CN112837377A - Camera internal and external parameter combined calibration system - Google Patents
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Abstract
The invention discloses a camera internal and external parameter combined calibration system, which comprises: the calibration device comprises a luminous point and is arranged in the inner space of the shield tunneling machine; the total station is installed on the side wall of the tunnel where the external shield machine is located; the total station is positioned between the calibration device and the rearview prism and used for acquiring total station coordinates of the light-emitting point under a total station coordinate system; the camera is installed on a support shield of the shield tunneling machine and used for obtaining camera pixel coordinates of the light emitting source under a camera pixel coordinate system and calibrating parameters of the camera according to the total station coordinates and the camera pixel coordinates. The invention has the technical effects that: the method can conveniently, quickly and accurately calibrate the relation between the camera and the total station in the space of the on-site shield tunneling machine, so that the pose measurement result of the shield tunneling machine is more accurate.
Description
Technical Field
The invention relates to the field of monocular vision of cameras, in particular to a camera internal and external parameter combined calibration system
Background
In image measurement processes and machine vision applications, in order to determine the correlation between the three-dimensional geometric position of a certain point on the surface of an object in space and the corresponding point in the image, a geometric model of camera imaging must be established, and the parameters of the geometric model are the parameters of the camera. The purpose of camera calibration is as follows: and solving the internal and external parameters of the camera and the distortion parameter. Calibrating a camera is often desirable for two things: one is that the distortion degree of each lens is different, the distortion of the lens can be corrected through camera calibration, and a corrected image is generated; the other is to reconstruct a three-dimensional scene from the acquired images. The camera calibration process, which may be described simply as passing through a calibration plate, or other calibration means. For the field of tunnel construction, the calibration plate is inconvenient and troublesome to operate.
Disclosure of Invention
In order to solve the above technical problem, the present invention provides a camera internal and external parameter combined calibration system, including:
the calibration device comprises a luminous point and is arranged in the inner space of the shield tunneling machine;
the total station is installed on the side wall of the tunnel where the external shield machine is located; the total station is positioned between the calibration device and the rearview prism and used for acquiring the coordinates of the total station under a total station coordinate system of the luminous point;
the camera is installed on a support shield of the shield machine and used for calibrating parameters of the camera according to the total station coordinates and the camera pixel coordinates by acquiring the camera pixel coordinates of the luminous source under a camera pixel coordinate system.
Preferably, the method further comprises the following steps: and the rearview prism is arranged on the side wall of the tunnel and used for assisting the total station to work.
Preferably, the calibration device further includes: and the small prism is used for assisting the total station to align.
Preferably, the small prism and the light emitting point are on the same axis.
Further preferably, the calibration device further includes: the mounting bracket is a U-shaped bracket; the number of the small prisms is two, the two small prisms are respectively installed on the outer side of one end of the opening of the installation support and face the direction of the U-shaped opening.
Further preferably, the light emitting point is disposed on a U-shaped bottom of the U-shaped bracket.
Further preferably, the calibration device further comprises a base, a connecting rod and a three-dimensional lifting platform;
the mounting bracket is fixed on the three-dimensional lifting platform;
the three-dimensional lifting platform moves on the connecting rod;
the connecting rod is fixed on the base;
the base is fixed on the shield tunneling machine.
Further preferably, the base is a magnetic base and is fixed on the shield tunneling machine through magnetism.
Further preferably, the light emitting point comprises a first light emitting point fixing plate, a second light emitting point fixing plate and a light emitting point mounting seat;
the first luminous point fixing plate is fixed with the second luminous point mounting plate through a bolt;
the gap between the first luminous point fixing plate and the second luminous point mounting plate is sealed;
and the gap between the first luminous point mounting plate and the luminous point mounting seat is sealed.
Further preferably, the light emitting point emits invisible light.
The invention at least comprises the following technical effects:
the method can conveniently, quickly and accurately calibrate the relation between the camera and the total station in the space of the on-site shield tunneling machine, so that the pose measurement result of the shield tunneling machine is more accurate.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a schematic view of the mounting location of various devices of the present invention;
FIG. 2 is a schematic structural diagram of the calibration device of the present invention;
FIG. 3 is a schematic diagram of four coordinate systems of the present invention;
FIG. 4 is a schematic diagram of the transformation between the camera coordinate system and the world coordinate system according to the present invention;
FIG. 5 is a schematic view of a camera, image coordinate system of the present invention;
FIG. 6 is a schematic diagram of the camera and image coordinate system conversion according to the present invention.
1, a shield machine, 2, a calibration device, 3, 4, a shield machine, 5, a total station and 6, a rearview prism;
11 magnetic force base, 12 connecting rod, 13 mounting bracket, 14 small prism, 15LED luminous point, 16 three-dimensional lifting platform;
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
For the sake of simplicity, the drawings only schematically show the parts relevant to the present invention, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically depicted, or only one of them is labeled. In this document, "one" means not only "only one" but also a case of "more than one".
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
In addition, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not intended to indicate or imply relative importance.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will illustrate specific embodiments of the present invention with reference to the drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.
Example 1:
as shown in fig. 1 to 6, the present embodiment provides a camera internal and external parameter joint calibration system, including: the calibration device (2) comprises a light emitting point (16), and the calibration device (2) is arranged in the inner space of the shield tunneling machine (4);
the total station (5), the total station (5) is installed on the side wall of the tunnel where the external shield machine (4) is located; the total station (5) is positioned between the calibration device (2) and the rearview prism and used for acquiring coordinates of the total station (5) of the luminous point (16) in a total station (5) coordinate system;
the camera (3) is installed on a support shield of the shield machine (4) and used for calibrating parameters of the camera (3) according to the coordinates of the total station (5) and the coordinates of the camera (3) pixel by acquiring the coordinates of the camera (3) pixel of a luminous source in a camera (3) pixel coordinate system.
In the embodiment, the calibration device (2) is suitable for being matched with the total station (5) to calibrate the internal and external parameters of the camera (3), and the calibration device (2) provided by the invention can conveniently, quickly and accurately calibrate the relation between the camera (3) and the total station (5) in the space of the on-site shield tunneling machine (4), so that the pose measurement result of the shield tunneling machine (4) is more accurate.
In particular, in image measurement processes and machine vision applications, in order to determine the correlation between the three-dimensional geometric position of a point on the surface of an object in space and the corresponding point in the image, a geometric model of the image of the camera (3) must be established, and the parameters of the geometric model are the parameters of the camera (3). The purpose of camera calibration is as follows: the internal and external parameters of the camera (3) and the distortion parameters are determined. After the camera (3) is fixed, two things are usually wanted to be done: one is that the distortion degree of each lens is different, the distortion of the lens can be corrected through the calibration of the camera (3), and a corrected image is generated; the other is to reconstruct a three-dimensional scene from the acquired images.
In general, the calibration process is divided into two parts: the first step is to convert the world coordinate system into a camera coordinate system, and the first step is to convert three-dimensional points into three-dimensional points, wherein the three-dimensional points comprise parameters such as R, t (camera external parameters) and the like; the second step is to convert the camera coordinate system into an image coordinate system, which is the conversion from three-dimensional points to two-dimensional points, including parameters such as K (camera internal reference), and the image processing involves 4 coordinate systems:
Ow-XwYwZw, world coordinate system, describing the camera (3) position, in m;
Oc-XcYcZc is a camera coordinate system, the optical center is an origin, and the unit m;
O-XY: an image coordinate system, wherein the origin is the center of an imaging plane and is in mm;
p: a point in the world coordinate system;
p: an imaged point of the point P in the image, the coordinates in the image coordinate system being (x, y), the coordinates in the pixel coordinate system being (u, v);
a pixel coordinate system with an origin at the upper left corner of the image and a unit pixel, wherein the coordinates (u, v) of each pixel are the column number and the row number of the pixel in the array respectively;
f: the focal length of the camera (3) is equal to the distance between o and Oc, f | | | o-Oc | | survival
The camera coordinate system is converted into a world coordinate system, and the conversion equation is as follows:
wherein R is a rotation matrix of 3 × 3, t is a translation vector of 3 × 1, is a homogeneous coordinate of the camera coordinate system, and is a homogeneous coordinate of the world coordinate system.
Pixel coordinate system: the pixel coordinate system is a two-dimensional rectangular coordinate system and reflects the arrangement condition of pixels in a CCD/CMOS chip of the camera (3), the origin is positioned at the upper left corner of an image, the u axis and the v axis are respectively parallel to two sides of an image surface, and the unit of coordinate axes in the pixel coordinate system is a pixel.
Image coordinate system: the pixel coordinate system is not beneficial to coordinate conversion, so that an image coordinate system needs to be established, the coordinate axis is in mm, the origin is the intersection point of the optical axis of the camera (3) and the phase plane, and the x axis and the y axis are respectively parallel to the u axis and the v axis, so that the two coordinate systems are actually in a translation relation.
Wherein the origin of the coordinate system of the total station (5) is the center of the total station (5), the Xw axis is in the same direction with the zero scale of the code wheel of the total station (5), and the Zw axis is perpendicular to the code wheel and faces upwards; wherein the origin of the camera coordinate system is the center of the lens aperture of the camera (3), the z-axis coincides with the optical axis, and the Xc-axis and the Yc-axis are parallel to the projection plane; the coordinate origin of the image coordinate system is positioned at the intersection point of the optical axis and the projection plane, and the Xp axis and the Yp axis are parallel to the projection plane; and when the pixel coordinate system is seen from the small hole to the projection plane, the upper left corner of the projection plane is an origin Opix, and the uv axis is coincided with two sides of the projection plane.
The pixel coordinate system is converted into an image coordinate system formula:
pinhole imaging principle: and in relation between any point in space and an image point thereof, a connecting line between p and the optical center of the camera (3) is op, and an intersection point with the image plane is the projection of the space point on the image plane. The process is perspective projection, Zc is a scale factor (Zc is not 0), is an effective focal length (distance from an optical center to an image plane), is a homogeneous coordinate of a space point in a camera coordinate system, and is a homogeneous coordinate of an image point in an image coordinate system.
As shown in fig. 6, the camera coordinate system is converted to an image coordinate system: due to delta ABOc to delta oCOc and delta PBOc to delta pCOc
The world coordinate system is converted into a pixel coordinate system:
wherein f is the focal length of the camera, typically in mm; dx and dy are pixel sizes; u0, v0 is the image center.
Referred to as normalized focal length on the x-axis and y-axis, respectively.
Distortion parameters: distortion (distortion) is an offset to the linear projection (rectilinearly) in both geometric optics and Cathode Ray Tube (CRT) displays. In short, a straight line projection is a straight line in a scene projected onto a picture and also kept as a straight line. That distortion is simply a straight line projected onto the picture that cannot be maintained as a straight line, which is an optical distortion. Possibly due to the camera lens, not discussed here, it is of interest to be able to look up the relevant information of the optical distortion. Distortions can generally be divided into two broad categories, including radial and tangential distortions. The main general radial distortion will sometimes also have slight tangential distortion.
The effects of radial distortion are three, one is barrel distortion (barrel distortion), the other is pincushion distortion, and the combination of the two is called mustache distortion, and the radial distortion can be corrected by the following formula:
xcorr＝xdis(1+k1r2+k2r4+k3r6)
ycorr＝ydis(1+k1r2+k2r4+k3r6)
tangential distortion is due to the lens being loosely parallel to the imaging plane, which can be corrected using the following equation:
xcorr＝xdis+[2p1y+p2(r2+2x2)]
ycorr＝ydis+[p1(r2+2y2)+2p2x]
wherein:
xdis and ydis represent distorted coordinates;
xcorr and ycorr represent coordinates after repair;
k1，k2，k3representing a radial distortion parameter;
p1，p2representing a tangential distortion parameter;
so 5 distortion parameters are finally obtained:
D＝(k1,k2,p1,p2,k3)
through the embodiment, the relation between the camera (3) and the total station (5) in the space of the on-site shield machine (4) can be conveniently, quickly and accurately calibrated, so that the pose measurement result of the shield machine (4) is more accurate.
Preferably, the method further comprises the following steps: the rearview prism (6) is installed on the side wall of the tunnel, and is used for assisting the total station (5) in working.
The rear-view prism (6) plays a role in orientation on one hand, and determines the known coordinate back-calculation azimuth angle of the observation station and the rear viewpoint. The azimuth angle is used as the starting azimuth for subsequent measurement. And on the other hand, the method is used for measuring distance and checking whether the return side length of the coordinate is consistent with the actually measured side length.
Preferably, further preferably, the light emitting point (16) emits invisible light.
Due to the fact that the underground construction is carried out, invisible light is used, interference is small compared with visible light, and image collection of the camera (3) is facilitated.
Example 2:
as shown in fig. 1 to 6, this embodiment provides a camera internal and external parameter joint calibration system based on embodiment 1, including: the calibration device (2) further comprises: and the small prism (14) is used for assisting the total station (5) in aligning.
The calibration device (2) further comprises: the mounting bracket (13), the mounting bracket (13) is a U-shaped bracket; the number of the small prisms (14) is two, the two small prisms are respectively arranged on the outer side of one end of the opening of the mounting bracket (13) and face the direction of the U-shaped opening.
The small prism (14) and the light emitting point (16) are on the same axis. The light emitting point (16) is arranged on the U-shaped bottom of the U-shaped support.
The calibration device (2) further comprises a base (11), a connecting rod (12) and a three-dimensional lifting platform (16); the mounting bracket (13) is fixed on the three-dimensional lifting platform (16); the three-dimensional lifting platform (16) moves on the connecting rod (12); the connecting rod (12) is fixed on the base (11); the base (11) is fixed on the shield machine (4).
The mounting bracket (13) is used for mounting a three-dimensional moving platform, a small Leica prism (14) and an LED light emitting point (16), and fixing the position relation between the small Leica prism (14) and the LED light emitting point (16).
The three-dimensional mobile platform; the three platforms are combined to finish free movement in three directions.
In the embodiment, in order to further calibrate the accuracy of data, the calibration device (2) needs to be adjusted by using a three-dimensional lifting table (16) and a total station (5) before being used, the total station (5) is used for measuring the coordinates of two Leica small prisms (14) to obtain an average value, then the coordinates of the LED light-emitting points (16) are measured, the three-dimensional lifting table (16) is used for adjusting until the coordinates of the LED light-emitting points (16) are the same as the obtained average value of the coordinates of the two Leica small prisms (14), and then the calibration device can be used for calibrating the internal and external parameters of the on-site camera (3).
Further preferably, the base (11) is a magnetic base and is fixed on the shield tunneling machine (4) through magnetism; the magnetic base can be adsorbed on the shield machine (4), and is moved up and down, left and right to be calibrated, so that the magnetic base is convenient to install and use.
Example 3:
as shown in fig. 1 to 6, this embodiment provides an internal and external reference joint calibration system for a camera based on embodiment 2, where the light-emitting point includes a first light-emitting point fixing plate, a second light-emitting point fixing plate, and a light-emitting point mounting base; the first luminous point fixing plate is fixed with the second luminous point mounting plate through a bolt; the gap between the first luminous point fixing plate and the second luminous point mounting plate is sealed; and the gap between the first luminous point mounting plate and the luminous point mounting seat is sealed. Thereby preventing foreign matters such as external dust from entering the accommodating space through the gap between the luminous point mounting plate and the luminous point mounting seat.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is intended to include such modifications and variations.
Claims (10)
1. An internal and external parameter combined calibration system for a camera is characterized by comprising:
the calibration device comprises a luminous point and is arranged in the inner space of the shield tunneling machine;
the total station is installed on the side wall of the tunnel where the external shield machine is located; the total station is positioned between the calibration device and the rearview prism and used for acquiring total station coordinates of the light-emitting point under a total station coordinate system;
the camera is installed on a support shield of the shield tunneling machine and used for obtaining camera pixel coordinates of the light emitting source under a camera pixel coordinate system and calibrating parameters of the camera according to the total station coordinates and the camera pixel coordinates.
2. The system for calibrating internal and external parameters of a camera in a combined manner according to claim 1, further comprising: and the rearview prism is arranged on the side wall of the tunnel and used for assisting the total station to work.
3. The system for calibrating internal and external parameters of a camera in a combined manner according to claim 1, wherein the calibration device further comprises: and the small prism is used for assisting the total station to align.
4. The system of claim 1, wherein the small prism and the light emitting point are on the same axis.
5. The camera internal and external parameter combined calibration system according to claim 3 or 4, wherein the calibration device further comprises: the mounting bracket is a U-shaped bracket; the number of the small prisms is two, the two small prisms are respectively installed on the outer side of one end of the opening of the installation support and face the direction of the U-shaped opening.
6. The system for calibrating internal and external parameters of a camera in combination as claimed in claim 5, wherein said light emitting point is disposed on the U-shaped bottom of said U-shaped support.
7. The camera internal and external parameter combined calibration system as claimed in claim 6, wherein the calibration device further comprises a base, a connecting rod, and a three-dimensional lifting platform;
the mounting bracket is fixed on the three-dimensional lifting platform;
the three-dimensional lifting platform moves on the connecting rod;
the connecting rod is fixed on the base;
the base is fixed on the shield tunneling machine.
8. The camera internal and external parameter combined calibration system according to claim 7, wherein the base is a magnetic base and is fixed on the shield tunneling machine through magnetism.
9. The camera internal and external parameter combined calibration system according to claim 1, wherein the light emitting point comprises a first light emitting point fixing plate, a second light emitting point fixing plate and a light emitting point mounting base;
the first luminous point fixing plate is fixed with the second luminous point mounting plate through a bolt;
the gap between the first luminous point fixing plate and the second luminous point mounting plate is sealed;
and the gap between the first luminous point mounting plate and the luminous point mounting seat is sealed.
10. The system for calibrating internal and external parameters of a camera in combination as claimed in claim 1, wherein said light-emitting point emits invisible light.
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