CN111754587B - Zoom lens rapid calibration method based on single-focus focusing shooting image - Google Patents
Zoom lens rapid calibration method based on single-focus focusing shooting image Download PDFInfo
- Publication number
- CN111754587B CN111754587B CN202010595774.9A CN202010595774A CN111754587B CN 111754587 B CN111754587 B CN 111754587B CN 202010595774 A CN202010595774 A CN 202010595774A CN 111754587 B CN111754587 B CN 111754587B
- Authority
- CN
- China
- Prior art keywords
- focal length
- image
- focusing
- zoom lens
- calibration
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000005457 optimization Methods 0.000 claims abstract description 28
- 239000011159 matrix material Substances 0.000 claims description 9
- 230000003287 optical effect Effects 0.000 claims description 7
- 238000013519 translation Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 5
- 238000012937 correction Methods 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 3
- 230000003247 decreasing effect Effects 0.000 claims description 3
- 238000009499 grossing Methods 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Landscapes
- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Studio Devices (AREA)
Abstract
The invention relates to a zoom lens rapid calibration method based on single-focus focusing shooting images. The invention has the beneficial effects that: for the combined setting of any focal length and focusing, the calculation of parameters and distortion parameters in the camera can be completed by shooting an image of a calibration template, so that the problems of multiple shot images, long operation time and complicated flow in the calibration of the conventional zoom lens are solved; and a plurality of additional global constraints and an optimization result selection criterion are provided, so that an optimal calibration result can be automatically obtained, and the zoom lens is suitable for different zoom lens types.
Description
Technical Field
The invention relates to the technical field of computer vision, in particular to a zoom lens rapid calibration method based on single-focus focusing shooting images.
Background
Lenses, which are an important component of cameras, have been widely used in many fields. Compared with fixed focus lenses, zoom lenses have great advantages in terms of operational flexibility, variable field angle, and observed object resolution. In particular, zoom lenses are commonly used in industrial inspection, video surveillance, and various types of photographic cameras. Some zoom lenses supporting optical zooming are also beginning to appear at the mobile phone end. When a zoom lens is used to perform geometrically related tasks, such as metrology correction, pose estimation, depth of field estimation, and multi-view reconstruction, precise internal and distortion parameters of the lens need to be obtained in advance, i.e., precise lens calibration is performed, in order to obtain higher accuracy.
Research on zoom lens calibration is mainly focused on two fields of photogrammetry and computer vision. According to different lens types, lens calibration can be divided into fixed-focus lens calibration and zoom lens calibration, and the fixed-focus lens calibration and the zoom lens calibration have strong relevance. The most widely used fixed focus lens calibration method at present is a Zhang Zhengyou calibration method, wherein the Zhang Zhengyou calibration method mainly adopts a plane checkerboard to carry out homography calculation on each image, and carries out optimization solution on the outer parameter, the inner parameter and the distortion parameter of the camera. When the method is directly used for calibrating each focus (focus) and each focal length (zoom) of the zoom lens, although a robust result with higher precision can be obtained, the camera is required to be continuously moved and a large number of pictures are taken, and the operation process is very tedious and time-consuming.
According to the different types of the calibration templates and the different processing flows, the calibration methods can be divided into three types: standard calibration, self-calibration and hybrid calibration, the calibration templates can be divided into one-dimensional, two-dimensional and three-dimensional templates. If the metric information of the calibration template is known, the unknowns to be solved include only the internal parameters (focal length, principal point and lens distortion coefficient) and external parameters (pose) of the camera. The most popular templates at present are two-dimensional checkerboards and dot arrays, which are very convenient in terms of template generation and use. However, the zoom lens has a large zoom range, and cannot extract enough angular points from the templates under some focal lengths, so that the zoom lens is not suitable for calibration of the zoom lens. Templates used in self-calibration are typically unknown two-dimensional or three-dimensional objects, and these calibration templates are suitable for calibration of zoom lenses, but the calibration results are unstable.
Disclosure of Invention
The invention aims at: for any combination setting of focal length and focusing, only one calibration template image is needed to be shot, so that the problems of multiple shot images, long operation time and complicated flow during calibration of the zoom lens are solved.
In order to achieve the above purpose, the technical scheme of the invention is to provide a zoom lens rapid calibration method based on single focal length focusing shooting image, which is characterized by comprising the following steps:
step 1, constructing a combined random template, printing and pasting on a plane;
step 2, setting a focus of the lens and fixing the camera at a focus position;
step 3, for N focal lengths, gradually focusing the camera lens from the minimum focal length to the maximum focal length, and shooting an image of a combined random template in each focusing;
step 4, extracting the characteristic points of each image obtained in the step 3, and calculating a homography matrix and a focal length initial value of each image;
step 5, performing local optimization by using one image:
after obtaining the closed solution of the focal length in the step 4, locally optimizing the focal length, lens distortion parameters, principal points and camera gestures by utilizing all characteristic points in one image;
step 6, assuming that the main point and the camera pose remain unchanged, taking the result of the local optimization in the step 5 as an initial value of global optimization, and performing global optimization of all focal lengths under single focusing by using all the images obtained in the step 3;
step 7, selecting an optimal result:
obtaining a plurality of global optimization results under different constraint conditions, so that the global optimization result with the minimum final standard loss CL is an optimal result, and the following steps are included:
CL＝5*MFE+MRE+0.1*DSE
wherein: MFE is the average fitting error of the focal length, with:
f i representing an ith focal length value;is the average focal length; n is the number of focal lengths; f represents a fitting quadratic curve of all focal lengths under a certain focusing; dis represents the distance of each focal length value to the fitted curve;
MRE is correction of reprojection errors, and includes:
MRE＝RE-0.1*k
RE is a reprojection error; k is the number of additional constraints;
DSE is a distortion smoothing error, and there are:
DSE＝∑abs(sign(k1 i-1 -k1 i )*sign(k1 i -k1 i+1 )-1)-2
abs is an absolute function; k1 is a first parameter of radial distortion, and subscript i represents a first parameter of radial distortion corresponding to an ith focal length; sign is a sign function;
and 8, repeating the steps 2-7 at M focusing positions to finish the calibration of the zoom lens with all focal lengths and focusing combinations.
Preferably, the step 1 specifically includes the following steps:
and generating 100 random templates with 800 x 800 resolution by using an OpenCV function library, selecting 18 templates from the random templates according to the number of the extracted simulated feature points, forming the combined random templates of the rectangles of 6*3 by using the 18 square sub-templates, and printing and attaching the combined random templates on a plane.
Preferably, in the step 2, the camera is fixed at the current focusing position and maintains a certain included angle with the combined random template, and the camera posture is kept unchanged in the subsequent focusing photographing process.
Preferably, in the step 4, the feature points in the central rectangular area of the image are selected for homography calculation, when calculation is performed, it is assumed that lens distortion does not exist in the central rectangular area, and it is assumed that the principal point is located in the center of the image, the homography matrix is calculated by using direct linear transformation according to the correspondence between the extracted feature points and the feature points of the original image, and then the initial value of the focal length is calculated by using the known homography matrix and the assumed principal point.
Preferably, in the step 5, 2 radial distortion parameters and 2 tangential distortion parameters of the lens are selected to participate in optimization, and the symmetric heavy projection errors of all good feature points in one image are used as an objective function of local optimization.
Preferably, in the step 6, the constraint condition is one condition or a combination of at least two conditions:
condition one: the focal length should increase monotonically;
condition II: the translation of the lens on the optical axis should decrease monotonically;
and (3) a third condition: the sum of the focal length and the amount of translation on the optical axis is constant;
condition four: the main radial distortion parameter should not fluctuate, and the change fold line should be partially monotonously increased and partially monotonously decreased except the inflection point.
The beneficial effects of the invention are as follows:
the problems of multiple shooting images, long operation time and complicated flow during the calibration of the zoom lens in the past are solved by only shooting one calibration template image for the combination setting of any focal length and focusing.
When shooting under different focal lengths, the scaling of the combined random templates in the image is very obvious, but no matter the whole template occupies a small part of the area in the image when near focus or a part of the template area can be filled with the whole image when far focus, the detection of a sufficient number of characteristic points is not influenced, so that the requirements on the space size, the placement angle and the placement position of a camera are not high when calibrating, and the calibration function is not influenced by observing part of the templates;
a plurality of additional constraint conditions are used to globally optimize focal lengths, principal points, distortion parameters and external parameters of all images, and a selection criterion of an optimal result is established, so that the final calibration result has good robustness;
in places with larger space limitation, the calibration template can be fixed, and the effect of good calibration of all focal lengths can be achieved by simply controlling the camera to perform zooming shooting, so that the operation is simple, convenient and quick.
Drawings
FIG. 1 is a flow chart of a zoom lens quick calibration technique based on single focal length focusing shooting image according to an embodiment of the invention;
fig. 2 is a schematic diagram of a shooting calibration template when a zoom lens is calibrated according to an embodiment of the present invention.
Detailed Description
The invention will be further illustrated with reference to specific examples. It is to be understood that these examples are illustrative of the present invention and are not intended to limit the scope of the present invention. Further, it is understood that various changes and modifications may be made by those skilled in the art after reading the teachings of the present invention, and such equivalents are intended to fall within the scope of the claims appended hereto.
As shown in fig. 1, the zoom lens rapid calibration method based on single focal length focusing shooting image disclosed in this embodiment includes the following steps:
step 1, constructing a combined random template, printing and pasting on a plane:
and generating 100 random templates with 800 x 800 resolution by using an OpenCV function library, selecting 18 templates from the random templates according to the number of the extracted simulated feature points, forming a 6*3-arrayed rectangular combined random template by using the 18 square sub-templates, and printing and attaching the rectangular combined random template on a plane.
Step 2, setting a focus of the lens and fixing the camera at the focus position:
the camera is fixed at the current focusing position and keeps a certain included angle with the combined random template, and the posture of the camera is kept unchanged in the follow-up focusing photographing process.
Step 3, focusing and shooting a template image:
the camera lens is focused successively from the minimum focal length to the maximum focal length, and for N focal lengths, an image of a combined random template is shot for each focusing.
When shooting under different focal lengths, the scaling of the combined random template in the image is obvious, but no matter the whole combined random template occupies a small part of the area in the image when near focus or a part of the combined random template area can be filled in the whole image when far focus, the detection of a sufficient number of characteristic points is not influenced, so the requirement on the space size is not high during calibration, and the calibration function is not influenced by observing part of the templates.
Step 4, extracting characteristic points, and calculating a homography matrix and a focal length initial value of each image obtained in the step 3:
the zoom lens has small lens distortion in the area near the center of the image, so that characteristic points in the rectangular area in the center of the image are selected for homography calculation. Assuming that the central rectangular area has no lens distortion, assuming that a principal point is positioned at the center of an image, calculating a homography matrix by using direct linear transformation according to the corresponding relation between the extracted feature points and the feature points of the original image, and then calculating an initial value of a focal length by using the known homography matrix and the assumed principal point.
Step 5, performing local optimization by using one image:
after obtaining the closed solution of the focal length in step 4, the focal length, the lens distortion parameters, the principal point and the camera pose are locally optimized by using all the characteristic points in one image. In general, 2 radial distortion parameters and 2 tangential distortion parameters of the lens are selected to participate in optimization. The symmetric re-projection errors of all good feature points in one image are used as the objective function of local optimization.
Step 6, adding constraint conditions, and performing global optimization of all focal lengths under single focusing by using all images:
assuming that the principal point and the camera pose remain unchanged, taking the result of the local optimization in step 5 as the initial value of the global optimization. To prevent global optimization failure, several constraints are added to obtain more stable and reasonable results.
One or a combination of at least two of the following 4 constraints can be employed to obtain good global optimization results:
condition one: the focal length should increase monotonically;
condition II: the translation of the lens on the optical axis should decrease monotonically;
and (3) a third condition: the sum of the focal length and the amount of translation on the optical axis is constant;
condition four: the main warp distortion parameter should not fluctuate up and down. This means that except for the inflection point, its change polyline should be partly monotonically increasing and partly monotonically decreasing;
step 7, selecting an optimal result:
obtaining a plurality of global optimization results under different constraint conditions, so that the global optimization result with the minimum final standard loss CL is an optimal result, and the following steps are included:
CL＝5*MFE+MRE+0.1*DSE
wherein: MFE is the average fitting error of the focal length, with:
f i representing an ith focal length value;is the average focal length; n is the number of focal lengths; f represents a fitting quadratic curve of all focal lengths under a certain focusing; dis represents the distance of each focal length value to the fitted curve;
MRE is correction of reprojection errors, and includes:
MRE＝RE-0.1*k
RE is a reprojection error; k is the number of additional constraints;
DSE is a distortion smoothing error, and there are:
DSE＝∑abs(sign(k1 i-1 -k1 i )*sign(k1 i -k1 i+1 )-1)-2
abs is an absolute function; k1 is a first parameter of radial distortion, and subscript i represents a first parameter of radial distortion corresponding to an ith focal length; sign is a sign function;
and 8, repeating the steps 2-7 at M focusing positions to finish the calibration of the zoom lens with all focal lengths and focusing combinations. And shooting M x N images in the whole calibration process.
As shown in fig. 2, the zoom lens calibration can be completed by repeating the above steps 2-7 at M positions, i.e., the focus position 1 to the focus position M.
The method solves the problems of multiple shot images, long operation time and complicated flow during calibration of the zoom lens, and has feasibility and practicability. The adopted calibration template and calibration method are convenient and effectively solve the difficulty of zoom lens calibration. When in calibration, for any combination setting of focal length and focusing, only one image of a calibration template is required to be shot, the requirements on the space size, the angle and the position of the camera are not high, and the calibration function is not influenced by observing part of the template. A plurality of additional constraint conditions are used to globally optimize focal lengths, principal points, distortion parameters and external parameters of all images, and a selection criterion of an optimal result is established, so that the final calibration result has good robustness.
Claims (6)
1. A zoom lens rapid calibration method based on single focal length focusing shooting image is characterized by comprising the following steps:
step 1, constructing a combined random template, printing and pasting on a plane;
step 2, setting a focus of the lens and fixing the camera at a focus position;
step 3, for N focal lengths, gradually focusing the camera lens from the minimum focal length to the maximum focal length, and shooting an image of a combined random template in each focusing;
step 4, extracting the characteristic points of each image obtained in the step 3, and calculating a homography matrix and a focal length initial value of each image;
step 5, performing local optimization by using one image:
after obtaining the closed solution of the focal length in the step 4, locally optimizing the focal length, lens distortion parameters, principal points and camera gestures by utilizing all characteristic points in one image;
step 6, assuming that the main point and the camera pose remain unchanged, taking the result of the local optimization in the step 5 as an initial value of global optimization, and performing global optimization of all focal lengths under single focusing by using all the images obtained in the step 3;
step 7, selecting an optimal result:
obtaining a plurality of global optimization results under different constraint conditions, so that the global optimization result with the minimum final standard loss CL is an optimal result, and the following steps are included:
CL＝5*MFE+MRE+0.1*DSE
wherein: MFE is the average fitting error of the focal length, with:
f i representing an ith focal length value;is the average focal length; n is the number of focal lengths; f represents a fitting quadratic curve of all focal lengths under a certain focusing; dis represents the distance of each focal length value to the fitted curve;
MRE is correction of reprojection errors, and includes:
MRE＝RE-0.1*k
RE is a reprojection error; k is the number of additional constraints;
DSE is a distortion smoothing error, and there are:
DSE＝∑abs(sign(k1 i-1 -k1 i )*sign(k1 i -k1 i+1 )-1)-2
abs is an absolute function; k1 is a first parameter of radial distortion, and subscript i represents a first parameter of radial distortion corresponding to an ith focal length; sign is a sign function;
and 8, repeating the steps 2-7 at M focusing positions to finish the calibration of the zoom lens with all focal lengths and focusing combinations.
2. The method for rapidly calibrating a zoom lens based on a single focal length focusing shooting image according to claim 1, wherein the step 1 specifically comprises the following steps:
and generating 100 random templates with 800 x 800 resolution by using an OpenCV function library, selecting 18 templates from the random templates according to the number of the extracted simulated feature points, forming the combined random templates of the rectangles of 6*3 by using the 18 square sub-templates, and printing and attaching the combined random templates on a plane.
3. The method for rapidly calibrating a zoom lens based on single focal length focusing shooting images according to claim 1, wherein in the step 2, the camera is fixed at a current focusing position and keeps a certain included angle with the combined random template, and the posture of the camera is kept unchanged in the follow-up focusing shooting process.
4. The method for rapidly calibrating a zoom lens based on a single focal length focused shot image according to claim 1, wherein in the step 4, feature points in a central rectangular area of the image are selected for homography calculation, when calculation is performed, lens distortion is assumed to be absent in the central rectangular area, and principal points are assumed to be located in the center of the image, a homography matrix is calculated by direct linear transformation according to the corresponding relation between extracted feature points and original image feature points, and then an initial value of a focal length is calculated by using a known homography matrix and the assumed principal points.
5. The method for rapidly calibrating a zoom lens based on a single focal length focused shot image according to claim 1, wherein in the step 5, 2 radial distortion parameters and 2 tangential distortion parameters of the lens are selected to participate in optimization, and the symmetric heavy projection errors of all good feature points in one image are used as an objective function of local optimization.
6. The method for rapidly calibrating a zoom lens based on a single focal length focused shot image according to claim 1, wherein in the step 6, the constraint condition is one condition or a combination of at least two conditions:
condition one: the focal length should increase monotonically;
condition II: the translation of the lens on the optical axis should decrease monotonically;
and (3) a third condition: the sum of the focal length and the amount of translation on the optical axis is constant;
condition four: the main radial distortion parameter should not fluctuate, and the change fold line should be partially monotonously increased and partially monotonously decreased except the inflection point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010595774.9A CN111754587B (en) | 2020-06-28 | 2020-06-28 | Zoom lens rapid calibration method based on single-focus focusing shooting image |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010595774.9A CN111754587B (en) | 2020-06-28 | 2020-06-28 | Zoom lens rapid calibration method based on single-focus focusing shooting image |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111754587A CN111754587A (en) | 2020-10-09 |
| CN111754587B true CN111754587B (en) | 2024-01-12 |
Family
ID=72677453
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010595774.9A Active CN111754587B (en) | 2020-06-28 | 2020-06-28 | Zoom lens rapid calibration method based on single-focus focusing shooting image |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111754587B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117073988B (en) * | 2023-08-18 | 2024-06-04 | 交通运输部公路科学研究所 | System and method for measuring distance of head-up display virtual image and electronic equipment |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20080051026A (en) * | 2006-12-04 | 2008-06-10 | 한국전자통신연구원 | Apparatus and method for estimating camera focal length |
| CN102194223A (en) * | 2010-03-09 | 2011-09-21 | 新奥特（北京）视频技术有限公司 | Method and system for calibrating distortion coefficient of zoom lens |
| KR20130028362A (en) * | 2011-09-09 | 2013-03-19 | 김대봉 | Apparatus for camera module continous test and focus adjustment having position detecting function |
| CN104835159A (en) * | 2015-05-07 | 2015-08-12 | 中国科学院长春光学精密机械与物理研究所 | Digital image correction method for continuous variable-focal-length optical imaging system |
| CN108765328A (en) * | 2018-05-18 | 2018-11-06 | 凌美芯（北京）科技有限责任公司 | A kind of high-precision multiple features plane template and its distort optimization and scaling method |
-
2020
- 2020-06-28 CN CN202010595774.9A patent/CN111754587B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20080051026A (en) * | 2006-12-04 | 2008-06-10 | 한국전자통신연구원 | Apparatus and method for estimating camera focal length |
| CN102194223A (en) * | 2010-03-09 | 2011-09-21 | 新奥特（北京）视频技术有限公司 | Method and system for calibrating distortion coefficient of zoom lens |
| KR20130028362A (en) * | 2011-09-09 | 2013-03-19 | 김대봉 | Apparatus for camera module continous test and focus adjustment having position detecting function |
| CN104835159A (en) * | 2015-05-07 | 2015-08-12 | 中国科学院长春光学精密机械与物理研究所 | Digital image correction method for continuous variable-focal-length optical imaging system |
| CN108765328A (en) * | 2018-05-18 | 2018-11-06 | 凌美芯（北京）科技有限责任公司 | A kind of high-precision multiple features plane template and its distort optimization and scaling method |
Non-Patent Citations (2)
| Title |
|---|
| 基于激光双目视觉的接缝三维重建;王克鸿;曹慧;刘永;张德库;;焊接学报(第08期);全文 * |
| 航空变焦距斜视成像几何畸变的自动校正;周前飞;刘晶红;王宣;孙明超;;光学精密工程(第10期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111754587A (en) | 2020-10-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108765328B (en) | High-precision multi-feature plane template and distortion optimization and calibration method thereof | |
| US8368762B1 (en) | Methods and apparatus for camera calibration based on multiview image geometry | |
| US8194993B1 (en) | Method and apparatus for matching image metadata to a profile database to determine image processing parameters | |
| US8340453B1 (en) | Metadata-driven method and apparatus for constraining solution space in image processing techniques | |
| US8842190B2 (en) | Method and apparatus for determining sensor format factors from image metadata | |
| US20130124471A1 (en) | Metadata-Driven Method and Apparatus for Multi-Image Processing | |
| CN111932636B (en) | Calibration and image correction method and device for binocular camera, storage medium, terminal and intelligent equipment | |
| Duplaquet | Building large image mosaics with invisible seam lines | |
| CN111080705B (en) | Calibration method and device for automatic focusing binocular camera | |
| CN113920205B (en) | Calibration method of non-coaxial camera | |
| CN109035170B (en) | Self-adaptive wide-angle image correction method and device based on single grid image segmentation mapping | |
| CN111445537B (en) | Calibration method and system of camera | |
| CN102194223B (en) | A kind of distortion factor scaling method of zoom lens and system | |
| CN111340737B (en) | Image correction method, device and electronic system | |
| CN113793266A (en) | Multi-view machine vision image splicing method, system and storage medium | |
| CN113920206A (en) | Calibration method of perspective tilt-shift camera | |
| CN111754587B (en) | Zoom lens rapid calibration method based on single-focus focusing shooting image | |
| US20220189048A1 (en) | Generating composite image from multiple images captured for subject | |
| Kaufmann et al. | Elimination of color fringes in digital photographs caused by lateral chromatic aberration | |
| CN117495975A (en) | Zoom lens calibration method and device and electronic equipment | |
| Ueno et al. | Compound-Eye Camera Module as Small as 8.5$\times $8.5$\times $6.0 mm for 26 k-Resolution Depth Map and 2-Mpix 2D Imaging | |
| CN115239816A (en) | Camera calibration method, system, electronic device and storage medium | |
| CN113160393B (en) | High-precision three-dimensional reconstruction method and device based on large depth of field and related components thereof | |
| JP6755737B2 (en) | Distance measuring device, imaging device, and distance measuring method | |
| CN111292380B (en) | Image processing method and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |