CN209328083U - A kind of calibration target for 3D camera - Google Patents
A kind of calibration target for 3D camera Download PDFInfo
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- CN209328083U CN209328083U CN201821893116.2U CN201821893116U CN209328083U CN 209328083 U CN209328083 U CN 209328083U CN 201821893116 U CN201821893116 U CN 201821893116U CN 209328083 U CN209328083 U CN 209328083U
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Abstract
The utility model discloses a kind of calibration targets for 3D camera, including planar substrates (3), it further include calibration target support (4), the calibration target support (4) is equipped with two or more fixing grooves, and the planar substrates (3) are fixed in the fixing groove；The planar substrates (3) are equipped with several coding calibration points (1) and non-coding calibration point (2), and form evenly spaced label row and flag column, the label row includes the spaced label row for having coding calibration point and the label row without coding calibration point, and the spacing between the coding calibration point (1) in the label row for having coding calibration point is identical.The calibration target for 3D camera of the utility model, structure is simple, easy to process, easy to use.
Description
Technical field
The utility model belongs to dimensional visual measurement technical field, more particularly, to a kind of calibration for 3D camera
Target.
Background technique
In recent years, due to the explosive growth of the rapid development of three-dimensional sensing technology and three-dimensional geometry data, 3D vision
Research breaks through traditional two dimensional image space, realizes the analysis, understanding and interaction of three-dimensional space.3D vision technology is by increasingly
It is more to be widely used in intelligent Unmanned Systems (unmanned vehicle, unmanned plane), robot, intelligence manufacture, historical relic's protection and medical treatment & health etc.
A industry provides key technology support for the great demand of country.
Camera calibration is computer vision/machine vision basis.The world locating for us is three-dimensional, and photo is two
Dimension, camera can be considered a function, input quantity is a scene, and output quantity is a width grayscale image, and camera calibration
A suitable mathematical model is exactly looked for, the parameter of this model is found out.This just needs a benchmark, thus demarcate target meet the tendency of and
Raw, most important effect is exactly to determine the correspondence of object point and picture point, and determine the crucial institute of dimensional visual measurement precision
?.
3D camera calibration target comes into being as the calibration of 3D camera, and still, existing 3D camera calibration target structure is complicated,
Difficulty of processing is big, uses not aspect.
Utility model content
Aiming at the above defects or improvement requirements of the prior art, the utility model provides a kind of calibration for 3D camera
Target forms the structure of 3D camera calibration target by planar substrates and calibration target support, and overall construction is simple, easy to process, plane
On annular ring on substrate by the outer ring arranged in a crossed manner and coded target of coded target and non-coding index point
Coding is realized in the different settings of circular flap, and production is simple and is easy to implement function.
To achieve the goals above, the utility model provides a kind of calibration target for 3D camera, including planar substrates, also
Including demarcating target support, the calibration target support is equipped with two or more fixing grooves, and the planar substrates are fixed on
In the fixing groove；
The planar substrates are equipped with several coding calibration points and non-coding calibration point, and form evenly spaced label row
And flag column, the label row include spaced with the label row for encoding calibration point and without the mark of coding calibration point
Note row is described identical with the spacing between the coding calibration point marked in row for encoding calibration point.
Further, it is described coding calibration point include center dot and surround dot annular ring, annular ring by
The circular flap composition that quantity is different and position is different, several i.e. corresponding described codings of the circular flap of different number and different location
The coding of calibration point.
Further, the non-coding calibration point is dot.
Further, the dot of coding calibration dot center is identical with the dot diameter of the non-coding calibration point.
Further, the calibration face of the planar substrates is smooth plane, and device surface is made using reflectorized material
Or it carries out reflective processing and has been made.
Further, the fixing groove includes vertical securing slot and oblique fixing groove.
Further, the oblique fixing groove and the angle value range of the calibration target bottom surface of support saddle are 45 °~70 °.
Further, the length of the fixing groove is greater than or equal to the half of the width of the planar substrates.
In general, it can obtain down the above technical solutions conceived by the present invention are compared with the prior art,
Column the utility model has the advantages that
(1) the utility model is used for the calibration target of 3D camera, forms 3D camera mark by planar substrates and calibration target support
The structure of targeting, overall construction is simple, easy to process, passes through the intersection of coded target and non-coding index point on planar substrates
It is arranged and coding is realized in the different settings of the circular flap on the annular ring of the outer ring of coded target, production is simple and is convenient for
Realize function.
(2) the utility model is used for the calibration target of 3D camera, and several label row interval same distance settings mark in row
It is spaced identical distance setting between adjacent calibration point, forms the label row and flag column of several proper alignments, is convenient for 3D phase
Machine calibration；Label row with coding calibration point and the label row interval setting without coding calibration point, adjacent is had
The label row of coding calibration point is kept apart, and avoids interfering with each other.
(3) the utility model is used for the calibration target of 3D camera, the surfaces of planar substrates be made using reflectorized material or
Reflective processing has been carried out to surface, to prevent reflective influence calibration effect,
(4) the utility model is used for the calibration target of 3D camera, the angle value model of oblique fixing groove and calibration 4 bottom surface of target support
Enclosing is 45 °~70 °, and vertical securing slot and oblique fixing groove are multiple needed for conveniently laying calibration for demarcating putting for Board position
Scaling board orientation.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of planar substrates in 3D camera calibration target in the utility model first embodiment；
Fig. 2 is the structural schematic diagram of planar substrates in 3D camera calibration target in the utility model second embodiment；
Fig. 3 is the structural schematic diagram of 3D camera calibration target in the utility model embodiment.
In all the appended drawings, same appended drawing reference indicates identical technical characteristic, specifically: 1- coded target, 2-
Non-coding index point, 3- planar substrates, 4- demarcate target support.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only to explain this
Utility model is not used to limit the utility model.In addition, involved in the various embodiments of the present invention described below
And to technical characteristic can be combined with each other as long as they do not conflict with each other.
Fig. 3 is the structural schematic diagram of 3D camera calibration target in the utility model embodiment.As shown in figure 3, the utility model
3D camera calibration target include planar substrates 3 and calibration target support 4, planar substrates 3 be placed in calibration target support 4 on, demarcate target branch
Seat 4 avoids planar substrates 3 from shaking during calibration, to influence calibration for providing stable support for planar substrates 3
Effect；
Wherein, planar substrates 1 are rectangular parallelepiped structure, and calibration face is smooth plane, it is preferable that the table of planar substrates 1
Face is made using reflectorized material or has been carried out reflective processing to surface, to prevent reflective influence calibration effect, into one
Step, the surface of planar substrates 1 is made by matte management, reflective to prevent.
Preferably, planar substrates 1 are process by aluminum alloy materials.
Planar substrates 1 are equipped with several calibration points, and calibration point includes coding calibration point 1 and non-coding calibration point 2, non-coding
Calibration point 2 is ring-dot type, and coding calibration point 1 includes the dot at center and the annular ring for surrounding dot, and annular ring is by quantity difference
And the circular flap composition that position is different, the volume of several i.e. corresponding coding calibration points 1 of the circular flap of different number and different location
Code (ID), the corresponding unique coding of the annular ring of particular form.
Planar substrates 1 are equipped with the label row that several rows are made of non-coding calibration point 2 and coding calibration point 1, Ruo Ganbiao
Remember the setting of row interval same distance, identical distance setting is spaced between the adjacent calibration point in label row, is formed several whole
The label row and flag column arranged together is convenient for 3D camera calibration.
Wherein, the label row with coding calibration point and the label row interval setting without coding calibration point, will be adjacent
With coding calibration point label row keep apart, avoid interfering with each other.And the coding in the label row with coding calibration point
Calibration point 1 is arranged on planar substrates 1 according to identical spacing.Preferably, setting 8~20 respectively encodes on entire planar substrates 1
Calibration point 1.
Preferably, 9 line flag row, 15 column flag column is set on planar substrates 1, to be formed most on limited planar substrates 1
Suitable tag arrangement.
Preferably, the background color of planar substrates 1 is black, and non-coding calibration point 2 and coding calibration point 1 are white, by black
White comparison highlights several coding calibration points 1 and non-coding calibration point being arranged on planar substrates 1.
Preferably, the dot for encoding 1 center of calibration point is identical with the dot diameter of non-coding calibration point 2.
Fig. 1 is the structural schematic diagram of planar substrates in 3D camera calibration target in the utility model first embodiment.Fig. 2 is this
In utility model second embodiment in 3D camera calibration target planar substrates structural schematic diagram.As depicted in figs. 1 and 2, respectively
The set-up mode of two kinds of codings calibration points 1 and non-coding calibration point 2 on planar substrates 1.
Wherein, calibration target support 4 is equipped with two or more fixing grooves, and fixing groove includes and calibration target support 4
The vertical securing slot of bottom surface angle in 90 ° and oblique fixing groove, oblique fixing groove and the angle value range of calibration 4 bottom surface of target support are
45 °~70 °, vertical securing slot and oblique fixing groove for demarcating putting for Board position, it is multiple needed for conveniently laying calibration (8~
24) scaling board orientation (zoomed out, furthered relative to camera, "Left"-deviationist, Right deviation, pitching, inversion, rotation etc.).
Preferably, the length of fixing groove is greater than or equal to the half of the width of planar substrates 1, to realize to planar substrates 1
Effective fixation.
Calibration target provided by the utility model for 3D camera greatly reduces machining essence compared to the prior art
Degree requires, easy to use, has preferable practical value.
As it will be easily appreciated by one skilled in the art that the above is only the preferred embodiment of the utility model only, not
For limiting the utility model, any modification made within the spirit and principle of the present invention, equivalent replacement and change
Into etc., it should be included within the scope of protection of this utility model.
Claims (8)
1. a kind of calibration target for 3D camera, including planar substrates (3), which is characterized in that it further include calibration target support (4),
The calibration target support (4) is equipped with two or more fixing grooves, and the planar substrates (3) are fixed on the fixing groove
It is interior；
The planar substrates (3) are equipped with several coding calibration points (1) and non-coding calibration point (2), and are formed evenly spaced
Label is capable and flag column, the label row include the spaced label row with coding calibration point and demarcate without coding
The label row of point, it is described to mark the spacing between the coding calibration point (1) in going identical with coding calibration point.
2. a kind of calibration target for 3D camera according to claim 1, which is characterized in that the coding calibration point (1)
The annular ring of dot and encirclement dot including center, annular ring are made of the circular flap that quantity is different and position is different,
The circular flap of different number and different location is the coding of several corresponding codings calibration point (1).
3. a kind of calibration target for 3D camera according to claim 2, which is characterized in that the non-coding calibration point
It (2) is dot.
4. a kind of calibration target for 3D camera according to claim 3, which is characterized in that the coding calibration point (1)
The dot at center is identical with the dot diameter of the non-coding calibration point (2).
5. a kind of calibration target for 3D camera described according to claim 1~any one of 4, which is characterized in that described
The calibration face of planar substrates (3) is smooth plane, and device surface is made or has carried out reflective processing system using reflectorized material
It forms.
6. a kind of calibration target for 3D camera according to claim 1, which is characterized in that the fixing groove includes vertical
Fixing groove and oblique fixing groove.
7. a kind of calibration target for 3D camera according to claim 6, which is characterized in that the oblique fixing groove with it is described
The angle value range for demarcating target support (4) bottom surface is 45 °~70 °.
8. a kind of calibration target for 3D camera according to claim 6 or 7, which is characterized in that the length of the fixing groove
Degree is greater than or equal to the half of the width of the planar substrates (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821893116.2U CN209328083U (en) | 2018-11-16 | 2018-11-16 | A kind of calibration target for 3D camera |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821893116.2U CN209328083U (en) | 2018-11-16 | 2018-11-16 | A kind of calibration target for 3D camera |
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| Publication Number | Publication Date |
|---|---|
| CN209328083U true CN209328083U (en) | 2019-08-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821893116.2U Active CN209328083U (en) | 2018-11-16 | 2018-11-16 | A kind of calibration target for 3D camera |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111709999A (en) * | 2020-05-13 | 2020-09-25 | 深圳奥比中光科技有限公司 | Calibration plate, camera calibration method and device, electronic equipment and camera system |
| CN113112550A (en) * | 2020-12-23 | 2021-07-13 | 合肥工业大学 | Coding plane target for calibrating internal and external parameters of camera and coding method thereof |
-
2018
- 2018-11-16 CN CN201821893116.2U patent/CN209328083U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111709999A (en) * | 2020-05-13 | 2020-09-25 | 深圳奥比中光科技有限公司 | Calibration plate, camera calibration method and device, electronic equipment and camera system |
| CN113112550A (en) * | 2020-12-23 | 2021-07-13 | 合肥工业大学 | Coding plane target for calibrating internal and external parameters of camera and coding method thereof |
| CN113112550B (en) * | 2020-12-23 | 2022-08-02 | 合肥工业大学 | Coding plane target for calibrating internal and external parameters of camera and coding method thereof |
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