CN1621933A - Camera array calibration system and method - Google Patents
Camera array calibration system and method Download PDFInfo
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- CN1621933A CN1621933A CN200310115287.4A CN200310115287A CN1621933A CN 1621933 A CN1621933 A CN 1621933A CN 200310115287 A CN200310115287 A CN 200310115287A CN 1621933 A CN1621933 A CN 1621933A
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- video camera
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- 230000003068 static effect Effects 0.000 claims abstract description 6
- 238000003491 array Methods 0.000 claims description 11
- 230000001105 regulatory effect Effects 0.000 abstract 3
- 238000010586 diagram Methods 0.000 description 9
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Abstract
The present invention provides one kind of cameran array correcting system and process with simple configuration matching correcting board to shorten the correction time. The cameran array correcting system includes one cameran array; one holding mechanism capable of regulating the multiple freedom axes of the cameran array; one correcting board with pattern for static correction of the freedoms; and one controller capable of driving the holding mechanism to calibrate the position of the cameran array relative to the correcting board based on the scanning result to the pattern. The cameran array correcting process includes the steps of: providing one correcting board with the special correcting pattern; regulating the horizontal axis and the vertical axis of the holding mechanism to align the cameran array to the pattern; and regulating the vertical axis, the horizontal axis, the height axis and elevation axis with the pattern.
Description
Technical field
The present invention relates to a kind of video camera array calibration system and method, the correction plate that particularly relates to a kind of use one special use, utilize the image-taking device and the program of its proprietary calibrating pattern simplicity of design, make that must not do dynamic scanning can adjust video camera array (array) to shorten video camera array calibration system and the method for alignment time.
Background technology
Known technology system compensation framework as shown in Figure 1 comprises video camera array 101, standard correction plate 203, clamping device 104, this standard correction plate 203 the is produced platform (indicating among the figure) that relatively moves and the motion controller 102 of controlling this mobile platform.And when calibrating this video camera array, must move this correction plate make the correcting pattern of this video camera array on this standard correction plate 203 of video camera capture scope 202 interscans to obtain the one dimension image, further be combined as bidimensional image again.Then, we just can observe out combination bidimensional image later by video display 103; Arrangement mode by pattern can calculate this video camera array 101 in the angle of each degree of freedom skew and the resolution of image, so the user can be judged in the required correction angle of each degree of freedom by result calculated.But corrective system that this is known and method face several problems on using; When moving this standard correction plate 203, must make this standard correction plate 203 parallel with this shifting axle and want constant speed movement, but this operating platform rocks easily during in fact owing to mechanically actuated, so that this standard correction plate 203 may cause skew and not parallel with shifting axle, the image of obtaining at last is with distortion.In some practical application, as pick-up unit on the line, can't make this standard correction plate 203 constant speed movement, therefore in calibration, also have any problem.More than the problem that is faced when dynamic scan for known corrective system need not repeat above-mentioned method to obtain correct correcting pattern image again and again because calibration is finished, and has prolonged the alignment time simultaneously yet.
Therefore, how a kind of video camera array corrective system and method for novelty are proposed at the problems referred to above, can improve long problem correction time, be not to use for a long time person's urgent problem always, and the present invention proposes a kind of video camera array corrective system and method, can address the above problem.
Summary of the invention
The invention provides a kind of video camera array calibration system and method, it uses simple architecture to cooperate correction plate can shorten the time of calibration, thereby overcomes the defective of known technology.
Video camera array calibration system of the present invention comprises: a video camera array; One clamping device can be adjusted a plurality of axis-of-freedoms of this video camera array; One correction plate, the one group of proprietary pattern that has static calibration to use on it, this organizes proprietary pattern in order to calibrate described each degree of freedom; And a controller, can drive described clamping device and move, to organize the scanning result of proprietary pattern according to this, calibrate the relative position of described video camera array and correction plate.
Above-mentioned video camera array calibration system, wherein this on this correction plate organized proprietary pattern and can be made this video camera array the wire image of width such as obtain on calibration zero point of a horizontal direction and a vertical direction angle.
Above-mentioned video camera array calibration system, wherein this video camera array can be line style video camera and face type video camera.
Above-mentioned video camera array calibration system, wherein this on this correction plate organize proprietary pattern comprise the calibration the employed correcting pattern of described each degree of freedom and in order to the checking result correcting pattern.
Above-mentioned video camera array calibration system, wherein this on this correction plate organizes that proprietary pattern comprises one group of corresponding geometric scheme combination, one group of corresponding light and shade striped and is aimed at pattern.
Above-mentioned video camera array calibration system, wherein a plurality of these correction plates are capable of being combined to calibrate a plurality of these video camera arrays simultaneously on same straight line.
Above-mentioned video camera array calibration system, wherein this on this correction plate organized the combination of corresponding geometric scheme and comprised one group of vertical direction angularity correction figure and one group of horizontal direction angularity correction figure.
Above-mentioned video camera array calibration system, wherein this light and shade striped can be in order to auxiliary focusing.
Video camera array calibration steps of the present invention comprises the following step: a correction plate is provided, and the one group of proprietary pattern that has static calibration to use on it, this organizes proprietary pattern each degree of freedom in order to calibration camera; Adjust the transverse axis and the Z-axis of a clamping device, the capture scope of this video camera array is moved to aligned pattern on this correction plate; Adjust a vertical direction angle axle, a horizontal direction angle axle, an altitude axis and a short transverse angle axle by this proprietary pattern on this correction plate.
Above-mentioned video camera array calibration steps, wherein this on this correction plate organize proprietary pattern comprise the calibration the employed correcting pattern of described each degree of freedom and in order to the checking result correcting pattern.
Above-mentioned video camera array calibration steps, wherein this video camera array can be line style video camera and face type video camera.
Above-mentioned video camera array calibration steps, wherein this on this correction plate organizes that proprietary pattern can be one group of corresponding geometric scheme combination, one group of corresponding light and shade striped and is aimed at pattern.
Above-mentioned video camera array calibration steps, wherein this on this correction plate organized the combination of corresponding geometric scheme and comprised one group of vertical direction angularity correction figure and one group of horizontal direction angularity correction figure.
Above-mentioned video camera array calibration steps, wherein proofread and correct the method for this vertical direction angle axle, be on calibration zero point of a vertical direction angle, during this group vertical direction angularity correction figure on this correction plate of scanning, to make the wire image of width such as obtaining by this video camera array.
Above-mentioned video camera array calibration steps, wherein this video camera array tilts clockwise or counterclockwise and not on calibration zero point of this vertical direction angle the time, this group vertical direction angularity correction figure that scans this correction plate can obtain not waiting the wire image of width.
Above-mentioned video camera array calibration steps, wherein proofread and correct the method for this horizontal direction angle axle, be on calibration zero point of a horizontal direction angle, during this group horizontal direction angularity correction figure on this correction plate of scanning, to make the wire image of width such as obtaining by this video camera array.
Above-mentioned video camera array calibration steps, wherein this video camera array tilts clockwise or counterclockwise and not on calibration zero point of this horizontal direction angle the time, this group horizontal direction angularity correction figure that scans this correction plate can obtain not waiting the wire image of width.
Above-mentioned video camera array calibration steps, a plurality of these correction plates wherein capable of being combined, and in order to proofread and correct the device that uses a plurality of these video camera arrays.
Above-mentioned video camera array calibration steps, wherein proofread and correct the device of a plurality of these video camera arrays of this use, be that the vertical axis of each this video camera array is dropped in the aligned pattern scope of this correction plate, then these all video camera arrays in the error of this vertical axis all less than the length of this aligned pattern.
Description of drawings
Fig. 1 is the synoptic diagram of known technology system architecture;
Fig. 2 is the synoptic diagram of the preferred embodiment of system architecture of the present invention;
Fig. 3 is the synoptic diagram of each axis-of-freedom of video camera array;
Fig. 4 is the special correcting circuit plate synoptic diagram of a preferred embodiment of the present invention;
Fig. 5 is the actual scan line and the synoptic diagram of wanting calibrating position of a plurality of correction plates of combination;
Fig. 6 is a vertical direction angle axial adjustment synoptic diagram;
Fig. 7 is a horizontal direction angle axial adjustment synoptic diagram;
Wherein, description of reference numerals is as follows:
101 video camera arrays
104 clamping devices
102 motion controllers
103 video displays
201 correction plates
202 video camera capture scopes
203 standard correction plates
211 border patterns
212 vertical direction angularity correction figure
213 horizontal direction angularity correction figure
215 aligned pattern
216 light and shade stripeds
301 horizontal direction angle axles
302 short transverse angle axles
303 vertical direction angle axles
304 altitude axiss
Embodiment
See also Fig. 2, it is the synoptic diagram according to the preferred embodiment of video camera array calibration system of the present invention.This video camera array calibration system comprises video display 103, video camera array 101, correction plate 201, can adjust the clamping device 104 of a plurality of degree of freedom, and controller 105 be connected in this clamping device 104, so the user can utilize the operation of manual mode or this controller 105 these clamping devices 104 of control.Traditional video camera array 101 need mobile wait to take the photograph thing or video camera array 101 to do the scanning of image at timing; The present invention uses the correction plate 201 of video camera array 101 special uses, and as shown in Figure 4, this correction plate 201 comprises border pattern 211, vertical direction angularity correction Figure 21 2, horizontal direction angularity correction Figure 21 3, aligned pattern 215 and light and shade striped 216; Correction plate 201 like this, only need adjust the relative motion between correction plate and the video camera array, can reach to adjust the purpose of clamping device with the axle of calibrating each degree of freedom.
Fig. 3 is each degree of freedom synoptic diagram of video camera array 101, is divided into vertical direction angle axle 303, horizontal direction angle axle 301, altitude axis 304 and short transverse angle axle 302.
According to the present invention, the controller of this video camera array calibration system can be according to following mode of operation control clamping device 104, with the relative position of calibration camera array 101 with correction plate 201:
(1) earlier the video camera capture scope 202 of video camera array 101 is moved on the correction plate as shown in Figure 4 aligned pattern 215, utilize light and shade striped 216 on this correction plate 201 to adjust the focal length of these video camera arrays 101 again;
(2) special-purpose vertical direction angularity correction Figure 21 2 is arranged to adjust this vertical direction angle axle 303 on this correction plate 201.As shown in Figure 6, because the different linear images that angle scanned has different width:, can obtain a counter clockwise direction linearity image 1012 ' that does not wait width when this vertical direction angle axle 303 of this video camera array 101 during in obliquity 1012 scannings counterclockwise; And when a clockwise direction obliquity 1013, can obtain a linear image 1013 ' of clockwise direction that does not wait width; If this vertical direction angle axle 303 will obtain the linear image 1011 ' of first-class width one not during obliquity 1011.Therefore the purpose of proofreading and correct is and adjusts vertical direction angle axle 303, makes the linear image that scans two vertical direction angularity correction Figure 21 2 can be wide, and vertical direction angle axle 303 is promptly finished correction.Even horizontal direction angle axle 301, altitude axis 304 and short transverse angle axle 302 are not proofreaied and correct at this moment, can not have influence on the correction result of vertical direction angle axle 303 yet.
(3) as shown in Figure 7, after vertical direction angle axle 303 was proofreaied and correct, if horizontal direction angle axle 301 is not calibrated, the linear image that scans two horizontal direction angularity correction Figure 21 3 was then inequality; When this horizontal direction angle axle 301 of this video camera array 101 during, can obtain a counter clockwise direction linearity image 1015 ' that does not wait width in obliquity 1015 scannings counterclockwise; And when a clockwise direction obliquity 1016, can obtain a linear image 1016 ' of clockwise direction that does not wait width; If this horizontal direction angle axle 301 when obliquity 1014 not, will obtain waiting the linear image 1014 ' of width; Adjust horizontal direction angle axle 301 and make linear image width wide, then the calibration of horizontal direction angle axle 301 finishes.
(4) adjust the distortion that short transverse angle axle 302 can't have influence on linear image, only can change the operating distance of video camera array 101 to the correcting sheet 201.Calibrated altitude axle 304 has influence on the operating distance of video camera array 101 to the correcting sheet 201 too, therefore can utilize on the correction plate 201 distance of two border patterns 211 to adjust altitude axis 304 and short transverse angle axle 302 to reach the resolution that needs.
The above only is a preferable possible embodiments of the present invention; be not in order to limit scope of patent protection of the present invention; for example the embodiment of the invention is with the video camera array declaration; but correcting mode of the present invention also can be used for line style video camera or face type video camera; therefore the equivalent structure done of all utilizations instructions of the present invention and accompanying drawing content changes, and all should be included within claims of the present invention scope required for protection.
Claims (19)
1. a video camera array calibration system, this system comprises:
One video camera array;
One clamping device can be adjusted a plurality of axis-of-freedoms of this video camera array;
One correction plate, the one group of proprietary pattern that has static calibration to use on it, this organizes proprietary pattern in order to calibrate described each degree of freedom; And
One controller can drive described clamping device and move, and to organize the scanning result of proprietary pattern according to this, calibrates the relative position of described video camera array and correction plate.
2. video camera array calibration system as claimed in claim 1, wherein this on this correction plate organized proprietary pattern and can be made this video camera array the wire image of width such as obtain on calibration zero point of a horizontal direction and a vertical direction angle.
3. video camera array calibration system as claimed in claim 1, wherein this video camera array can be line style video camera and face type video camera.
4. video camera array calibration system as claimed in claim 2, wherein this on this correction plate organize proprietary pattern comprise the calibration the employed correcting pattern of described each degree of freedom and in order to the checking result correcting pattern.
5. video camera array calibration system as claimed in claim 2, wherein this on this correction plate organizes that proprietary pattern comprises one group of corresponding geometric scheme combination, one group of corresponding light and shade striped and is aimed at pattern.
6. video camera array calibration system as claimed in claim 2, wherein a plurality of these correction plates are capable of being combined to calibrate a plurality of these video camera arrays simultaneously on same straight line.
7. video camera array calibration system as claimed in claim 5, wherein this on this correction plate organized the combination of corresponding geometric scheme and comprised one group of vertical direction angularity correction figure and one group of horizontal direction angularity correction figure.
8. video camera array calibration system as claimed in claim 5, wherein this light and shade striped can be in order to auxiliary focusing.
9. a video camera array calibration steps, this method comprises the following step:
One correction plate is provided, the one group of proprietary pattern that has static calibration to use on it, this organizes proprietary pattern each degree of freedom in order to calibration camera;
Adjust the transverse axis and the Z-axis of a clamping device, the capture scope of this video camera array is moved to aligned pattern on this correction plate;
Adjust a vertical direction angle axle, a horizontal direction angle axle, an altitude axis and a short transverse angle axle by this proprietary pattern on this correction plate.
10. video camera array calibration steps as claimed in claim 9, wherein this on this correction plate organize proprietary pattern comprise the calibration the employed correcting pattern of described each degree of freedom and in order to the checking result correcting pattern.
11. video camera array calibration steps as claimed in claim 9, wherein this video camera array can be line style video camera and face type video camera.
12. video camera array calibration steps as claimed in claim 9, wherein this on this correction plate organizes that proprietary pattern can be one group of corresponding geometric scheme combination, one group of corresponding light and shade striped and is aimed at pattern.
13. video camera array calibration steps as claimed in claim 12, wherein this on this correction plate organized the combination of corresponding geometric scheme and comprised one group of vertical direction angularity correction figure and one group of horizontal direction angularity correction figure.
14. video camera array calibration steps as claimed in claim 9, wherein proofread and correct the method for this vertical direction angle axle, be on calibration zero point of a vertical direction angle, during this group vertical direction angularity correction figure on this correction plate of scanning, to make the wire image of width such as obtaining by this video camera array.
15. video camera array calibration steps as claimed in claim 14, wherein this video camera array tilts clockwise or counterclockwise and not on calibration zero point of this vertical direction angle the time, this group vertical direction angularity correction figure that scans this correction plate can obtain not waiting the wire image of width.
16. video camera array calibration steps as claimed in claim 9, wherein proofread and correct the method for this horizontal direction angle axle, be on calibration zero point of a horizontal direction angle, during this group horizontal direction angularity correction figure on this correction plate of scanning, to make the wire image of width such as obtaining by this video camera array.
17. video camera array calibration steps as claimed in claim 16, wherein this video camera array tilts clockwise or counterclockwise and not on calibration zero point of this horizontal direction angle the time, this group horizontal direction angularity correction figure that scans this correction plate can obtain not waiting the wire image of width.
18. video camera array calibration steps as claimed in claim 9, a plurality of these correction plates wherein capable of being combined, and in order to proofread and correct the device that uses a plurality of these video camera arrays.
19. video camera array calibration steps as claimed in claim 18, wherein proofread and correct the device of a plurality of these video camera arrays of this use, be that the vertical axis of each this video camera array is dropped in the aligned pattern scope of this school E plate, then these all video camera arrays in the error of this vertical axis all less than the length of this aligned pattern.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2003101152874A CN100420259C (en) | 2003-11-27 | 2003-11-27 | Camera array calibration system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2003101152874A CN100420259C (en) | 2003-11-27 | 2003-11-27 | Camera array calibration system and method |
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| Publication Number | Publication Date |
|---|---|
| CN1621933A true CN1621933A (en) | 2005-06-01 |
| CN100420259C CN100420259C (en) | 2008-09-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2003101152874A Expired - Fee Related CN100420259C (en) | 2003-11-27 | 2003-11-27 | Camera array calibration system and method |
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| CN (1) | CN100420259C (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102175151A (en) * | 2011-02-16 | 2011-09-07 | 珠海市怡信测量科技有限公司 | Image measurement instrument |
| CN102223472A (en) * | 2010-04-13 | 2011-10-19 | 致伸科技股份有限公司 | Image acquisition method and image acquisition device applying same |
| CN104034728A (en) * | 2013-03-06 | 2014-09-10 | 东友精细化工有限公司 | Position correction method of shooting device for film inspection |
| CN110741222A (en) * | 2017-06-12 | 2020-01-31 | 陶朗分拣股份有限公司 | Detector calibration |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| IL216515A (en) | 2011-11-22 | 2015-02-26 | Israel Aerospace Ind Ltd | System and method for processing multi-camera array images |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1115046A (en) * | 1997-06-19 | 1999-01-22 | Asahi Optical Co Ltd | Finder optical system for digital camera |
| JP2001141894A (en) * | 1999-08-30 | 2001-05-25 | Fuji Photo Film Co Ltd | Image photographing method and device |
| CN1406051A (en) * | 2001-08-15 | 2003-03-26 | 力捷电脑股份有限公司 | Method for correcting pick-up apparatus |
| CN1441314A (en) * | 2002-02-25 | 2003-09-10 | 邓兴峰 | Multilens digital stereo camera |
-
2003
- 2003-11-27 CN CNB2003101152874A patent/CN100420259C/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102223472A (en) * | 2010-04-13 | 2011-10-19 | 致伸科技股份有限公司 | Image acquisition method and image acquisition device applying same |
| CN102223472B (en) * | 2010-04-13 | 2014-04-30 | 致伸科技股份有限公司 | Method for indicating user to judge if the lens of image acquisition device parallel to the subject |
| CN102175151A (en) * | 2011-02-16 | 2011-09-07 | 珠海市怡信测量科技有限公司 | Image measurement instrument |
| CN102175151B (en) * | 2011-02-16 | 2012-11-21 | 珠海市怡信测量科技有限公司 | Image measurement instrument |
| CN104034728A (en) * | 2013-03-06 | 2014-09-10 | 东友精细化工有限公司 | Position correction method of shooting device for film inspection |
| CN110741222A (en) * | 2017-06-12 | 2020-01-31 | 陶朗分拣股份有限公司 | Detector calibration |
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| Publication number | Publication date |
|---|---|
| CN100420259C (en) | 2008-09-17 |
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