CN211086593U - Target and TOF camera calibration integrated system - Google Patents
Target and TOF camera calibration integrated system Download PDFInfo
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- CN211086593U CN211086593U CN201920698401.7U CN201920698401U CN211086593U CN 211086593 U CN211086593 U CN 211086593U CN 201920698401 U CN201920698401 U CN 201920698401U CN 211086593 U CN211086593 U CN 211086593U
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Abstract
A target and TOF camera calibration integration system, the TOF camera calibration integration system comprising: a totally-enclosed test box body; the target is positioned on one side wall of the totally-enclosed test box body and comprises a substrate; the diffuse reflection water-based material layer is positioned on the surface of the substrate, and the diffuse reflection rate of the diffuse reflection water-based material layer is more than or equal to 94%; the clamping device is positioned in the totally-enclosed test box and used for clamping a TOF camera, and the TOF camera acquires depth information of the target at a preset position; the moving device is used for driving the clamping device to move linearly towards the direction of the target or away from the target, so that the TOF camera is located at a preset position in front of the target, and the real-time distance between the TOF camera and the target is obtained. The utility model discloses a TOF camera marks integrated system has improved the precision that TOF camera was rectified.
Description
Technical Field
The utility model relates to a TOF technical field especially relates to a mark target and TOF camera mark integrated system.
Background
With the development of optical measurement, depth cameras based on a TOF (Time of Flight) technology are becoming mature, and have been applied to the fields of three-dimensional measurement, gesture control, robot navigation, security and monitoring. The basic principle of the TOF depth camera is that modulated light emitted by an active light source of the TOF depth camera is reflected by a space target and then received by a sensor of the TOF depth camera, and the distance between the TOF depth camera and the space target is finally obtained by calculating the time difference between the emission and the reflection of the light. Since the speed of light is 300000km/s, the measurement of the entire time of flight is very short, with a distance resolution in the order of centimetres requiring a time measurement accuracy of 30 picoseconds for the system. The difficulty in maintaining the time measurement accuracy of dozens of picoseconds in the measurement process of dozens of times per second is required for all pixel points on the sensor, so that the distance measurement error of the camera reaches dozens of centimeters, and the method is particularly important for correcting the TOF depth camera before application.
The existing correction generally includes depth correction, field plane correction, and the like, but the existing correction has a problem of low correction accuracy.
SUMMERY OF THE UTILITY MODEL
The utility model discloses the technical problem that will solve is how to improve the precision that TOF camera was rectified.
The utility model provides a mark target for TOF camera calibration test, include:
a substrate;
and the diffuse reflection water-based material layer is positioned on the surface of the substrate, and the diffuse reflection rate of the substrate is more than or equal to 94 percent.
Optionally, the diffuse reflection water-based material layer with the diffuse reflection rate of more than or equal to 94% is made of acrylic copolymer and titanium dioxide, and the density is 1.352g/cm3(ii) a The substrate is a glass substrate.
Optionally, the reflectivity of the diffuse reflection water-based material layer with the diffuse reflectivity of more than or equal to 94% to infrared light is more than or equal to 95%, the plane precision of the diffuse reflection water-based material layer with the diffuse reflectivity of more than or equal to 94% is less than 1mm, and the thickness is 0.5-0.8 mm.
The utility model also provides an integrated system is markd to TOF camera, include:
a totally-enclosed test box body;
the target is positioned on one side wall of the totally-enclosed test box body;
the clamping device is positioned in the totally-enclosed test box and used for clamping a TOF camera, and the TOF camera acquires depth information of the target at a preset position;
the moving device is used for driving the clamping device to move linearly towards the direction of the target or away from the target, so that the TOF camera is located at a preset position in front of the target, and the real-time distance between the TOF camera and the target is obtained.
Optionally, the TOF camera includes a lens, the bearing arrangement has a bearing face parallel to the target, and the TOF camera is clamped on the bearing face of the bearing arrangement such that the lens faces the target.
Optionally, the device further comprises a rotating device, the rotating device is located on the moving device, the clamping device is located on the rotating device, and the rotating device is used for driving the clamping device to rotate in a direction perpendicular to the surface of the target so as to adjust the parallelism between the bearing surface and the target.
Optionally, the clamping device is provided with a collimator, and the collimator is configured to determine whether the bearing surface is parallel to the target when the clamping device is located at a predetermined position, and when the bearing surface is not parallel to the target, the rotating device drives the clamping device to rotate in a direction perpendicular to the surface of the target until the collimator determines that the bearing surface is parallel to the target.
Optionally, the moving device includes a linear motor and a displacement sensor, the displacement sensor is configured to obtain a moving distance of the clamping device, and the moving device obtains a real-time distance between a TOF camera on the clamping device and the target according to the moving distance of the clamping device obtained by the displacement sensor.
Optionally, the method further includes: and the correcting unit corrects the TOF camera according to the difference between the depth information acquired by the TOF camera and the real-time distance.
Optionally, the method further includes: the correction includes dark noise correction, sensitivity correction, field plane correction, depth correction, or temperature correction.
Optionally, a target groove is formed in the side wall of the totally-enclosed test box body, the target is installed in the target groove, and the side wall of the totally-enclosed test box body is a side wall subjected to matte black treatment.
Optionally, an infrared light supplement lamp is arranged on a side wall of the totally-enclosed test box body opposite to the side wall with the target, and the infrared light supplement lamp is used for illuminating the target when the TOF camera acquires depth information of the target.
Optionally, the predetermined distance is 1 meter or less than 1 meter, the horizontal viewing angle of the TOF camera is 120 degrees, the length of the target is 3.5 meters, and the height of the target is 1.5 meters.
Compared with the prior art, the utility model discloses technical scheme has following advantage:
the utility model discloses a mark target for TOF camera rectifies test, the diffuse reflectance of the diffuse reflectance aqueous material layer 202 that the base plate surface formed is greater than or equal to 94%, when being used for TOF camera to rectify the test with the mark target of this application, the mark target is higher to the reflectivity of the modulation light (infrared light) of TOF camera transmission for the precision of the degree of depth information that the TOF camera obtained promotes, and then makes the precision of the degree of depth information that the test obtained and the difference value of actual distance promote, according to when the difference value rectifies the TOF camera, makes the corresponding promotion of precision of correction.
Further, the material product of the diffuse reflection water-based material layer 202 with the diffuse reflection rate of more than or equal to 94 percent comprises acrylic copolymer and titanium dioxide, and the density is 1.352g/cm3The reflectivity of the diffuse reflection water-based material layer 202 with the diffuse reflectivity of more than or equal to 94 percent to infrared light (with the wavelength of 850 nanometers or 940nm) is more than or equal to 95 percent, and the plane of the diffuse reflection water-based material layer 202 with the diffuse reflectivity of more than or equal to 94 percentThe precision is less than 1 millimeter, and the thickness is 0.5 ~ 0.8mm for the target 200 further improves to the reflectivity of the modulation light (infrared light) of TOF camera transmission, makes the precision of the depth information that the TOF camera obtained further promote.
The utility model discloses a TOF camera marks integrated system, include: a totally-enclosed test box body; the target is positioned on one side wall of the totally-enclosed test box body; the clamping device is positioned in the totally-enclosed test box and used for clamping a TOF camera, and the TOF camera acquires depth information of the target at a preset position; the moving device is used for driving the clamping device to move linearly towards the direction of the target or away from the target, so that the TOF camera is located at a preset position in front of the target, and the real-time distance between the TOF camera and the target is obtained. When the TOF camera is corrected, the influence of an external environment on a correction process is reduced by adopting the totally-enclosed test box, and by adopting the target, the reflectivity of the target to modulated light (infrared light) emitted by the TOF camera is higher, so that the precision of depth information obtained by the TOF camera is improved, and because the distance between the clamping device and the target is controlled by the mobile device, the accurate real-time distance between the camera and the target can be obtained according to the mobile device, therefore, when the TOF camera is corrected, the precision of obtaining the depth information and the actual distance is improved, the difference value between the depth information and the actual distance is kept at higher precision, and the precision when the TOF camera is corrected is improved according to the difference value.
Further, the TOF camera calibration integrated system further includes: the rotating device is positioned on the moving device, the clamping device is positioned on the rotating device, and the rotating device is used for driving the clamping device to rotate in a direction vertical to the surface of the target so as to adjust the parallelism between the bearing surface and the target. The clamp bearing device is also provided with a collimator, the collimator is used for judging whether the bearing surface is parallel to the target or not when the clamp bearing device is positioned at a certain preset position, when the bearing surface is not parallel to the target, the rotating device drives the clamp bearing device to rotate in the direction perpendicular to the surface of the target until the collimator judges that the bearing surface is parallel to the target, and because the TOF camera is arranged on the bearing surface and the TOF camera (lens) is parallel to the bearing surface, the TOF camera and the target can be always parallel in the whole correction process through the rotating device and the collimator, so that the accuracy of depth information obtained by the TOF camera is improved, and the correction accuracy is further improved.
Drawings
Fig. 1 is a schematic structural diagram of a target for TOF camera calibration testing according to an embodiment of the present invention;
fig. 2-3 are schematic structural diagrams of a TOF camera calibration integrated system according to another embodiment of the present invention.
Detailed Description
As described in the background art, the conventional correction has a problem of low correction accuracy.
Research shows that when a TOF camera is corrected in the prior art, a white wall is generally adopted as a target during correction, the TOF camera obtains depth information of the white wall, the depth information obtained by the TOF camera is compared with an actual distance between the TOF camera and the white wall to obtain a difference value between the depth information and the actual distance, the TOF camera is corrected according to the difference value, and due to the fact that the surface of the white wall is uneven and the reflectivity is not high, the precision of the depth information obtained by the TOF camera is limited, the precision of the difference value between the depth information and the actual distance is limited, and the precision of the TOF camera when the TOF camera is corrected according to the difference value is limited.
Therefore, the utility model provides a mark target and TOF camera calibration integrated system for TOF camera calibration test, TOF camera calibration integrated system includes: a totally-enclosed test box body; the target is positioned on one side wall of the totally-enclosed test box body; the clamping device is positioned in the totally-enclosed test box and used for clamping a TOF camera, and the TOF camera acquires depth information of the target at a preset position; the moving device is used for driving the clamping device to move linearly towards the direction of the target or away from the target, so that the TOF camera is located at a preset position in front of the target, and the real-time distance between the TOF camera and the target is obtained. When the TOF camera is corrected, the influence of an external environment on a correction process is reduced by adopting the totally-enclosed test box, and by adopting the target, the reflectivity of the target to modulated light (infrared light) emitted by the TOF camera is higher, so that the precision of depth information obtained by the TOF camera is improved, and because the distance between the clamping device and the target is controlled by the mobile device, the accurate real-time distance between the camera and the target can be obtained according to the mobile device, therefore, when the TOF camera is corrected, the precision of obtaining the depth information and the actual distance is improved, the difference value between the depth information and the actual distance is kept at higher precision, and the precision when the TOF camera is corrected is improved according to the difference value.
In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In describing the embodiments of the present invention in detail, the drawings are not necessarily to scale, and the drawings are merely exemplary and should not be construed as limiting the scope of the present invention. In addition, the three-dimensional dimensions of length, width and depth should be included in the actual fabrication.
An embodiment of the present invention provides a target for TOF camera calibration test, please refer to fig. 1, the target 200 includes:
a substrate 201;
and the diffuse reflection water-based material layer 202 is positioned on the surface of the substrate 201, and the diffuse reflection rate of the substrate is more than or equal to 94 percent.
In one embodiment, the substrate 201 is a glass substrate, the surface of the glass substrate itself has very high flatness, and the surface of the glass substrate 201 is coated with a diffuse reflection water-based material layer, so that the formed diffuse reflection water-based material layer has good adhesion with the surface of the glass substrate 201, and the diffuse reflection water-based material layer formed on the glass substrate 201 has very high thickness uniformity and surface flatness, and very high diffuse reflection rate. In a specific embodiment, the glass substrate is made of 15 mm-thick toughened glass, so that the stability is high, the glass substrate is not easy to deform, and the TOF camera correction requirement can be met.
The diffuse reflection rate of the diffuse reflection water-based material layer 202 formed on the surface of the glass substrate 201 is not less than 94%, and specifically, the diffuse reflection water-based material layer 202 can be formed on the surface of the glass substrate in a spraying mode. When the target is used for TOF camera correction test, the reflectivity of the modulated light (infrared light) emitted by the TOF camera is higher by the target 200, so that the precision of the depth information obtained by the TOF camera is improved, the precision of the difference value between the depth information obtained by the test and the actual distance is improved, and the precision of correction is correspondingly improved when the TOF camera is corrected according to the difference value.
In one embodiment, the material composition of the diffuse reflection water-based material layer 202 with the diffuse reflection rate of more than or equal to 94% comprises acrylic acid (ester) copolymer and titanium dioxide, and the density is 1.352g/cm3The reflectivity of the diffuse reflection water-based material layer 202 with the diffuse reflectivity of more than or equal to 94% to infrared light (with the wavelength of 850 nanometers or 940nm) is more than or equal to 95%, the plane precision of the diffuse reflection water-based material layer 202 with the diffuse reflectivity of more than or equal to 94% is less than 1 millimeter, and the thickness is 0.5-0.8 mm, so that the reflectivity of the target 200 to modulated light (infrared light) emitted by a TOF camera is further improved, and the precision of depth information obtained by the TOF camera is further improved.
The present invention further provides a TOF camera calibration integrated system in another embodiment, please refer to fig. 2 and fig. 3, fig. 3 is a schematic cross-sectional view of a partial structure obtained along a direction parallel to the y-axis in fig. 2, including:
a totally enclosed test case 100;
the target 200 is located on one side wall of the fully enclosed test chamber 100;
the clamping and bearing device 130 is positioned in the totally-enclosed test box body 100, the clamping and bearing device 130 is used for clamping a TOF camera 140, and the TOF camera 140 acquires the depth information of the target 200 at a preset position;
and the moving device 120 is provided, the clamping device 130 is positioned on the moving device 120, and the moving device 120 is used for driving the clamping device 130 to move linearly towards the direction of the target 200 or away from the direction of the target 200, so that the TOF camera 140 is positioned at a preset position in front of the target 200, and the real-time distance between the TOF camera 140 and the target 200 is obtained.
Specifically, the totally closed test box 100 is a cavity in which the bottom wall, the top wall and the peripheral side walls are all closed, and the temperature, the humidity and the ambient light intensity of the environment can be regulated and controlled in the totally closed test box 100, so that the influence of the external environment on the correction process is reduced when the correction test is performed on the TOF camera in the totally closed test box 100, and the totally closed test box 100 at least has one side wall for placing the target 200. In this embodiment, totally closed test box 100 is the cube, the cube can be cuboid or square, totally closed test box 100 includes relative diapire and roof and is located four lateral walls of diapire and roof.
In an embodiment, the bottom wall, the top wall and the peripheral side walls of the totally-enclosed test box 100 are all treated by matte black, so that no mirror reflection and no light source are generated in the box, and the correction precision is improved.
In the present embodiment, the length of the target 200 is 3.5 meters (the dimension along the x-axis direction), and the height of the target is 1.5 meters (the dimension along the z-axis direction), so as to meet the requirement that the TOF camera performs field-of-view plane correction with a horizontal viewing angle of 120 degrees at a specific predetermined position (when the distance from the TOF camera 140 to the target 200 is 1 meter or less than 1 meter).
In one embodiment, the fully enclosed test chamber 100 has target slots in its side walls, and the targets 200 are mounted in the target slots to facilitate mounting and securing of targets of different sizes.
The clamping device 130 is used for clamping the TOF camera 140 so that the TOF camera 140 is located at a predetermined position in front of the target 200. The bearing arrangement 130 has a bearing face 131 parallel to the target 200, the TOF camera 140 is clamped on the bearing face 131 of the bearing arrangement 130, and the TOF camera 140 includes a lens that faces the target 200 when the TOF camera 140 is clamped on the bearing face 131 of the bearing arrangement 130.
In this embodiment, the bearing surface 131 is one side surface of the clamping device, and when the TOF camera 140 is mounted on the bearing surface 131, modulated light emitted by the light source unit of the TOF camera 140 and reflected light received by the light sensing unit are not blocked or interfered by the clamping device 130, and the level and the mounting height of the TOF camera 140 can be conveniently controlled.
In an embodiment, the TOF depth camera may include: the device comprises a light source unit, a light induction unit, a processing unit, a lens and a control unit. The light source unit is used for generating and emitting modulated light to illuminate a field of view; the lens is used for focusing the reflected light rays on the light sensing unit, and the light sensing unit is used for receiving the reflected light rays and generating sensing charges; the processing unit is used for obtaining a depth image; the control unit is used for controlling the position of the lens.
The modulated light is infrared light, in one embodiment, the modulated light generated by the light source unit is pulse infrared light of 100-150 MHz, and the wavelength of the infrared light is 850nm or 940 nm.
The modulation mode of the modulated light is divided into two modes of pulse light modulation and continuous wave modulation. Wherein the pulse light modulation obtains distance information between the TOF camera and the target by obtaining a time difference of the transmitted light and the received light. The continuous wave modulation is to obtain distance information between the TOF camera and the target by obtaining a phase difference of the transmitted light and the received light.
The photo-sensing unit is used for sensing reflected light and generating a sensing charge, and generally includes a pixel matrix array. The processing unit is connected with the light source unit and the light sensing unit, obtains the corresponding time difference or phase difference between the emitted light and the received light according to the obtained sensing charges, and calculates the depth information according to the time difference or the phase difference so as to obtain the depth graph.
The lens is used for focusing the reflected light on the light sensing unit. The lens is also used for filtering out light with different frequency and wavelength from the modulated light emitted by the light source unit.
The TOF camera calibration integration system further comprises a moving device 120, wherein the clamping device 130 is located on the moving device 120, and the moving device 120 is used for driving the clamping device 130 to move linearly towards the target 200 or away from the target 200 (the AB direction shown in fig. 3), so that the TOF camera 140 is located at a predetermined position in front of the target 200, and the real-time distance between the TOF camera 140 and the target 200 is obtained.
By driving the moving device 120, the clamping device 130 can be located at different predetermined positions, so that the TOF camera can obtain depth information at different predetermined positions and perform corresponding parameter correction or correct corresponding parameters by combining the depth information obtained at different predetermined positions, and since the distance between the clamping device 130 and the target 200 is controlled by the moving device 120, an accurate real-time distance between the TOF camera 140 and the target 200 can be obtained according to the moving device 120.
In an embodiment, the moving device 120 includes a guide rail or a slide rail 121, a moving platform 122 and a driving unit (not shown in the figure), and the moving platform 122 is located on the guide rail or the slide rail 121, the moving platform 122 moves in a direction defined by the guide rail or the slide rail 121 (AB direction in fig. 3), the moving platform 122 is connected to the driving unit, the bearing device 130 is located on the moving platform 122, the driving unit is adapted to drive the moving platform 122 to move along the direction defined by the guide rail or the slide rail 121, and the bearing device 130 on the moving platform 122 moves correspondingly, in an embodiment, the driving unit is a high-precision linear motor, the moving device 120 further includes a displacement sensor (not shown in the figure) for acquiring a moving distance of the bearing device 130, and the TOF camera 140 on the bearing device 130 and the target camera 140 on the bearing device 130 are acquired by the moving device 120 according to the moving distance of the bearing device 130 acquired by the displacement 200, the accuracy of the real-time distance between the TOF camera 140 and the target 200 is smaller than 0.01mm by the mobile device, so that the TOF camera calibration integration system obtains the accuracy response improvement of the implementation distance, and further improves the accuracy of the correction.
In an embodiment, the TOF camera calibration integration system further includes: a rotating device 150, wherein the rotating device 150 is located on the moving device 120, the clamping device 130 is located on the rotating device 150, and the rotating device 150 is used for driving the clamping device 130 to rotate in a direction (the CD direction in figure 3) vertical to the surface of the target 200, so as to adjust the parallelism between the bearing surface 131 and the target 200. The clamping device 130 is further provided with a collimator 160, the collimator 160 is used for judging whether the bearing surface 131 is parallel to the target 200 when the clamping device 130 is located at a certain preset position, when the bearing surface 131 is not parallel to the target 200, the rotating device 150 drives the clamping device 130 to rotate in the direction perpendicular to the surface of the target until the collimator 160 judges that the bearing surface 131 is parallel to the target 200, and since the TOF camera is installed on the bearing surface 131 and the TOF camera (lens) is parallel to the bearing surface 131, the TOF camera and the target 200 can be always kept parallel in the whole correction process through the rotating device 150 and the collimator 160, the accuracy of depth information obtained by the TOF camera is improved, and the correction accuracy is further improved.
The collimator 160 may be mounted on the bearing surface 131 or the bottom surface of the clamping arrangement 130, or may be mounted in other suitable locations. In one embodiment, the criteria for the collimator 160 to determine whether the bearing surface 131 is parallel to the target 200 are: the collimator 160 of the clamp bearing device 130 emits laser light, the laser light is reflected on the surface of the target 200, and if the collimator 160 can receive the reflected laser light, it is determined that the bearing surface 131 of the clamp bearing device 130 is parallel to the target 200, and if the collimator 160 cannot receive the reflected laser light, it is determined that the bearing surface 131 of the clamp bearing device 130 is not parallel to the target 200.
In an embodiment, the TOF camera calibration integration system further includes: a correction unit (not shown in the figure) that corrects the TOF camera according to a difference between the depth information acquired by the TOF camera and the real-time distance.
In a specific embodiment, the correcting process includes: clamping the TOF camera 140 (to be calibrated) on the clamping device; the moving device drives the clamping device to move, so that the TOF camera (to be corrected) on the clamping device is located at a preset position in front of the 200 target, and the moving device obtains the real-time distance between the TOF camera (to be corrected) and the target; the TOF camera (to be corrected) is always kept parallel to the target 200 by the rotation means 150 and the collimator 160 (this step may not be performed); the TOF camera (to be corrected) acquires depth information of the target at the predetermined position; and the correction unit corrects the TOF camera according to the difference between the depth information acquired by the TOF camera and the real-time distance.
The correction may include a dark noise correction, a sensitivity correction, a field plane correction, a depth correction, or a temperature correction.
In a specific embodiment, the correction unit obtains a correction factor according to a difference between the depth information acquired by the TOF camera and the real-time distance, and the correction unit corrects the TOF camera according to the correction factor. The correction factor may be obtained by calculation, experiment, or experience.
The preset distance is 1 meter or less than 1 meter (may be 0.4 meter).
The side wall of the totally-enclosed test box 100 opposite to the side wall with the target 200 is provided with an infrared light supplement lamp 110, and the infrared light supplement lamp 100 is used for providing an environment lamp source.
Although the present invention has been disclosed in the preferred embodiments, it is not intended to limit the present invention, and any person skilled in the art can use the above-mentioned method and technical contents to make possible changes and modifications to the technical solution of the present invention without departing from the spirit and scope of the present invention, therefore, any simple modification, equivalent changes and modifications made to the above embodiments by the technical substance of the present invention all belong to the protection scope of the technical solution of the present invention.
Claims (13)
1. A target, comprising:
a substrate;
and the diffuse reflection water-based material layer is positioned on the surface of the substrate, and the diffuse reflection rate of the substrate is more than or equal to 94 percent.
2. The target of claim 1, wherein the material of the diffuse reflection water-based material layer with the diffuse reflectivity of more than or equal to 94% is acrylic copolymer and titanium dioxide, and the density is 1.352g/cm3(ii) a The substrate is a glass substrate.
3. The target according to claim 1 or 2, wherein the reflectivity of the diffuse reflection water-based material layer with the diffuse reflectivity of more than or equal to 94% to infrared light is more than or equal to 95%, the plane precision of the diffuse reflection water-based material layer with the diffuse reflectivity of more than or equal to 94% is less than 1mm, and the thickness is 0.5-0.8 mm.
4. A TOF camera calibration integrated system, comprising:
a totally-enclosed test box body;
a target according to any one of claims 1-3 located on a side wall of the hermetically sealed test chamber;
the clamping device is positioned in the totally-enclosed test box and used for clamping a TOF camera, and the TOF camera acquires depth information of the target at a preset position;
the moving device is used for driving the clamping device to move linearly towards the direction of the target or away from the target, so that the TOF camera is located at a preset position in front of the target, and the real-time distance between the TOF camera and the target is obtained.
5. The TOF camera calibration integration system of claim 4 wherein the TOF camera includes a lens, the bearing arrangement having a bearing face parallel to the target, the TOF camera being clamped on the bearing face of the bearing arrangement such that the lens faces the target.
6. The TOF camera calibration integration system of claim 5 further comprising a rotation device located on the translation device, the bearing device located on the rotation device, the rotation device configured to drive the bearing device to rotate in a direction perpendicular to a target surface to adjust a degree of parallelism between the bearing surface and the target.
7. The TOF camera calibration integration system of claim 6 wherein the bearing device has a collimator thereon for determining whether the bearing surface is parallel to the target when the bearing device is in a predetermined position, and wherein the rotating device drives the bearing device to rotate in a direction perpendicular to the target surface when the bearing surface is not parallel to the target until the collimator determines that the bearing surface is parallel to the target.
8. The TOF camera calibration integration system of claim 4 wherein the moving device comprises a linear motor and a displacement sensor, the displacement sensor is used for acquiring the moving distance of the clamping device, and the moving device acquires the real-time distance between the TOF camera on the clamping device and the target according to the moving distance of the clamping device acquired by the displacement sensor.
9. The TOF camera calibration integration system of claim 4 further comprising: and the correcting unit corrects the TOF camera according to the difference between the depth information acquired by the TOF camera and the real-time distance.
10. The TOF camera calibration integration system of claim 9 further comprising: the correction includes dark noise correction, sensitivity correction, field plane correction, depth correction, or temperature correction.
11. The TOF camera calibration integration system of claim 4 wherein the fully enclosed test chamber body has a target slot in a side wall thereof, the target being mounted in the target slot, the side wall of the fully enclosed test chamber body being a matte black treated side wall.
12. The TOF camera calibration integration system according to claim 4 or 11, wherein the fully enclosed test box has an infrared fill light on a side wall thereof opposite to the side wall having the target, the infrared fill light being used to illuminate the target when the TOF camera acquires depth information of the target.
13. The TOF camera calibration integration system of claim 4 wherein the predetermined distance is 1 meter or less than 1 meter, the horizontal view angle of the TOF camera is 120 degrees, the length of the target is 3.5 meters, and the height of the target is 1.5 meters.
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| CN201920698401.7U CN211086593U (en) | 2019-05-15 | 2019-05-15 | Target and TOF camera calibration integrated system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110058212A (en) * | 2019-05-15 | 2019-07-26 | 上海炬佑智能科技有限公司 | Target and TOF camera demarcate integrated system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110058212A (en) * | 2019-05-15 | 2019-07-26 | 上海炬佑智能科技有限公司 | Target and TOF camera demarcate integrated system |
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