-dimensional camera plane coordinates is m=(u, v), and the point of coordinate is M=[X, Y, Z] in three-dimensional world,
WithThe augmentation vector that last element is 1 is represented, then is had
The present invention proposes a kind of camera calibration method based on single-frame images, and the scaling method comprises the following steps：
S1, the uncalibrated image that is gathered by camera to be calibrated towards a caliberating device of a frame is obtained, in the uncalibrated image
Including the array image with constant spacing and multiple ellipses formed by spherical calibration element on the outside of array image corner
Shape image；
S2, all ellipticity images are extracted from uncalibrated image, and calculate the long axis of each ellipticity image, passed through
The intersection point of the long axis of each ellipticity image, calculate the principal point coordinate parameters of camera to be calibrated.
In the step S2, all ellipticity images are extracted from uncalibrated image includes following sub-step：
S211, binary conversion treatment is carried out to the uncalibrated image, obtains bianry image；
S212, in the bianry image, connected region is extracted, according to the Shape Indexes and area index of connected region,
Determine ellipticity candidate region；The Shape Indexes reject circle, rectangle, irregularly as judged whether connected region is oval
The noises such as figure；The area index is such as using connected region of the size in preset area threshold range as ellipticity
Candidate region, or the number according to spherical calibration element, by similar in size in all connected regions, and number and ball
Shape calibration element number identical, as ellipticity candidate region.
S213, to each oval candidate regions, it can be used the extraction of ELSD algorithms oval, obtain elliptic equation：
A is oval major semiaxis in formula, and b is oval semi-minor axis, (x0,y0) it is elliptical center coordinate, θ is oval rotation
Gyration.
Calculate the long paraxial equation of the long axis of each ellipticity image：
sinθi·x-cosθiY=x0 i sinθi-y0 i cosθi (3)
In formula, (x0 i,y0 i) for the centre coordinate of i-th ellipticity image, θiFor the anglec of rotation of i-th of ellipticity image
Degree, i=1,2..., n, n >=8, n are that the number of ellipticity image on uncalibrated image is spherical calibration element on caliberating device
Number.
Ideally, all oval long axis intersect at a point, i.e. image principal point (camera optical axis and uncalibrated image
Intersection point), but because ellipses recognition has error, each oval long axis typically can not perfection meet at a bit.Can at least it use
One of following two modes calculate principal point coordinate parameters.
One is：
1. set iteration count k=1；
2. randomly choosing two from all transverse lines seeks its intersection point；
3. the intersection point is calculated the distance between to remaining every long axis；
4. the long number of axle of the distance in prescribed skew ε is calculated, and using long axis of the distance in prescribed skew ε as treating
Major axis set is handled, specifically usable RANSAC methods calculate pending major axis set, if the long number of axle is more than threshold value t,
According to the pending major axis set, simultaneous major axis equation group, and solution of equations is tried to achieve using least square method, that is, tried to achieve
The principal point coordinate parameters of camera to be calibrated；Otherwise continue executing with 5.；
5. setting iteration count k=k+1, if k is less than a pre-set count values K, go to 2., otherwise to the long number of axle most
Big pending major axis set, simultaneous major axis equation group, tries to achieve solution of equations using least square, that is, tries to achieve phase to be calibrated
The principal point coordinate parameters of machine.
Secondly it is：
The ratio ρ of each oval major semiaxis and semi-minor axis is sought, ellipse is screened according to ratio ρ, after screening
Oval major axis set simultaneous major axis equation group, and try to achieve solution of equations using least square method, that is, try to achieve phase to be calibrated
The principal point coordinate parameters of machine.
Further the scaling method also includes internal reference demarcating steps S3：The mark gathered by camera to be calibrated
The homography matrix determined between image and the caliberating device calculates restriction relation；The principal point for camera coordinate obtained according to S2, is carried
The tessellated angle point of image of 5x5 sizes around principal point for camera coordinate is taken, according to the image coordinate and world coordinates of angle point, meter
Calculation obtains homography matrix.
According to the principal point coordinate parameters and homography matrix, the intrinsic parameter of camera to be calibrated is calculated.
For example, make hiHomography matrix H each column vector is represented, homography matrix H expression formula can be：
[h1 h2 h3]=λ A [r1r2 t] (5)
Wherein, λ is the scale factor between the homography matrix H and real homography matrix H being calculated, and because
For r1And r2The column vector for spin matrix, then r1And r2It is unit orthogonal vectors, so having：
The internal reference A of camera to be calibrated has five unknown number u0,v0, α, beta, gamma, because γ influences very little to camera, γ can be made
=0, while principal point coordinate (u0,v0) tried to achieve, it is left two unknown numbers α, β, can be in the hope of using formula (6) and (7) two equations
.
Further also include external parameters calibration step S4：According to the principal point coordinate parameters and the intrinsic parameter, with
And the angle point information of described image array, calculate the outer parameter of camera to be calibrated.After internal reference A is tried to achieve, according to formula (5) i.e.
The external parameter of uncalibrated image can be obtained：
Wherein, scale factor λ=1/ | | A-1h1| |=1/ | | A-1h2||。
Further also include radial distortion processing and tangential distortion processing step S5：.
(if u, v) is the pixel coordinate of array structure (gridiron pattern) angle point observed on image, (u0,v0) it is in optical axis
The image coordinate of heart point is principal point coordinate, (ud,vd) it is the angle point observed on image relative to the coordinate of principal point, (ud,vd)
=(u, v)-(u0,v0), (u 'd,v′d) be eliminate distortion after angle point relative to the coordinate of principal point, (u 'd,v′d)=(u ', v ')-
(u0,v0), (u ', v ') is to eliminate the image coordinate after distortion, and distortion model is：
In formula：k1It is 2 rank coefficient of radial distortion, k2It is quadravalence coefficient of radial distortion, p1、p2It is tangential distortion coefficient, ginseng
Number r2=ud 2+vd 2。
Formula (9) is write as matrix form and is：
Unknown number k in solution formula (10)1,k2,p1,p2Two characteristic points are needed to list four equations, if single frames is demarcated
There is N number of array structure (gridiron pattern) angle point on image as characteristic point, because array structure (gridiron pattern) angular coordinate has extraction
Error, therefore consistent point set can be found from N number of characteristic point using RANSAC, then using a linear most young waiter in a wineshop or an inn
Multiply solution.
Further also include parameter optimisation step S6：The internal reference of calibration for cameras is treated by non-linear least square
Several, outer parameter and distortion factor carry out nonlinear optimization.
Re-establish evaluation function：
Wherein,It is point MiProjection on uncalibrated image, A are camera calibration internal references
Matrix number, k1,k2,p1,p2It is distortion factor, R is spin matrix, and t is translation vector.This is that a non-linear minimisation is asked
Topic, can make evaluation function C' obtain the A of minimum value, k using Levenberg-Marquardt algorithms to ask1,k2,p1,p2,R,
t,Mi, complete optimization.
(3) proving operation method
The invention also provides a kind of camera calibration operating method based on single-frame images, the proving operation method bag
Include following steps：
There is the corner of the calibration substrate 1 of several sign structures 3 at one, be respectively provided with least two spherical calibration elements
2, the spherical calibration element 2 and the sign structure 3 are in same visible surface, and several described sign structures 3 are arranged shape
Into the array structure 6 with fixed range, each spherical calibration element 2 is located at the outside of 6 four jiaos of array structure；
Camera to be calibrated gathers a frame uncalibrated image towards the caliberating device, and each spherical calibration element 2 is being waited to mark
Determine to be projected as ellipticity image in the imaging of camera, the uncalibrated image includes the array image and extremely with constant spacing
Few eight ellipticity images, and the long axis of at least eight ellipticity images intersect；
The uncalibrated image is transmitted to demarcation and handles main frame by camera to be calibrated；
The demarcation processing main frame extracts all ellipticity images from the uncalibrated image, and calculates each institute
The long axis of ellipticity image are stated, pass through camera to be calibrated described in the intersection point calculation of the long axis of each ellipticity image
Principal point coordinate parameters.
Further, the processor of the demarcation processing main frame can also perform the computer program in memory, with reality
To processing steps such as inner parameter, external parameter and distortion factors in existing scaling method part.
(4) calibration system
The invention also provides a kind of camera calibration system based on single-frame images, the calibration system includes demarcation and filled
Put, camera to be calibrated and demarcation processing main frame；
The caliberating device, including a calibration substrate 1 and multiple spherical calibration elements being connected with the calibration substrate 1
2, several sign structures 3 are provided with the calibration substrate, and several described sign structures 3 are arranged to form with solid
The array structure 6 of set a distance, the spherical calibration element 2 and the sign structure 3 are in same visible surface, the array structure 6
Corner on the outside of be provided with least two spherical calibration elements 2；
The camera to be calibrated, for gathering a frame uncalibrated image towards the caliberating device, at least eight is described spherical
Calibration element is projected as ellipticity image in the imaging of camera to be calibrated, and the uncalibrated image is included with constant spacing
Array image and at least eight ellipticity images formed by spherical calibration element on the outside of array image corner, and each
The long axis of the ellipticity image intersect；
The demarcation processing main frame, for receiving the uncalibrated image of the camera collection to be calibrated, from the demarcation
All ellipticity images are extracted in image, and calculate the long axis of each ellipticity image, by each described ellipse
The intersection point of the long axis of round shape image, calculate the principal point coordinate parameters of the camera to be calibrated.
Computer program in the computing device memory of the demarcation processing main frame can realize scaling method part
In to processing steps such as inner parameter, external parameter and distortion factors.
The invention is not limited in foregoing embodiment.The present invention expands to any to be disclosed in this manual
New feature or any new combination, and disclose any new method or process the step of or any new combination.This hair
It is bright that the caliberating device that calibration substrate and at least eight spherical calibration elements coordinate is subjected to camera calibration, phase to be calibrated using one piece
Machine side gathers a frame uncalibrated image, imaging of at least eight spherical calibration elements in camera to be calibrated to the caliberating device
In be projected as ellipticity image so that the uncalibrated image include with constant spacing array image and at least eight institutes
Ellipticity image is stated, and the long axis of at least two ellipticity images intersect, and utilize its intersection point calculation camera to be calibrated
Principal point coordinate parameters.The present invention can be based on a width uncalibrated image and a caliberating device completes camera calibration, and suitable for depositing
Precisely demarcation is completed in the case of radial distortion and/or tangential distortion, there is practical, demarcation speed is fast, precision is high etc.
Feature.
Claims (10)
1. a kind of caliberating device, including calibration substrate（1）, the calibration substrate（1）On be provided with several sign structures（3）,
Several described sign structures（3）It is arranged to form the array structure with fixed range（6）, it is characterised in that：The array
Structure（6）Corner on the outside of be provided with least two spherical calibration elements（2）, the spherical calibration element（2）With the mark knot
Structure（3）In same visible surface, at least eight spherical calibration elements（2）Ellipticity image is projected as in the imaging of camera,
And at least eight the long axis of the ellipticity image intersect.
A kind of 2. caliberating device according to claim 1, it is characterised in that：The array structure（6）Corner in, each
The both sides at angle are provided with least one spherical calibration element（2）.
A kind of 3. camera calibration method based on single-frame images, it is characterised in that the scaling method comprises the following steps：
The uncalibrated image that a frame is gathered by camera to be calibrated towards a caliberating device is obtained, the uncalibrated image includes having
The array image of constant spacing and multiple ellipticity images formed by spherical calibration element on the outside of array image corner；
Binary conversion treatment is carried out to the uncalibrated image, obtains bianry image；
In the bianry image, connected region is extracted, according to the Shape Indexes and area index of connected region, determines ellipticity
Candidate region；
Ellipse is extracted to the ellipticity candidate region, by each oval long axis, the principal point for calculating camera to be calibrated is sat
Parameter is marked, carries out camera calibration.
A kind of 4. camera calibration method based on single-frame images according to claim 3, it is characterised in that：
Ellipse is extracted to the ellipticity candidate region, calculates each oval elliptic parameter, the elliptic parameter includes oval
Centre coordinate, major semiaxis, semi-minor axis and the anglec of rotation, each oval long paraxial equation is obtained, it is determined that each oval long axis.
A kind of 5. camera calibration method based on single-frame images according to claim 4, it is characterised in that：Calculate to be calibrated
The process of the principal point coordinate parameters of camera is：
1. set iteration count k=1；
2. randomly choosing two from all transverse lines seeks its intersection point；
3. the intersection point is calculated the distance between to remaining every long axis；
4. the long number of axle of the distance in prescribed skew ε is calculated, and using long axis of the distance in prescribed skew ε as pending
Major axis set, if the long number of axle is more than threshold value t, according to the pending major axis set, simultaneous major axis equation group, and use most
Small square law tries to achieve solution of equations, that is, tries to achieve the principal point coordinate parameters of camera to be calibrated；Otherwise continue executing with 5.；
5. setting iteration count k=k+1, if k is less than a pre-set count values K, goes to 2., otherwise long number of axle maximum is treated
Major axis set is handled, simultaneous major axis equation group, solution of equations is tried to achieve using least square, that is, tries to achieve the principal point of camera to be calibrated
Coordinate parameters.
6. a kind of camera calibration method based on single-frame images according to claim 4, it is characterised in that calculate to be calibrated
The process of the principal point coordinate parameters of camera is：
The ratio ρ of each oval major semiaxis and semi-minor axis is sought, ellipse is screened according to ratio ρ, will be ellipse after screening
Round major axis set simultaneous major axis equation group, and try to achieve solution of equations using least square method, that is, try to achieve camera to be calibrated
Principal point coordinate parameters.
A kind of 7. camera calibration method based on single-frame images according to claim 3, it is characterised in that：
The scaling method also includes internal reference demarcating steps：Filled by the uncalibrated image captured by camera to be calibrated and the demarcation
Homography matrix between putting calculates restriction relation；According to the principal point coordinate parameters and restriction relation, camera to be calibrated is calculated
Intrinsic parameter；
The scaling method also includes external parameters calibration step：According to the principal point coordinate parameters and the intrinsic parameter, Yi Jisuo
The angle point information of pattern matrix is stated, calculates the outer parameter of camera to be calibrated.
A kind of 8. camera calibration method based on single-frame images according to claim 7, it is characterised in that the demarcation side
Method also includes the processing step of radial distortion and tangential distortion：The intrinsic parameter of calibration for cameras is treated by nonlinear least square method
Nonlinear optimization is carried out with outer parameter.
A kind of 9. camera calibration method based on single-frame images according to claim 8, it is characterised in that the demarcation side
Method also includes parameter optimisation step：Intrinsic parameter, outer parameter and the distortion system of calibration for cameras are treated by nonlinear least square method
Number carries out nonlinear optimization.
10. a kind of camera calibration operating method based on single-frame images, it is characterised in that the proving operation method includes following
Step：
There are several sign structures at one（3）Calibration substrate（1）Corner be respectively provided with least two spherical calibration elements
（2）, the spherical calibration element（2）With the sign structure（3）In same visible surface, and several described sign structures（3）
It is arranged to form the array structure with fixed range（6）, each spherical calibration element（2）Positioned at array structure（6）Outside corner
Side；
Camera to be calibrated gathers a frame uncalibrated image, each spherical calibration element towards the caliberating device（2）To be calibrated
Ellipticity image is projected as in the imaging of camera, the uncalibrated image includes the array image and at least eight with constant spacing
The individual ellipticity image, and the long axis of at least eight ellipticity images intersect；
The uncalibrated image is transmitted to demarcation and handles main frame by camera to be calibrated；
The demarcation processing main frame extracts all ellipticity images from the uncalibrated image, and calculates each ellipse
The long axis of shape image, sat by the principal point of camera to be calibrated described in the intersection point calculation of the long axis of each ellipticity image
Mark parameter.
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