CN109816735A - A kind of Fast Calibration and bearing calibration and its TOF camera - Google Patents

A kind of Fast Calibration and bearing calibration and its TOF camera Download PDF

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CN109816735A
CN109816735A CN201910068610.8A CN201910068610A CN109816735A CN 109816735 A CN109816735 A CN 109816735A CN 201910068610 A CN201910068610 A CN 201910068610A CN 109816735 A CN109816735 A CN 109816735A
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wiggling
distance value
integration
fppn
correction
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CN109816735B (en
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瞿喜锋
王彤
周旭廷
孙小旭
张如意
郭庆洪
张强
于振中
李文兴
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HRG International Institute for Research and Innovation
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Abstract

The present invention relates to a kind of Fast Calibration and bearing calibration and its TOF camera, include the following steps: the related data under (1) acquisition TOF camera fixed frequency, including depth value image, integral time value, actual distance Value Data;(2) processing operation is carried out to the data obtained in step 1, generates associated calibration parameter, including global deviation and wiggling look-up table, FPPN look-up table;(3) the associated calibration parameter generated according to step 2 carries out range correction, including pretreatment, wiggling correction, FPPN correction to TOF camera.The principle of the invention is simple, easy to operate, can not only guarantee the measurement accuracy with higher of TOF camera, and can satisfy the rate request of correction course, is very suitable to engineer application.

Description

A kind of Fast Calibration and bearing calibration and its TOF camera
Technical field
The present invention relates to a kind of bearing calibration and a kind of camera, more particularly, to a kind of Fast Calibration and bearing calibration and Its TOF camera.
Background technique
With the continuous development of computer vision technique, it is based on the depth camera application of TOF (TimeofFlight) technology It is increasingly wider.It uses low cost CMOS pixel array and active modulated light source technology, issues modulated near-infrared through light source Light meets object back reflection, and sensor passes through time difference or the phase difference for calculating light emitting and reflection, to obtain the three dimensional field depth of field Spend information.While obtaining depth information, TOF camera can also obtain the grayscale information of extraterrestrial target.TOF technology has high-precision Degree, high frame per second do not depend on the features such as environment light, low cost, are the important milestones of computer vision field.
Due to the difference between the characteristic and component of the image-forming principle of TOF camera, the data obtained often exist Certain error needs to demarcate it.The principal element for causing TOF camera to generate error has: 1. odd harmonics are (also known as " Wiggling ") caused by periodic error.Due to hardware limitation, the signal emitted is not the waveform of complete standard, this One can be generated related with measured value to be serially offset.2. error caused by the different times of integration.The time of integration is also known as " exposure Time ", error size caused by the different times of integration are variant.Especially the time of integration is too large or too small, will lead to " mistake Expose " or " under-exposure ", cause very big measurement error.3. stationary phase deviation (also known as " FPPN " (FixedPhasePatternNoise)) error caused by.Have due to the difference for designing or producing, between pixel and pixel thin Micro- difference needs the offset to each pixel to be corrected.In addition there are it is many influence TOF camera measurement errors it is external because Element, such as environment temperature, mixed reflection light, object shape, reflectivity etc..
Although some calibration and bearing calibration exists in the prior art, as Chinese patent application (application number: CN2015108533668) a kind of calibration of TOF camera and correction system and its apparatus and method for are disclosed, this method includes following step Rapid: the time of integration of a TOF camera is arranged in (A);(B) calculate relevant parameter;(C) according to relevant parameter, acquisition is suitable for when integrating Between;(D) obtains the measured value under the suitable time of integration, and compared with actual value, obtains calibrated error value.One TOF camera Correction system, including a calibration unit and a correction unit;Wherein the calibration unit obtains the suitable integral of the TOF camera Time, to obtain stable calibrated error, the correction unit corrects the calibrated error of the calibration unit.
However, more and not exclusively mutually indepedent due to causing TOF camera to generate error component, thus demarcating steps and Its is cumbersome.How under the premise of meeting the rate request of certain measurement accuracy requirement and correction course, TOF camera is marked Fixed and correction becomes critical issue in TOF camera R&D process.
In addition, the method that existing method mainly uses single argument to correct, respectively by different influence factor progress Correction.Although this method precision is higher, complex steps, and will lead to the variable dimension mistake in TOF camera correction course Height influences the speed of service of correcting algorithm.
Summary of the invention
In order to overcome the shortcomings of that above method, the present invention disclose a kind of simple and practical TOF camera Fast Calibration and correction Method.This method chooses the wiggling being affected to TOF camera measurement error, the time of integration, stationary phase deviation The factors such as FPPN, and its range error result is saved in a manner of look-up table.In this way, can not only guarantee The measurement accuracy with higher of TOF camera, and can satisfy the rate request of correction course.
Its technical solution is as follows:
A kind of Fast Calibration and bearing calibration, it is characterized in that: include the following steps:
Step 1: the related data under acquisition TOF camera fixed frequency, including it is depth value image, integral time value, true Distance value data;
Step 2: processing operation being carried out to the data obtained in step 1, generates associated calibration parameter, including global deviation With wiggling look-up table, FPPN look-up table;
Step 3: the associated calibration parameter generated according to step 2 carries out range correction to TOF camera, including pre-process, Wiggling correction, FPPN correction.
Preferably, TOF camera resolution ratio employed in the step 1 is 240*320;
Preferably, TOF camera related data is acquired in the step 1 includes following steps:
The TOF camera minimum integration time is arranged in (1a).
The time of integration of (1b) fixed TOF camera, measured object are white plane, and it is straight to choose measuring distance at equal intervals Distance is measured to maximum under the modulating frequency is reached.According to the above method, the survey of pixel center point under each measuring distance is recorded Measure distance value data n times.
(1c) changes the time of integration of TOF camera, repeats step (1b), and wherein the time of integration is chosen at equal intervals until reaching The maximum time of integration of TOF camera.
(1d) many experiments show FPPN and the time of integration and distance without obvious relation.Therefore suitable distance is chosen, suitably The time of integration records m amplitude deepness image.
Preferably, processing operation is carried out to the data obtained in step 1 in the step 2, generates associated calibration parameter packet Include following steps:
(2a) calculates global deviation.The electric delay due to caused by illumination driving circuit and electro-optic conversion, each modulating frequency Under all have constant offset amount.By global deviation, measurement data is normalized, data is allowed more easily to handle.To step (1b), step (1c) measurement distance value obtained are averaging processing.The suitable measuring distance of appropriate integration time is chosen, it will Measurement distance value average value subtracts actual distance value, obtains global deviation, calculation formula are as follows:
Pglobal_offset=Mrawdistance-Crealdistance
(Ⅰ)
Wherein, Pglobal_offsetFor global deviation, MrawdistanceTo measure distance value average value, CrealdistanceIt is true Real distance value.
(2b) generates wiggling look-up table.Step (1b), step (1c) were chosen under all times of integration, it is obtained Measurement distance average subtracts global deviation in step (2a), and makes the difference with actual distance value, and the time of integration can be obtained The range error value of the lower measurement point.To a certain time of integration, error information is fitted using cubic algebraic curves, is obtained Distribution curve of the range error value about measurement distance value under to the time of integration.According to distribution curve, in the measurement of TOF camera Distance range measures distance value at interval of corresponding to xmm to acquiring under a certain time of integration since minimum measures distance value Range error value, until reaching maximum measurement distance value, and range error value corresponding to each measurement distance value is suitable by arranging Sequence successively saves.Aforesaid operations are carried out for all times of integration, data corresponding to the corresponding time of integration save as a line. All data preservations obtained above are arrived into Wiggling lookup file at file.
(2c) generates FPPN look-up table.Firstly, the m amplitude deepness image obtained in step (1d) carries out average value processing, so The global deviation that is generated afterwards according to step (2a), step (2b), wiggling look-up table, to average value treated depth map As carrying out global deviation compensation, the correction of wiggling deviation.Since measurement object is white plane, according to camera pinhole imaging system Principle, the actual distance value as corresponding to central point pixel can calculate each pixel actual distance value of depth map, Calculation formula is as follows:
Wherein, Base (r, c) is the actual distance value that pixel coordinate is (r, c), (xcenter,ycenter) it is depth image Central point pixel coordinate, D (xcenter,ycenter) centered on put pixel actual distance value, lpixelFor TOF camera sensitive component Pixel dimension, f are the focal length of TOF camera, above-mentioned variable unit Jun Wei ㎜.
The FPPN deviation of all pixels calculates as follows:
DFPPN_offset(r, c)=Dcalculated(r,c)-Base(r,c);(Ⅲ)
Wherein, DFPPN(r, c) is the deviation for the FPPN that pixel coordinate is (r, c), Dcalculated(r, c) is pixel Coordinate is the distance value of (r, c) after global deviation compensation, the correction of wiggling deviation, and Base (r, c) is image plane vegetarian refreshments Coordinate is the actual distance value of (r, c).The each pixel FPPN deviation being calculated is saved by pixel dot sequency into file, Obtain FPPN lookup file.
Preferably, TOF camera is corrected in the step 3 the following steps are included:
(3a) pretreatment.The each measurement distance value of the depth image collected is subjected to global deviation compensation, meter Calculate formula are as follows:
Dpreprocessed(r, c)=Drawdistance(r,c)-Pglobal_offset
(Ⅳ)
Wherein Dpreprocessed(r, c) is the distance value by pretreated pixel coordinate for (r, c), Drawdistance (r, c) pixel coordinate is the measurement distance value of (r, c), Pglobal_offsetFor global deviation.
(3b) wiggling correction.According to the wiggling lookup file that step (2b) is generated, TOF camera is first determined whether Whether the set time of integration is in wiggling look-up table, if in a lookup table, continuing judgment step (3a) pretreatment Whether the distance value obtained afterwards is in wiggling look-up table, if in a lookup table, obtained after pre-processing under the time of integration Range error corresponding to the distance value arrived can be obtained in wiggling look-up table.Secondly, if product set by TOF camera The distance value obtained between timesharing and after step (3a) pretreatment is not complete in a lookup table, then first calculates the integral being close in table Then time, distance value carry out linear interpolation calculating, can finally obtain under the time of integration, obtain after step (3a) pretreatment Distance value corresponding to range error value.It carries out wiggling and corrects calculation formula are as follows:
Dwiggling(r, c)=Dpreprocessed(r,c)-Dwiggling_offset(r,c)
(Ⅴ)
Wherein, (r, c) is corresponding pixel coordinate point coordinate, Dwiggling(r,c)、Dpreprocessed(r,c)、 Dwiggling_offset(r, c) be respectively the distance value obtained after wiggling correction under the pixel coordinate, obtain after pretreatment away from From value, the wiggling deviation obtained.
(3c) FPPN correction.According to the FPPN look-up table that step (2c) is generated, to the progress school wiggling in step (3a) Each pixel distance after just carries out FPPN correction, its calculation formula is:
Dout(r, c)=Dwiggling(r,c)-DFPPN_offset(r,c)
(Ⅵ)
Wherein, (r, c) is corresponding pixel coordinate point coordinate, Dout(r,c)、Dwiggling(r,c)、DFPPN_offset(r,c) Respectively under the pixel coordinate FPPN correction after obtain distance value, wiggling correction after obtain distance value, FPPN deviation Value.Image of distance values after can finally being corrected.
The utility model has the advantages that
The present invention is directed to TOF camera, proposes a kind of simple scaling method.It is compared with other methods, the method principle letter It is single, it is easy to operate, it can not only guarantee the measurement accuracy with higher of TOF camera, and can satisfy the speed of correction course Degree requires.Largely the experimental results showed that, the method significant effect is very suitable to engineer application.
Detailed description of the invention
Fig. 1 is the 500us time of integration of the present invention to measure distance and error amount cubic algebraic curves matched curve figure.
Fig. 2 is the measurement plane comparison diagram after datum level and wiggling correction of the present invention.
Fig. 3 is correction course flow chart of the present invention.
Specific embodiment
As shown in Figure 1-3, a kind of Fast Calibration and bearing calibration, it is characterized in that: include the following steps:
Step 1: acquisition TOF camera fixed frequency is the related data under 40MHz, including depth value image, the time of integration Value, actual distance Value Data;
Step 2: processing operation being carried out to the data obtained in step 1, generates associated calibration parameter, including global deviation With wiggling look-up table, FPPN look-up table;
Step 3: the associated calibration parameter generated according to step 2 carries out range correction to TOF camera, including pre-process, Wiggling correction, FPPN correction.
TOF camera resolution ratio employed in the step 1 is 240*320;
It includes following steps that TOF camera related data is acquired in the step 1:
The TOF camera time of integration is arranged as minimum integration time 50us in (1a).
The time of integration of (1b) fixed TOF camera, measured object are white plane, at equal intervals 10cm choose test away from From until reaching maximum measurement distance 3750mm under 40MHz.According to the above method, pixel center point under each measuring distance is recorded Measurement distance value data 100 times.
(1c) change TOF camera the time of integration, repeat step (1b), wherein the time of integration at equal intervals 50us choose until Reach the maximum time of integration 600us of TOF camera.
(1d) many experiments show FPPN and the time of integration and distance without obvious relation.Therefore it chooses suitable actual range and is 40cm, the suitable time of integration are 500us, record 50 amplitude deepness images.
Preferably, processing operation is carried out to the data obtained in step 1 in the step 2, generates associated calibration parameter packet Include following steps:
(2a) calculates global deviation.The electric delay due to caused by illumination driving circuit and electro-optic conversion, each modulating frequency Under all have constant offset amount.By global deviation, measurement data is normalized, data is allowed more easily to handle.To step (1b), step (1c) measurement distance value obtained are averaging processing.The suitable measuring distance of appropriate integration time is chosen, it will Measurement distance value average value subtracts actual distance value, obtains global deviation, calculation formula are as follows:
Pglobal_offset=Mrawdistance-Crealdistance
(Ⅰ)
Wherein, Pglobal_offsetFor global deviation, MrawdistanceTo measure distance value average value, CrealdistanceIt is true Real distance value.Here choosing the time of integration is 500us, measuring distance 400mm.
(2b) generates wiggling look-up table.Step (1b), step (1c) were chosen under all times of integration, it is obtained Measurement distance average subtracts global deviation in step (2a), and makes the difference with actual distance value, and the time of integration can be obtained The range error value of the lower measurement point.To a certain time of integration, error information is fitted using cubic algebraic curves, is obtained Distribution curve of the range error value about measurement distance value under to the time of integration.As shown in Figure 1, being 500us to the time of integration When, error information is fitted using cubic algebraic curves, part of the obtained range error value about measurement distance value Distribution curve.
According to distribution curve, in the measurement distance range of TOF camera, since minimum measures distance value, to a certain integral Measurement distance value is acquired under time and measures distance value until reaching maximum at interval of range error value corresponding to 5mm, and will be every Range error value column major order corresponding to a measurement distance value successively saves.Aforesaid operations are carried out for all times of integration, Data corresponding to the corresponding time of integration save as a line.All data preservations obtained above are arrived at file Wiggling lookup file.
(2c) generates FPPN look-up table.Firstly, 50 amplitude deepness images obtained in step (1d) carry out average value processing, so The global deviation that is generated afterwards according to step (2a), step (2b), wiggling look-up table, to average value treated depth map As carrying out global deviation compensation, the correction of wiggling deviation.Since measurement object is white plane, according to camera pinhole imaging system Principle, the actual distance value as corresponding to central point pixel can calculate each pixel actual distance value of depth map, Calculation formula is as follows:
Wherein, Base (r, c) is the actual distance value that pixel coordinate is (r, c), (xcenter,ycenter) it is depth image Central point pixel coordinate, D (xcenter,ycenter) centered on put pixel actual distance value, lpixelFor TOF camera sensitive component Pixel dimension, f are the focal length of TOF camera, above-mentioned variable unit Jun Wei ㎜.
The FPPN deviation of all pixels calculates as follows:
DFPPN_offset(r, c)=Dcalculated(r,c)-Base(r,c);
(Ⅲ)
Wherein, DFPPN(r, c) is the deviation for the FPPN that pixel coordinate is (r, c), Dcalculated(r, c) is pixel Coordinate is the distance value of (r, c) after global deviation compensation, the correction of wiggling deviation, and Base (r, c) is image plane vegetarian refreshments Coordinate is the actual distance value of (r, c).As shown in Fig. 2, the time of integration is 500us, and when actual distance is 625mm, obtained mesh The actual distance plane for marking the white wall of object and the distance value plane comparison after global deviation compensation, the correction of wiggling deviation Figure.The each pixel FPPN deviation being calculated is arrived into FPPN lookup file at file by the preservation of pixel dot sequency.
TOF camera is corrected in the step 3 the following steps are included:
(3a) pretreatment.The each measurement distance value of the depth image collected is subjected to global deviation compensation, meter Calculate formula are as follows:
Dpreprocessed(r, c)=Drawdistance(r,c)-Pglobal_offset
(Ⅳ)
Wherein Dpreprocessed(r, c) is the distance value by pretreated pixel coordinate for (r, c), Drawdistance (r, c) pixel coordinate is the measurement distance value of (r, c), Pglobal_offsetFor global deviation.
(3b) wiggling correction.According to the wiggling lookup file that step (2b) is generated, TOF camera is first determined whether Whether the set time of integration is in wiggling look-up table, if in a lookup table, continuing judgment step (3a) pretreatment Whether the distance value obtained afterwards is in wiggling look-up table, if in a lookup table, obtained after pre-processing under the time of integration Range error value corresponding to the distance value arrived can be obtained in wiggling look-up table.Secondly, if set by TOF camera The distance value obtained after the time of integration and step (3a) pretreatment is not complete in a lookup table, then first calculates the product being close in table Between timesharing, distance value, then carry out linear interpolation calculating, can finally obtain under the time of integration, step (3a) pretreatment after Range error value corresponding to the distance value arrived.It carries out wiggling and corrects calculation formula are as follows:
Dwiggling(r, c)=Dpreprocessed(r,c)-Dwiggling_offset(r,c)
(Ⅴ)
Wherein, (r, c) is corresponding pixel coordinate point coordinate, Dwiggling(r,c)、Dpreprocessed(r,c)、 Dwiggling_offset(r, c) be respectively the distance value obtained after wiggling correction under the pixel coordinate, obtain after pretreatment away from From value, the wiggling range error value obtained.
(3c) FPPN correction.According to the FPPN look-up table that step (2c) is generated, to the progress school wiggling in step (3a) Each pixel distance after just carries out FPPN correction, its calculation formula is:
Dout(r, c)=Dwiggling(r,c)-DFPPN_offset(r,c)
(Ⅵ)
Wherein, (r, c) is corresponding pixel coordinate point coordinate, Dout(r,c)、Dwiggling(r,c)、DFPPN_offset(r,c) Respectively under the pixel coordinate FPPN correction after obtain distance value, wiggling correction after obtain distance value, FPPN deviation Value.Image of distance values after can finally being corrected.Entire correcting process is as shown in Figure 3.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and what is described in the above embodiment and the description is only the present invention Principle, various changes and improvements may be made to the invention without departing from the spirit and scope of the present invention, these variation and Improvement is both fallen in the range of claimed invention.The present invention claims protection scope by appended claims and its Equivalent defines.

Claims (6)

1. a kind of Fast Calibration and bearing calibration, it is characterized in that: include the following steps:
Step 1: the related data under acquisition TOF camera fixed frequency, including depth value image, integral time value, actual distance Value Data;
Step 2: processing operation being carried out to the data obtained in step 1, generates associated calibration parameter, including calculates global deviation With generation wiggling look-up table, generation FPPN look-up table;
Step 3: the associated calibration parameter generated according to step 2 carries out range correction to TOF camera, including what will be collected The each measurement distance value of depth image carries out global deviation compensation pretreatment, wiggling correction, FPPN correction.
2. a kind of Fast Calibration according to claim 1 and bearing calibration, which is characterized in that employed in the step 1 TOF camera resolution ratio be 240*320.
3. a kind of Fast Calibration according to claim 1 and bearing calibration, which is characterized in that acquire TOF in the step 1 Camera related data includes following steps:
The TOF camera minimum integration time is arranged in (1a);
The time of integration of (1b) fixed TOF camera, measured object are white plane, choose measuring distance at equal intervals until arriving Maximum measurement distance, records the measurement distance value data n times of pixel center point under each measuring distance under up to the modulating frequency;
(1c) changes the time of integration of TOF camera, repeats step (1b), and wherein the time of integration is chosen at equal intervals until reaching TOF The maximum time of integration of camera;
(1d), without obvious relation, therefore chooses suitable distance by FPPN and the time of integration and distance, and the suitable time of integration records m Amplitude deepness image.
4. a kind of Fast Calibration according to claim 3 and bearing calibration, which is characterized in that step 1 in the step 2 The data of middle acquisition carry out processing operation, generate associated calibration parameter the following steps are included:
(2a) calculates global deviation, the electric delay due to caused by illumination driving circuit and electro-optic conversion, under each modulating frequency All there is constant offset amount normalize measurement data by global deviation, data is allowed more easily to handle;To step (1b), step (1c) measurement distance value obtained are averaging processing;The suitable measuring distance of appropriate integration time is chosen, it will Measurement distance value average value subtracts actual distance value, obtains global deviation, calculation formula are as follows:
Pglobal_offset=Mrawdistance-Crealdistance
(Ⅰ)
Wherein, Pglobal_offsetFor global deviation, MrawdistanceTo measure distance value average value, CrealdistanceFor really away from From value;
(2b) generates wiggling look-up table, chooses under all times of integration to step (1b), step (1c), obtained measurement Distance average subtracts global deviation in step (2a), and makes the difference with actual distance value, and can be obtained should under the time of integration The range error value of measurement point;To a certain time of integration, error information is fitted using cubic algebraic curves, is somebody's turn to do Distribution curve of the range error value about measurement distance value under the time of integration, according to distribution curve, in the measurement distance of TOF camera Range, since minimum measure distance value, to acquired under a certain time of integration measurement distance value at interval of corresponding to x mm away from From error amount, until reaching maximum measurement distance value, and by range error value column major order corresponding to each measurement distance value It successively saves, aforesaid operations is carried out for all times of integration, data corresponding to the corresponding time of integration save as a line;It will All data preservations obtained above arrive Wiggling lookup file at file;
(2c) generates FPPN look-up table;Firstly, the m amplitude deepness image obtained in step (1d) carries out average value processing, then root The global deviation that is generated according to step (2a), step (2b), wiggling look-up table, to average value treated depth image into Row overall situation deviation compensation, the correction of wiggling deviation;It is former according to camera pinhole imaging system since measurement object is white plane Reason, the actual distance value as corresponding to central point pixel can calculate each pixel actual distance value of depth map, count It is as follows to calculate formula:
Wherein, Base (r, c) is the actual distance value that pixel coordinate is (r, c), (xcenter,ycenter) it is depth image center Point pixel coordinate, D (xcenter,ycenter) centered on put pixel actual distance value, lpixelFor the pixel of TOF camera sensitive component Size, f are the focal length of TOF camera, above-mentioned variable unit Jun Wei ㎜;
The FPPN deviation of all pixels calculates as follows:
DFPPN_offset(r, c)=Dcalculated(r,c)-Base(r,c);
(Ⅲ)
Wherein, DFPPN(r, c) is the deviation for the FPPN that pixel coordinate is (r, c), Dcalculated(r, c) is pixel coordinate For the distance value of (r, c) after global deviation compensation, the correction of wiggling deviation, Base (r, c) is image plane vegetarian refreshments coordinate For the actual distance value of (r, c);By each pixel FPPN deviation being calculated by pixel dot sequency save at file to get To FPPN lookup file.
5. a kind of Fast Calibration according to claim 1 and bearing calibration, which is characterized in that TOF phase in the step 3 Machine be corrected the following steps are included:
(3a) pretreatment;The each measurement distance value of the depth image collected is subjected to global deviation compensation, is calculated public Formula are as follows:
Dpreprocessed(r, c)=Drawdistance(r,c)-Pglobal_offset
(Ⅳ)
Wherein Dpreprocessed(r, c) is the distance value by pretreated pixel coordinate for (r, c), Drawdistance(r,c) Pixel coordinate is the measurement distance value of (r, c), Pglobal_offsetFor global deviation;
(3b) wiggling correction;According to the wiggling lookup file that step (2b) is generated, first determine whether set by TOF camera The time of integration is set whether in wiggling look-up table, if in a lookup table, obtained after continuing judgment step (3a) pretreatment To distance value whether in wiggling look-up table, if in a lookup table, obtained after being pre-processed under the time of integration Range error value corresponding to distance value can be obtained in wiggling look-up table;Secondly, if the set integral of TOF camera The distance value obtained after time and step (3a) pretreatment is not complete in a lookup table, then when first calculating the integral being close in table Between, distance value, then carry out linear interpolation calculating, can finally obtain under the time of integration, obtained after step (3a) pretreatment Range error value corresponding to distance value;It carries out wiggling and corrects calculation formula are as follows:
Dwiggling(r, c)=Dpreprocessed(r,c)-Dwiggling_offset(r,c)
(Ⅴ)
Wherein, (r, c) is corresponding pixel coordinate point coordinate, Dwiggling(r,c)、Dpreprocessed(r,c)、Dwiggling_offset (r, c) is respectively the distance value obtained after wiggling correction under the pixel coordinate, the distance value obtained after pretreatment, obtains Wiggling deviation;
(3c) FPPN correction;According to the FPPN look-up table that step (2c) is generated, after carrying out wiggling correction in step (3a) Each pixel distance carry out FPPN correction, its calculation formula is:
Dout(r, c)=Dwiggling(r,c)-DFPPN_offset(r,c)
(Ⅵ)
Wherein, (r, c) is corresponding pixel coordinate point coordinate, Dout(r,c)、Dwiggling(r,c)、DFPPN_offset(r, c) is respectively Under the pixel coordinate FPPN correction after obtain distance value, wiggling correction after obtain distance value, FPPN deviation;Finally Image of distance values after being corrected.
6. a kind of TOF camera, it is characterized in that: including the claims the 1-5 any Fast Calibration and bearing calibration.
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CN111624580A (en) * 2020-05-07 2020-09-04 Oppo广东移动通信有限公司 Correction method, correction device and correction system of flight time module
CN112346034A (en) * 2020-11-12 2021-02-09 北京理工大学 Three-dimensional solid-state area array laser radar combination calibration method
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CN113192144A (en) * 2021-04-22 2021-07-30 上海炬佑智能科技有限公司 ToF module parameter correction method, ToF device and electronic equipment
CN113504530A (en) * 2021-05-08 2021-10-15 奥比中光科技集团股份有限公司 Depth camera safety control method and device and ToF depth camera
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CN111508011A (en) * 2020-04-16 2020-08-07 北京深测科技有限公司 Depth data calibration method of flight time camera
CN111562562A (en) * 2020-04-28 2020-08-21 重庆市天实精工科技有限公司 3D imaging module calibration method based on TOF
CN111562562B (en) * 2020-04-28 2023-04-14 重庆市天实精工科技有限公司 3D imaging module calibration method based on TOF
CN111624580A (en) * 2020-05-07 2020-09-04 Oppo广东移动通信有限公司 Correction method, correction device and correction system of flight time module
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CN112532970B (en) * 2020-10-26 2022-03-04 奥比中光科技集团股份有限公司 Tap non-uniformity correction method and device of multi-tap pixel sensor and TOF camera
CN112532970A (en) * 2020-10-26 2021-03-19 奥比中光科技集团股份有限公司 Tap non-uniformity correction method and device of multi-tap pixel sensor and TOF camera
CN112346034A (en) * 2020-11-12 2021-02-09 北京理工大学 Three-dimensional solid-state area array laser radar combination calibration method
CN112346034B (en) * 2020-11-12 2023-10-27 北京理工大学 Three-dimensional solid-state area array laser radar combined calibration method
WO2022127646A1 (en) * 2020-12-15 2022-06-23 深圳市灵明光子科技有限公司 Camera calibration method, camera, and computer-readable storage medium
CN112782676A (en) * 2021-01-26 2021-05-11 奥比中光科技集团股份有限公司 Optical fiber calibration system and method
CN113192144A (en) * 2021-04-22 2021-07-30 上海炬佑智能科技有限公司 ToF module parameter correction method, ToF device and electronic equipment
CN113504530A (en) * 2021-05-08 2021-10-15 奥比中光科技集团股份有限公司 Depth camera safety control method and device and ToF depth camera
CN113760539A (en) * 2021-07-29 2021-12-07 珠海视熙科技有限公司 TOF camera depth data processing method, terminal and storage medium
CN114998450A (en) * 2022-06-21 2022-09-02 豪威科技(武汉)有限公司 TOF camera calibration method and system

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