CN108022267A - A kind of camera calibration device and scaling method - Google Patents
A kind of camera calibration device and scaling method Download PDFInfo
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- CN108022267A CN108022267A CN201610929887.1A CN201610929887A CN108022267A CN 108022267 A CN108022267 A CN 108022267A CN 201610929887 A CN201610929887 A CN 201610929887A CN 108022267 A CN108022267 A CN 108022267A
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Abstract
The invention belongs to computer vision field, and in particular to a kind of camera calibration device and scaling method.A kind of camera calibration device, including four straight-bars, there are a tie point for each two straight-bar；Four two two junctions of straight-bar are movable connection；Two opposite straight-bars are parallel.A kind of camera marking method, includes the following steps：Step 1: obtain image；Step 2: determine coordinate system；Step 3: calculate focal length；Step 4: calculate spin matrix and translation vector；Step 5：Calculate translation vector；Step 6: calibration terminates, three-dimensional coordinate is calculated.The present invention can solve the problems, such as camera calibration when target positions in image, realize and carry out inside and outside parameter resolving to video camera, so as to carry out objective positioning according to the two-dimensional signal of target.
Description
Technical field
The invention belongs to computer vision field, and in particular to a kind of camera calibration device and scaling method.
Background technology
Carry out three-dimensional localization to the target in image, the three dimensional local information of demand solution space point and image corresponding points it
Between relation, this relation determines by the parameter of video camera.Traditional scaling method precision is higher, but it needs measurement accuracy
Calibration Field known to high, structure or calibration thing are harsh to Calibration Field requirement as reference, this method, and practicality is not high.It is main
Dynamic vision calibration method needs to know the movable information of video camera, such as camera translation or rotation amount, and this method does not apply to
Situation about having been fixed with camera position.
Self-calibrating method refers to that thing need not be demarcated, and only relies on video camera during the motion between surrounding environment and image
Correspondence asks for the method for camera parameters.This kind of method is easy to operate, still among research.
Have an X-rayed the presence of phenomenon so that spatially projection of two parallel lines on imaging plane is usually not parallel,
They may have an intersection point on the image, this intersection point is known as vanishing point.Using this relation, letter can be carried out to video camera
Easily calibration.Under normal circumstances, traditional calibration algorithm based on vanishing point is required in scene there are 3 groups of mutually orthogonal parallel lines,
The condition is difficult to meet in practical applications.The present invention can adopt because artificially placed 2 groups of mutually orthogonal parallel line apparatus
Camera calibration is carried out with two vanishing point methods, and then three-dimensional localization is carried out to target in image.
The content of the invention
Present invention solves the technical problem that：The present invention the deficiencies of having higher requirements to Calibration Field, is carried in the prior art
For a kind of camera calibration device and scaling method, camera calibration when target positions in image can be solved the problems, such as, realize
Inside and outside parameter resolving is carried out to video camera, so as to carry out objective positioning according to the two-dimensional signal of target.
The technical solution adopted by the present invention：
A kind of camera calibration device, including four straight-bars, there are a tie point, i.e. A, B, C, D tetra- for each two straight-bar
Point, two of which straight-bar is connected in end and A points, two other straight-bar is connected with the two straight-bar bar portions respectively, if AD length
For L；Four two two junctions of straight-bar are movable connection；Two opposite straight-bars are parallel.
A kind of camera marking method, includes the following steps：Step 1: obtain image；Step 2: determine coordinate system；Step
Rapid three, focal length is calculated；Step 4: calculate spin matrix and translation vector；Step 5：Calculate translation vector；Step 6: calibration knot
Beam, calculates three-dimensional coordinate.
The step 1 concretely comprises the following steps：Marker suitable with the field range size that is taken is placed in visual field, is surveyed
The actual range of L is measured, and shooting image is transferred to calculating computer；
The step 1 concretely comprises the following steps：The step 2 concretely comprises the following steps：Caliberating device is placed on and is actually treated
In label space, caliberating device is denoted as ABCD, caliberating device in the picture be imaged as two groups of straight lines, be denoted as ad, bc, ab, cd；
Auvw where marker is denoted as three-dimensional actual coordinates Ro (Auvw), the A points of wherein device are coordinate origin, AB straight lines
With two axis that AD straight lines are Ro coordinate systems；The picture of scene capture where marker is denoted as Rs (ij), is put down for two dimensional image
The imaging quadrangle of areal coordinate system, wherein marker in two dimensional image is abcd, and a points are denoted as the original of two dimensional image coordinate system
Point, the horizontal and vertical directions of two dimensional image are two axis of Rs (ij) coordinate system；Using camera center point O points as origin
Rc (Oijk) be camera coordinate system, the axis of the axis of coordinate system with two dimensional image plane coordinate system；Assuming that camera center O points
On the image be projected as P points；According to Vanishing Point Theory, then two vanishing points are included in image：Straight line ad and bc are extended to respectively
Intersecting, Fu is the vanishing point that straight line ad and bc are formed, and straight line ab and cd is extended to respectively intersecting, and Fv is going out of being formed of ab and cd
Point；Provide V/RFor expressions of the vectorial V under R coordinate systems.
The step 3 concretely comprises the following steps：To calculate focal length f, P points excessively do vertical line in the plane of delineation, perpendicular to straight line
FuFv, intersection point Puv；Because of Δ OPPuvFor right angled triangle, can obtain
Because AB is vertical with AD, then there is OF in image planeu⊥OFv, because it is camera photocentre that vanishing point, which has extremely important property,
Line is parallel with the space parallel lines for forming the vanishing point between vanishing point, i.e. OFu//AD, OFv//AB；Therefore can obtain, straight line FuFv⊥
OPuv、FuFv⊥PPuvAnd FuFV⊥ OP, and Δ OFuFv、ΔOFuPuv、ΔOFvPuvIt is right angled triangle；According to similar pass
System can obtain
Formula (2) is substituted into formula (1), the focal length f for calculating camera is:
The step 4 concretely comprises the following steps：To realize three-dimensional actual coordinates RoTo camera coordinate system RcConversion, need
Calculate spin matrix R and translation vector T；If A is RoOrigin, the unit vector of three reference axis is (u, v, w)；O is Rc
Origin, the unit vector of three reference axis is (i, j, k)；P be image coordinate system origin, the unit vector of two reference axis
For (i, j)；The OF under camera coordinates systemuAnd OFvThe unit vector in direction is respectively u ' and v ', then there is w'=u' × v', thus may be used
Definite coordinate system is Ro’；R is understood by the property of vanishing pointo(u, v, w) and Ro' (u', v', w') three reference axis are parallel to each other,
Therefore RcAnd RoBetween transformation matrix and RoAnd Ro' between transformation matrix it is identical, i.e.,：
Under world coordinate system, it is known that u=(1,0,0), w=(0,0,1), R (u, v, w)=(u', v', w').
Then have
The step 5 concretely comprises the following steps：A is set to the origin of three-dimensional world coordinate system, AP is the one of parallel coordinate axes u direction
Segment length is known as the line segment of L, its projection on the image is A ' P ', and image coordinate is
Cross the straight line L' that A points are done parallel to AP and hand over OP straight lines in point P ",Can according to calculated spin matrix
CalculateIt can be obtained using triangle OA ' P " are similar with OAPAs translation vector.
The step 6 concretely comprises the following steps：Ideally, camera imaging meets pin-hole imaging model；Therefore ignoring
In the case of deviation, relations of any point P under world coordinate system, camera coordinates system and image coordinate system is (7) in space
(8)；In formula, Ro→cFor the spin matrix under world coordinate system to camera coordinate system, T is translation vector, the two is by video camera
Outer parameter determine；Among formula (5) and formula (6), the two parameters have obtained；F is camera focus, can be by formula
(3) obtain, λ is scale factor；Using the relation (7) between world coordinate system and camera coordinate system and image coordinate system with taking the photograph
Relation (8) between camera coordinate system can obtain the relation (9) between two dimensional image and three-dimensional world coordinate system；According to calibration
As a result focal length f and spin matrix R and offset vector T, if obtain image in certain target two-dimensional signal, you can with calculate thirdly
Information is tieed up, that is, completes target positioning；
Beneficial effects of the present invention：
(1) a kind of camera calibration device provided by the invention, it is simple in structure, it is not necessary to high-precision calibrating field；
(2) a kind of camera calibration device and method provided by the invention, for having fixed the video camera of good position not
Camera motion is needed, reduces calibration request, cost is low；
(3) a kind of camera marking method provided by the invention, simple and practicable, easily device is physically easier to perform.
Brief description of the drawings
Fig. 1 is a kind of camera calibration apparatus structure schematic diagram provided by the invention；
Fig. 2 is the Fast Calibration system positioned for target in image；
Fig. 3 is coordinate system correspondence schematic diagram；
Fig. 4 is calculating offset vector schematic diagram.
Embodiment
A kind of camera calibration device and method provided by the invention is made into one with specific embodiment below in conjunction with the accompanying drawings
Step describes in detail：
As shown in Figure 1, a kind of camera calibration device provided by the invention, including four straight-bars, tetra- points of A, B, C, D are
Movable junction, can conveniently adjust.Wherein AB and CD is isometric, and AD is isometric with BC, ensures as two groups of parallel lines；AD distances can
Survey, angle A and angle D locate angled instrument, and two angles of guarantee, which are 90 degree, at adjusting activity can ensure two groups of parallel lines
It is orthogonal.
A kind of camera marking method provided by the invention, includes the following steps：
Step 1: obtain image：
As shown in Fig. 2, marker shown in Fig. 1 suitable with the field range size that is taken is placed in visual field.And require
This two groups of parallel lines are all not parallel to imaging plane.Two inclinometers are adjusted all at 90 degree, that is, ensure that two groups of lines mutually hang down
Directly, measurement obtains the actual range of L.And shooting image is transferred to calculating computer.
Step 2: determine coordinate system：
As shown in figure 3, caliberating device is placed in actual space to be marked, caliberating device is denoted as ABCD, caliberating device
In the picture be imaged as two groups of straight lines, be denoted as ad, bc, ab, cd.Auvw where marker is denoted as three-dimensional actual coordinates
The A points of Ro (Auvw), wherein device are coordinate origin, AB straight lines and two axis that AD straight lines are Ro coordinate systems；
The picture of scene capture where marker is denoted as Rs (ij), is two dimensional image plane coordinate system, wherein marker
Imaging quadrangle in two dimensional image is abcd, and a points are denoted as the origin of two dimensional image coordinate system, two dimensional image it is horizontal and vertical
Straight both direction is two axis of Rs (ij) coordinate system；Rc (Oijk) using camera center point O points as origin is that video camera is sat
Mark system, the axis of the axis of coordinate system with two dimensional image plane coordinate system.Assuming that camera center O points on the image be projected as P points.
According to Vanishing Point Theory, then two vanishing points are included in image：Straight line ad and bc are extended to respectively intersecting, Fu is straight line
The vanishing point that ad and bc are formed, straight line ab and cd is extended to respectively intersecting, and Fv is the vanishing point that ab and cd is formed.Provide V/RFor vector
Expressions of the V under R coordinate systems.If camera center O is projected as P points in the plane of delineation.
Step 3: calculate focal length：
To calculate focal length f, P points excessively do vertical line in the plane of delineation, perpendicular to straight line FuFv, intersection point Puv.Because of Δ OPPuv
For right angled triangle, can obtain
Because AB is vertical with AD, then there is OF in image planeu⊥OFv, because it is camera photocentre that vanishing point, which has extremely important property,
Line is parallel with the space parallel lines for forming the vanishing point between vanishing point, i.e. OFu//AD, OFv//AB.Therefore can obtain, straight line FuFv⊥
OPuv、FuFv⊥PPuvAnd FuFV⊥ OP, and Δ OFuFv、ΔOFuPuv、ΔOFvPuvIt is right angled triangle.According to similar pass
System can obtain
Formula (2) is substituted into formula (1), the focal length f for calculating camera is:
Step 4: calculate spin matrix and translation vector：
To realize three-dimensional actual coordinates RoTo camera coordinate system RcConversion, it is necessary to calculate spin matrix R and translation
Vector T.If A is RoOrigin, the unit vector of three reference axis is (u, v, w)；O is RcOrigin, the unit of three reference axis
Vector is (i, j, k).P is the origin of image coordinate system, and the unit vector of two reference axis is (i, j).Under camera coordinates system
OFuAnd OFvThe unit vector in direction is respectively u ' and v ', then there is w'=u' × v', thus confirmable coordinate system is Ro’.By going out
The property of point understands Ro(u, v, w) and Ro' (u', v', w') three reference axis are parallel to each other, therefore RcAnd RoBetween conversion square
Battle array and RoAnd Ro' between transformation matrix it is identical, i.e.,：
Under world coordinate system, it is known that u=(1,0,0), w=(0,0,1), R (u, v, w)=(u', v', w').
Then have
Step 5：Calculate translation vector.
A is set to the origin of three-dimensional world coordinate system, AP is that a segment length of parallel coordinate axes u direction is known as the line of L
Section, its projection on the image is A ' P ', and image coordinate is
Cross the straight line L' that A points are done parallel to AP and hand over OP straight lines in point P ",According to calculated rotation
Torque battle array can calculateIt can be obtained using triangle OA ' P " are similar with OAPAs translation vector.
Step 5: calibration terminates, three-dimensional coordinate is calculated：
Ideally, camera imaging meets pin-hole imaging model.Therefore it is any in space in the case where ignoring deviation
Relations of the one point P under world coordinate system, camera coordinates system and image coordinate system is (7) and (8).In formula, Ro→cFor world coordinates
It is the spin matrix under camera coordinate system, T is translation vector, the two is determined by the outer parameter of video camera.In formula (5) and
Among formula (6), the two parameters have obtained.F is camera focus, can be obtained by formula (3), λ is scale factor.Utilize generation
Relation (8) of the relation (7) between image coordinate system and camera coordinate system between boundary's coordinate system and camera coordinate system can
Obtain the relation (9) between two dimensional image and three-dimensional world coordinate system.According to the result focal length f of calibration and spin matrix R and partially
Vector T is moved, as long as obtaining the two-dimensional signal of certain target in image, you can to calculate its three-dimensional information, that is, complete target positioning.
Claims (9)
- A kind of 1. camera calibration device, it is characterised in that：Including four straight-bars, each two straight-bar is there are a tie point, i.e., A, 4 points of B, C, D, two of which straight-bar are connected with the two straight-bar bar portions respectively in end connection with A points, two other straight-bar, If AD length is L；Four two two junctions of straight-bar are movable connection；Two opposite straight-bars are parallel.
- A kind of 2. camera marking method, it is characterised in that：Include the following steps：Step 1: obtain image；Step 2: determine Coordinate system；Step 3: calculate focal length；Step 4: calculate spin matrix and translation vector；Step 5：Calculate translation vector；Step 6th, calibration terminates, and calculates three-dimensional coordinate.
- A kind of 3. camera marking method according to claim 2, it is characterised in that：The specific steps of the step 1 For：Marker suitable with the field range size that is taken is placed in visual field, measurement obtains the actual range of L, and shooting image It is transferred to calculating computer.
- A kind of 4. camera marking method according to claim 1 or 3, it is characterised in that：It is required that this two groups of parallel lines are all It is not parallel to imaging plane.
- A kind of 5. camera marking method according to claim 2, it is characterised in that：The specific steps of the step 1 For：The step 2 concretely comprises the following steps：Caliberating device is placed in actual space to be marked, caliberating device is denoted as ABCD, Caliberating device in the picture be imaged as two groups of straight lines, be denoted as ad, bc, ab, cd；Auvw where marker is denoted as three-dimensional real The A points of border coordinate system Ro (Auvw), wherein device are coordinate origin, AB straight lines and two axis that AD straight lines are Ro coordinate systems； The picture of scene capture where marker is denoted as Rs (ij), is two dimensional image plane coordinate system, wherein marker is in X-Y scheme As inner imaging quadrangle is abcd, a points are denoted as the origin of two dimensional image coordinate system, horizontal and vertical two sides of two dimensional image To two axis for Rs (ij) coordinate system；It is the Rc (Oijk) of origin for camera coordinate system using camera center point O points, coordinate Axis of the axis of system with two dimensional image plane coordinate system；Assuming that camera center O points on the image be projected as P points；According to vanishing point Theory, then include two vanishing points in image：Straight line ad and bc are extended to respectively it is intersecting, Fu be straight line ad and bc formed go out Point, straight line ab and cd is extended to respectively intersecting, and Fv is the vanishing point that ab and cd are formed；Provide V/RIt is vectorial V under R coordinate systems Represent.
- A kind of 6. camera marking method according to claim 2, it is characterised in that：The specific steps of the step 3 For：To calculate focal length f, P points excessively do vertical line in the plane of delineation, perpendicular to straight line FuFv, intersection point Puv；Because of Δ OPPuvTo be straight Angle triangle, can obtainBecause AB is vertical with AD, then there is OF in image planeu⊥OFv, because vanishing point has extremely important property for camera photocentre and goes out Line is parallel with the space parallel lines for forming the vanishing point between point, i.e. OFu//AD, OFv//AB；Therefore can obtain, straight line FuFv⊥OPuv、 FuFv⊥PPuvAnd FuFV⊥ OP, and Δ OFuFv、ΔOFuPuv、ΔOFvPuvIt is right angled triangle；Can according to similarity relationFormula (2) is substituted into formula (1), the focal length f for calculating camera is:
- A kind of 7. camera marking method according to claim 2, it is characterised in that：The specific steps of the step 4 For：To realize three-dimensional actual coordinates RoTo camera coordinate system RcConversion, it is necessary to calculate spin matrix R and translation vector T；If A is RoOrigin, the unit vector of three reference axis is (u, v, w)；O is RcOrigin, the unit vector of three reference axis For (i, j, k)；P is the origin of image coordinate system, and the unit vector of two reference axis is (i, j)；The OF under camera coordinates systemuWith OFvThe unit vector in direction is respectively u ' and v ', then there is w'=u' × v', thus confirmable coordinate system is Ro’；By vanishing point Property understands Ro(u, v, w) and Ro' (u', v', w') three reference axis are parallel to each other, therefore RcAnd RoBetween transformation matrix and Ro And Ro' between transformation matrix it is identical, i.e.,：Under world coordinate system, it is known that u=(1,0,0), w=(0,0,1), R (u, v, w)=(u', v', w').Then have
- A kind of 8. camera marking method according to claim 2, it is characterised in that：The specific steps of the step 5 For：A is set to the origin of three-dimensional world coordinate system, AP is that a segment length of parallel coordinate axes u direction is known as the line segment of L, its Projection on the image is A ' P ', and image coordinate isCross A points do parallel to The straight line L' of AP hands over OP straight lines in point P ",It can be calculated according to calculated spin matrixIt can be obtained using triangle OA ' P " are similar with OAPAs translation vector.
- A kind of 9. camera marking method according to claim 2, it is characterised in that：The specific steps of the step 6 For：Ideally, camera imaging meets pin-hole imaging model；Therefore in the case where ignoring deviation, any point P in space Relation under world coordinate system, camera coordinates system and image coordinate system is (7) and (8)；In formula, Ro→cArrived for world coordinate system Spin matrix under camera coordinate system, T are translation vector, the two is determined by the outer parameter of video camera；In formula (5) and formula (6) among, the two parameters have obtained；F is camera focus, can be obtained by formula (3), λ is scale factor；Sat using the world Relation (8) of the relation (7) between image coordinate system and camera coordinate system between mark system and camera coordinate system is available Relation (9) between two dimensional image and three-dimensional world coordinate system；According to the result focal length f of calibration and spin matrix R and offset to T is measured, as long as obtaining the two-dimensional signal of certain target in image, you can to calculate its three-dimensional information, that is, complete target positioning；
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| CN109215088A (en) * | 2018-09-04 | 2019-01-15 | 云南大学 | Utilize the method for public self-polar triangle calibration pinhole camera |
| CN109272454A (en) * | 2018-07-27 | 2019-01-25 | 阿里巴巴集团控股有限公司 | A kind of the coordinate system calibration method and device of augmented reality equipment |
| CN109934878A (en) * | 2019-03-25 | 2019-06-25 | 合肥工业大学 | A kind of linear calibration's system and method based on camera coordinates system |
| CN111340891A (en) * | 2020-02-25 | 2020-06-26 | 卡莱特（深圳）云科技有限公司 | Method and system for calibrating camera by using LED screen |
| CN111426451A (en) * | 2020-03-18 | 2020-07-17 | 深圳市德斯戈智能科技有限公司 | Rapid combined calibration method for multiple 3D cameras |
| CN112200876A (en) * | 2020-12-02 | 2021-01-08 | 深圳市爱夫卡科技股份有限公司 | 5D four-wheel positioning calibration system and calibration method |
| CN113313768A (en) * | 2021-05-27 | 2021-08-27 | 华南理工大学 | Global space scale measurement method based on two vanishing points and local object scale |
| WO2022033421A1 (en) * | 2020-08-14 | 2022-02-17 | 深圳市瑞立视多媒体科技有限公司 | Method and apparatus for screening calibration rod data, and computer device |
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| CN111340891A (en) * | 2020-02-25 | 2020-06-26 | 卡莱特（深圳）云科技有限公司 | Method and system for calibrating camera by using LED screen |
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| CN111426451A (en) * | 2020-03-18 | 2020-07-17 | 深圳市德斯戈智能科技有限公司 | Rapid combined calibration method for multiple 3D cameras |
| WO2022033421A1 (en) * | 2020-08-14 | 2022-02-17 | 深圳市瑞立视多媒体科技有限公司 | Method and apparatus for screening calibration rod data, and computer device |
| CN112200876A (en) * | 2020-12-02 | 2021-01-08 | 深圳市爱夫卡科技股份有限公司 | 5D four-wheel positioning calibration system and calibration method |
| CN112200876B (en) * | 2020-12-02 | 2021-06-08 | 深圳市爱夫卡科技股份有限公司 | Calibration method of 5D four-wheel positioning calibration system |
| CN113313768A (en) * | 2021-05-27 | 2021-08-27 | 华南理工大学 | Global space scale measurement method based on two vanishing points and local object scale |
| CN113313768B (en) * | 2021-05-27 | 2023-06-20 | 华南理工大学 | Global space scale measurement method based on two vanishing points and local object scale |
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