TWM561212U - Calibration equipment - Google Patents
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Abstract
一種校正設備，適於校正一影像擷取裝置，包含一深度校正屏、一深度校正凸塊板及一移動機台。深度校正凸塊板具有多個凸塊，且這些凸塊的凸出長度至少部分相異。移動機台用以供影像擷取裝置擺放，移動機台可帶動影像擷取裝置靠近或遠離深度校正屏以進行深度校正，或帶動影像擷取裝置移動至深度校正凸塊板以進行深度校正。A calibration device adapted to correct an image capture device includes a depth correction screen, a depth correction bump plate, and a mobile machine. The depth correction bump plate has a plurality of bumps, and the projection lengths of the bumps are at least partially different. The mobile machine is used for the image capturing device, and the moving machine can drive the image capturing device to be close to or away from the depth correction screen for depth correction, or drive the image capturing device to move to the depth correction bump plate for depth correction. .
Description
本新型是有關一種校正設備，特別是一種具有校正凸塊板的校正設備。The present invention relates to a calibration apparatus, and more particularly to a calibration apparatus having a correction bump plate.
隨著科技的進步與演進，傳統的相機逐漸從原本拍攝平面二維資訊的相機發展為可得知拍攝景物之深度的相機，也就是目前常見的深度相機。深度相機與傳統的相機不同之處在於深度相機除了可拍攝景物的二維影像資訊外，還可拍攝包含景物之深度的三維資訊。其設計原理係針對待測場景發射一參考光束，藉由計算光束反射回的時間差或相位差，來換算被拍攝景物的距離以產生深度資訊，而可進一步得知影像的三維資訊。With the advancement and evolution of technology, the traditional camera has gradually evolved from a camera that has been shooting planar two-dimensional information to a camera that can know the depth of the scene, which is the current common depth camera. The difference between a depth camera and a conventional camera is that the depth camera can capture three-dimensional information including the depth of the scene in addition to the two-dimensional image information of the scene. The design principle is to emit a reference beam for the scene to be tested, and calculate the distance of the captured object to calculate the depth information by calculating the time difference or phase difference reflected by the beam, and further know the three-dimensional information of the image.
一般而言，深度相機的鏡頭與機構零件在生產及組裝時皆會產生公差，造成深度相機所拍攝的影像的三維資訊與實際上有落差，因此深度相機在出廠前皆會先進行校正。然而，目前深度相機僅以不同拍攝距離拍攝一屏面以進行深度校正，但所拍攝之景物常為具有深度的物體，故僅藉由以不同距離拍攝一屏面進行深度校正，仍不足以將深度相機所拍攝的影像三維資訊校正為符合實際物體的三維資訊。In general, the depth camera lens and mechanism parts will produce tolerances during production and assembly, resulting in a three-dimensional information difference between the images captured by the depth camera, so the depth camera will be corrected before leaving the factory. However, at present, the depth camera only takes one screen at different shooting distances for depth correction, but the scene taken is often an object with depth, so it is still not enough to perform depth correction by shooting a screen at different distances. The three-dimensional information of the image captured by the depth camera is corrected to three-dimensional information conforming to the actual object.
本新型在於提供一種校正設備，藉以解決先前技術中度相機僅以不同拍攝距離拍攝一屏面以進行深度校正，仍不足以將深度相機所拍攝的影像三維資訊校正為符合實際物體的三維資訊的問題。The present invention provides a correction device for solving the problem that the prior art medium camera only takes one screen at different shooting distances for depth correction, and is still not enough to correct the three-dimensional information of the image captured by the depth camera to conform to the three-dimensional information of the actual object. problem.
本新型之一實施例所揭露之一種校正設備，適於校正一影像擷取裝置，包含一深度校正屏、一深度校正凸塊板及一移動機台。深度校正凸塊板具有多個凸塊，且這些凸塊的凸出長度至少部分相異。移動機台用以供影像擷取裝置擺放，移動機台可帶動影像擷取裝置靠近或遠離深度校正屏以進行深度校正，或帶動影像擷取裝置移動至深度校正凸塊板以進行深度校正。A calibration apparatus disclosed in an embodiment of the present invention is adapted to correct an image capturing device, including a depth correction screen, a depth correction bump board, and a mobile machine. The depth correction bump plate has a plurality of bumps, and the projection lengths of the bumps are at least partially different. The mobile machine is used for the image capturing device, and the moving machine can drive the image capturing device to be close to or away from the depth correction screen for depth correction, or drive the image capturing device to move to the depth correction bump plate for depth correction. .
根據上述實施例所揭露的校正設備，因校正設備同時具有深度校正屏及深度校正凸塊板，且深度校正凸塊板具有多個凸出長度相異的凸塊，使得影像擷取裝置除了透過移動機台調整與深度校正屏之間的距離以進行不同拍攝距離的深度校正外，還可透過移動機台移動至深度校正凸塊板，以分別利用深度校正屏及不同凸出長度的凸塊進行二次的深度校正，故可增加影像之三維資訊的準確度。According to the calibration apparatus disclosed in the above embodiments, since the correction device has both the depth correction screen and the depth correction bump plate, and the depth correction bump plate has a plurality of bumps having different protruding lengths, the image capturing device transmits the image. The distance between the mobile machine and the depth correction screen can be adjusted for depth of different shooting distances, and can also be moved to the depth correction bump board through the moving machine to utilize the depth correction screen and the bumps of different protruding lengths respectively. The second depth correction is performed, so that the accuracy of the three-dimensional information of the image can be increased.
以上關於本新型內容的說明及以下實施方式的說明係用以示範與解釋本新型的原理，並且提供本新型的專利申請範圍更進一步的解釋。The above description of the present invention and the following description of the embodiments are intended to illustrate and explain the principles of the present invention and to provide a further explanation of the scope of the present application.
請參閱圖1，圖1為根據本新型第一實施例所揭露之校正設備的立體示意圖。Please refer to FIG. 1. FIG. 1 is a perspective view of a calibration apparatus according to a first embodiment of the present invention.
本實施例的校正設備1適於校正一影像擷取裝置2，且影像擷取裝置2例如為深度相機。一般而言，深度相機為同時具有TOF(time of flight)相機模組及三元色(RGB)相機模組，且RGB相機模組用來拍攝二維影像資訊，而TOF相機模組用來拍攝影像之深度資訊，藉此可得知拍攝物的三維資訊。在實務上，TOF相機模組的解析度小於RGB相機模組的解析度。The correction device 1 of the present embodiment is adapted to correct an image capture device 2, and the image capture device 2 is, for example, a depth camera. In general, the depth camera has both a TOF (time of flight) camera module and a three-color (RGB) camera module, and the RGB camera module is used to capture two-dimensional image information, and the TOF camera module is used for shooting. The depth information of the image, so that the three-dimensional information of the subject can be known. In practice, the resolution of the TOF camera module is less than the resolution of the RGB camera module.
校正設備1包含一第一影像校正板10、一第二影像校正板20、一深度校正屏30、一深度校正凸塊板40、一滑軌50及一移動機台60。The calibration device 1 includes a first image correcting plate 10, a second image correcting plate 20, a depth correcting screen 30, a depth correcting bump plate 40, a slide rail 50, and a moving machine table 60.
第一影像校正板10與第二影像校正板20分別透過樞設的方式設置於二載台，並分別可沿平行二樞接軸線的Z軸向及Y軸向轉動，以令第一影像校正板10與第二影像校正板20可調整俯仰角度及翻動角度，使得影像擷取裝置2可拍攝不同角度的第一影像校正板10與第二影像校正板20以進行影像校正。此外，二載台分別可帶動第一影像校正板10與第二影像校正板20靠近或遠離滑軌50，以調整第一影像校正板10與第二影像校正板20與影像擷取裝置2的距離。The first image correcting plate 10 and the second image correcting plate 20 are respectively disposed on the two stages by pivoting, and are respectively rotatable along the Z axis and the Y axis of the parallel two pivot axes to correct the first image. The board 10 and the second image correcting board 20 can adjust the pitch angle and the flip angle, so that the image capturing device 2 can capture the first image correcting plate 10 and the second image correcting plate 20 at different angles for image correction. In addition, the two loading stages can respectively drive the first image correcting plate 10 and the second image correcting plate 20 to be close to or away from the sliding rail 50 to adjust the first image correcting plate 10 and the second image correcting plate 20 and the image capturing device 2 distance.
請一併參閱圖1至圖3。圖2為圖1的第一影像校正板的平面示意圖。圖3為圖1的第二影像校正板的平面示意圖。Please refer to Figure 1 to Figure 3. 2 is a schematic plan view of the first image correcting plate of FIG. 1. 3 is a schematic plan view of the second image correcting plate of FIG. 1.
第一影像校正板10具有多個第一格11，且第二影像校正板20具有多個第二格21。這些第一格11與這些第二格21的形狀例如可以為正方形，且這些第二格21分別與這些第一格11的大小相異，以及每一第二格21的大小大於每一第一格11的大小。這些第一格11與這些第二格21用以供影像擷取裝置2進行影像校正。The first image correcting plate 10 has a plurality of first cells 11 and the second image correcting plate 20 has a plurality of second cells 21. The shapes of the first cells 11 and the second cells 21 may be, for example, squares, and the second cells 21 are different in size from the first cells 11, and the size of each second cell 21 is larger than each first. The size of the grid 11. The first cells 11 and the second cells 21 are used for image correction by the image capturing device 2.
深度校正屏30例如為白屏幕，且深度校正屏30位於滑軌50之延伸方向並面對滑軌50。也就是說，深度校正屏30的法線方向平行於滑軌50之延伸方向。深度校正屏30用以供影像擷取裝置2進行不同拍攝距離下的深度校正。本實施例中，如圖所示，影像擷取裝置2位於深度校正屏30與第一影像校正板10之間。The depth correction screen 30 is, for example, a white screen, and the depth correction screen 30 is located in the extending direction of the slide rail 50 and faces the slide rail 50. That is, the normal direction of the depth correction screen 30 is parallel to the extending direction of the slide rail 50. The depth correction screen 30 is used for the image capturing device 2 to perform depth correction at different shooting distances. In this embodiment, as shown in the figure, the image capturing device 2 is located between the depth correction screen 30 and the first image correcting plate 10.
請參閱圖4，圖4為圖1的深度校正凸塊板的立體示意圖。深度校正凸塊板40面向滑軌50，且架設於與第一影像校正板10同一側。深度校正凸塊板40具有多個凸塊41，這些凸塊41的凸出長度至少部分相異及大小亦至少部分相異。深度校正凸塊板40的這些凸塊41的凸出長度與大小為相異的設置可讓深度校正凸塊板40適用於不同解析度的深度相機進行深度校正，但並不以此為限。此外，在本實施例及其他實施例中，這些凸塊具有多種形狀，例如可為長方體、圓柱體或三角柱體等。Please refer to FIG. 4. FIG. 4 is a perspective view of the depth correction bump plate of FIG. 1. The depth correction bump plate 40 faces the slide rail 50 and is mounted on the same side as the first image correction plate 10. The depth correction bump plate 40 has a plurality of bumps 41, and the projection lengths of the bumps 41 are at least partially different and at least partially different in size. The protrusions of the depth correction bumps 40 are different in size and size, and the depth correction bumps 40 are suitable for depth correction by depth cameras of different resolutions, but are not limited thereto. Moreover, in the present embodiment and other embodiments, the bumps have various shapes, such as a rectangular parallelepiped, a cylinder, or a triangular cylinder.
在本實施例中，第一影像校正板10、第二影像校正板20、深度校正屏30及深度校正凸塊板40的設置位置僅是舉例說明，並非用以限定本新型。在其他實施例中，可依據實際需求調整第一影像校正板、第二影像校正板、深度校正屏及深度校正凸塊板的位置。In the present embodiment, the positions of the first image correcting plate 10, the second image correcting plate 20, the depth correcting screen 30, and the depth correcting convex plate 40 are merely illustrative and are not intended to limit the present invention. In other embodiments, the positions of the first image correcting plate, the second image correcting plate, the depth correcting screen, and the depth correcting convex plate may be adjusted according to actual needs.
請一併參閱圖1及圖5，圖5為圖1的移動機台的放大圖。Please refer to FIG. 1 and FIG. 5 together. FIG. 5 is an enlarged view of the mobile machine platform of FIG. 1.
移動機台60包含一架體61及一置物台62，且架體61包含一座體部611、一承載架部612、一旋轉構件613及一升降構件614。座體部611可滑動地設置於滑軌50，且旋轉構件613設置於座體部611及承載架部612之間，用以帶動承載架部612旋轉。升降構件614設置於承載架部612，且置物台62設置於升降構件614，升降構件614用以升降置物台62。置物台62具有一置物面621，置物面621用以供影像擷取裝置2擺放。在本實施例中，置物台62例如為雲台，且影像擷取裝置2透過置物台62而可於X、Y、Z軸向上旋轉或是移動以進行六軸的微調。此外，透過架體61的旋轉構件613及升降構件614可粗略地調整影像擷取裝置2的拍攝位置。The moving machine table 60 includes a frame body 61 and a storage table 62. The frame body 61 includes a body portion 611, a carrier portion 612, a rotating member 613 and a lifting member 614. The seat portion 611 is slidably disposed on the slide rail 50, and the rotating member 613 is disposed between the seat portion 611 and the carrier portion 612 for driving the carrier portion 612 to rotate. The lifting member 614 is disposed on the carrier portion 612, and the storage table 62 is disposed on the lifting member 614 for lifting the table 62. The storage table 62 has a storage surface 621 for the image capturing device 2 to be placed. In the present embodiment, the stage 62 is, for example, a pan/tilt, and the image capturing device 2 is rotated or moved in the X, Y, and Z directions by the stage 62 to perform fine adjustment of six axes. Further, the imaging position of the image capturing device 2 can be roughly adjusted by the rotating member 613 and the lifting member 614 of the frame body 61.
校正設備1還包含一驅控器80，驅控器80例如包含一電腦、一控制面板及一驅動單元。電腦電性連接於控制面板及驅動單元，且控制面板透過電腦控制驅動單元，以令驅動單元驅動移動機台60移動。在本實施例中，驅動單元例如為驅動馬達，且電腦除了控制校正設備1的校正流程外，還蒐集影像擷取裝置2的校正數據。The calibration device 1 further includes a controller 80, which includes, for example, a computer, a control panel, and a drive unit. The computer is electrically connected to the control panel and the driving unit, and the control panel controls the driving unit through the computer to cause the driving unit to drive the moving machine table 60 to move. In the present embodiment, the driving unit is, for example, a driving motor, and the computer collects the correction data of the image capturing device 2 in addition to the calibration flow of the correction device 1.
在本實施例中，驅控器80用以令移動機台60移動、控制校正設備1的校正流程及蒐集影像擷取裝置2的校正數據，並非用以限制本新型。在其他實施例中，可無驅控器的設置，取而代之可透過手動的方式移動移動機台，且透過人工的方式控制校正流程，並將影像擷取裝置所拍攝之影像先存在影像擷取裝置的記憶體中，再藉由後續處理蒐集校正數據。In the present embodiment, the controller 80 is used to move the mobile station 60, control the calibration process of the calibration device 1 and collect correction data of the image capturing device 2, which is not intended to limit the present invention. In other embodiments, the setting of the controller can be omitted, and the mobile machine can be manually moved, and the calibration process can be manually controlled, and the image captured by the image capturing device is first stored in the image capturing device. In the memory, the correction data is collected by subsequent processing.
在本實施例中，影像擷取裝置2可透過架體61的座體部611於滑軌50移動而位於一第一影像校正位置及一第二影像校正位置。In this embodiment, the image capturing device 2 can be moved through the seat portion 611 of the frame 61 to the first image correcting position and a second image correcting position.
當影像擷取裝置2分別位於第一影像校正位置及第二影像校正位置時，影像擷取裝置2分別面向並拍攝第一影像校正板10及第二影像校正板20以進行影像校正。舉例來說，這些較小的第一格11用以供解析度較高之RGB相機模組進行影像校正，藉由RGB相機模組所拍攝之影像中的這些第一格11變形程度，以得知RGB相機模組影像變形的校正參數。另外，這些較大的第二格21用以供解析度較低之TOF相機模組進行影像校正，並藉由判斷TOF相機模組所拍攝之影像中的這些第二格21變形程度，以得知TOF相機模組影像變形的校正參數。When the image capturing device 2 is located at the first image correcting position and the second image correcting position, the image capturing device 2 faces and captures the first image correcting plate 10 and the second image correcting plate 20 for image correction. For example, the smaller first cells 11 are used for image correction by a higher resolution RGB camera module, and the degree of deformation of the first cells 11 in the images captured by the RGB camera module is obtained. Know the correction parameters of the image distortion of the RGB camera module. In addition, the larger second cells 21 are used for image correction by the lower resolution TOF camera module, and by determining the degree of deformation of the second cells 21 in the image captured by the TOF camera module. Know the correction parameters of the image distortion of the TOF camera module.
在本實施例中，影像擷取裝置2為同時具有不同解析度的RGB相機模組及TOF相機模組僅是舉例說明，但並不以此為限。在其他實施例中，影像擷取裝置可僅具有RGB相機模組或是TOF相機模組，故第一影像校正板及第二影像校正板之設置可依據影像擷取裝置是否具有不同解析度的相機模組作為判斷。即，若影像擷取裝置僅具有RGB相機模組，則僅需設置第一影像校正板。In the embodiment, the image capturing device 2 is an RGB camera module and a TOF camera module having different resolutions, but is not limited thereto. In other embodiments, the image capturing device may only have an RGB camera module or a TOF camera module, so the first image correcting plate and the second image correcting plate may be set according to whether the image capturing device has different resolutions. The camera module is used as a judgment. That is, if the image capturing device only has an RGB camera module, only the first image correcting plate needs to be set.
在本實施例中，校正設備1還包含設置於承載架部612的一測距儀70，測距儀70例如為雷射測距儀，且影像擷取裝置2可透過架體61的座體部611於滑軌50移動而位於多個第一深度校正位置。這些第一深度校正位置分別與深度校正屏30之間的距離不同，即這些第一深度校正位置之間有最靠近深度校正屏30的第一深度校正位置，次靠近深度校正屏30的第一深度校正位置，以此類推至最遠離深度校正屏30的第一深度校正位置。In the present embodiment, the calibration device 1 further includes a range finder 70 disposed on the carrier portion 612. The range finder 70 is, for example, a laser range finder, and the image capturing device 2 can pass through the body of the frame 61. The portion 611 moves on the slide rail 50 to be located at a plurality of first depth correction positions. These first depth correction positions are respectively different from the distance between the depth correction screens 30, that is, between the first depth correction positions, there is a first depth correction position closest to the depth correction screen 30, and the second is closer to the first depth correction screen 30. The depth correction position, and so on, is pushed to the first depth correction position farthest from the depth correction screen 30.
在本實施例中，測距儀70設置於承載架部612，但並不以此為限。在其他實施例中，測距儀可改設置於座體部等。In the present embodiment, the range finder 70 is disposed on the carrier portion 612, but is not limited thereto. In other embodiments, the range finder can be modified to be placed on the body portion or the like.
當影像擷取裝置2位於這些第一深度校正位置時，影像擷取裝置2拍攝深度校正屏30以進行深度校正。詳細來說，當影像擷取裝置2位於最靠近深度校正屏30的第一深度校正位置時，影像擷取裝置2之TOF相機模組拍攝深度校正屏30，以從影像得知影像擷取裝置2與深度校正屏30之間的距離，接著透過測距儀70測得在此第一深度校正位置時與深度校正屏30之間的距離，接著再比較從影像所得知的距離及測距儀70所測得的距離，以取得當影像擷取裝置2於最靠近深度校正屏30的第一深度校正位置時的深度校正參數。接著，再將影像擷取裝置2移動至次靠近深度校正屏30的第一深度校正位置，並重覆前述之動作，以得知影像擷取裝置2於次靠近深度校正屏30的第一深度校正位置的深度校正參數，以此類推得到影像擷取裝置2在這些第一深度校正位置時的深度校正參數。如此一來，藉由影像擷取裝置2於最靠近深度校正屏30的第一深度校正位置逐漸遠離深度校正屏30，可取得影像擷取裝置2於不同拍攝距離之下的深度校正參數，但並不以此為限。在其他實施例中，可從離深度校正屏最遠的第一深度校正位置開始逐步靠近深度校正屏以進行深度校正。When the image capturing device 2 is located at these first depth correction positions, the image capturing device 2 captures the depth correction screen 30 for depth correction. In detail, when the image capturing device 2 is located at the first depth correction position closest to the depth correction screen 30, the TOF camera module of the image capturing device 2 captures the depth correction screen 30 to learn the image capturing device from the image. 2, the distance between the depth correction screen 30, and then the distance between the first depth correction position and the depth correction screen 30 is measured by the range finder 70, and then the distance learned from the image and the range finder are compared. The measured distance is 70 to obtain a depth correction parameter when the image capturing device 2 is closest to the first depth correction position of the depth correction screen 30. Then, the image capturing device 2 is moved to the first depth correction position next to the depth correction screen 30, and the foregoing operation is repeated to know the first depth correction of the image capturing device 2 next to the depth correction screen 30. The depth correction parameters of the position, and so on, the depth correction parameters of the image capturing device 2 at these first depth correction positions. In this way, by the image capturing device 2 gradually moving away from the depth correction screen 30 at the first depth correction position closest to the depth correction screen 30, the depth correction parameters of the image capturing device 2 under different shooting distances can be obtained, but Not limited to this. In other embodiments, the depth correction screen may be stepped closer to the depth correction from the first depth correction position furthest from the depth correction screen.
再者，影像擷取裝置2還可透過架體61的座體部611於滑軌50移動而位於第二深度校正位置。當影像擷取裝置2位於第二深度校正位置時，影像擷取裝置2面對深度校正凸塊板40並拍攝深度校正凸塊板40上的凸塊41以進行深度校正。詳細來說，當取得影像擷取裝置2所拍攝之這些凸塊41影像的深度時，可藉由此實際上已知的這些凸塊41深度與這些凸塊41影像的深度進行比較，以得知深度的校正參數。Furthermore, the image capturing device 2 can also move through the seat portion 611 of the frame body 61 to the slide rail 50 to be in the second depth correction position. When the image capturing device 2 is in the second depth correction position, the image capturing device 2 faces the depth correction bump plate 40 and photographs the bump 41 on the depth correction bump plate 40 for depth correction. In detail, when the depths of the images of the bumps 41 captured by the image capturing device 2 are obtained, the depths of the bumps 41 actually known by the comparison can be compared with the depths of the images of the bumps 41. Know the depth correction parameters.
此外，還可透過影像擷取裝置2拍攝深度校正凸塊板40的影像判斷影像擷取裝置2的解析度是否正常。詳細來說，當影像擷取裝置2拍攝這些凸塊41時，若影像中無顯示應解析出的凸塊41相關的資訊，即代表影像擷取裝置2的解析度不準確，並藉由所拍攝之影像資訊進行解析度的校正。另外，但若影像中所顯示此凸塊41相關的資訊的筆數大於原先設定的筆數時，亦代表影像擷取裝置2的解析度有問題。舉例來說，若此凸塊41為正方形且原先已知可解析的影像資料筆數正常為5×5筆，但所拍攝之凸塊41影像資料卻為8×8筆，即代表影像擷取裝置2的解析度解析出大於正常情形下的資料筆數，因此判定影像擷取裝置2之解析度不準確，並透過所拍攝之影像資訊得知解析度校正參數。In addition, it is also possible to determine whether the resolution of the image capturing device 2 is normal by capturing the image of the depth correction bump 40 by the image capturing device 2. In detail, when the image capturing device 2 captures the bumps 41, if the information related to the bumps 41 to be analyzed is not displayed in the image, the resolution of the image capturing device 2 is inaccurate, and The captured image information is corrected for resolution. In addition, if the number of pieces of information related to the bump 41 displayed in the image is greater than the number of pens originally set, it also indicates that the resolution of the image capturing device 2 is problematic. For example, if the bump 41 is square and the number of previously known image data is 5×5 pens, the image data of the bump 41 is 8×8 pens, which means that the image is captured. The resolution of the device 2 is analyzed to be larger than the number of data in the normal case. Therefore, it is determined that the resolution of the image capturing device 2 is inaccurate, and the resolution correction parameter is known through the captured image information.
接著，說明校正設備1的校正流程，請參閱圖6，圖6為圖1的校正設備1的校正流程圖。Next, the calibration flow of the calibration apparatus 1 will be described. Please refer to FIG. 6. FIG. 6 is a calibration flowchart of the calibration apparatus 1 of FIG. 1.
首先，如步驟S01，先將影像擷取裝置2移動至第一影像校正板10與第二影像校正板20之間，接著旋轉架體61的承載架部612將影像擷取裝置2面向第一影像校正板10而位於第一影像校正位置進行拍攝，藉此對於影像擷取裝置2中的RGB相機模組進行影像變形校正。First, in step S01, the image capturing device 2 is first moved between the first image correcting plate 10 and the second image correcting plate 20, and then the carrier portion 612 of the rotating frame 61 faces the image capturing device 2 first. The image correcting plate 10 is positioned at the first image correcting position to perform image distortion correction on the RGB camera module in the image capturing device 2.
依據實務上的經驗，深度相機或是一般的傳統相機的校正之首要步驟皆需先經過影像變形校正，以將相機所拍攝之影像擺正。如此一來後續的其他校正項目的校正準確度才得以提升。Based on practical experience, the first step in the calibration of a depth camera or a conventional camera requires image distortion correction to correct the image captured by the camera. As a result, the correction accuracy of other subsequent correction items is improved.
接著，如步驟S02，旋轉架體61的承載架部612將影像擷取裝置2面向第二影像校正板20而位於第二影像校正位置進行拍攝，藉此對於影像擷取裝置2中的TOF相機模組進行影像校正。Then, in step S02, the carrier portion 612 of the rotating frame body 61 faces the second image correcting plate 20 facing the second image correcting plate 20 and is photographed at the second image correcting position, thereby the TOF camera in the image capturing device 2 The module performs image correction.
接著，如步驟S03，旋轉架體61的承載架部612將影像擷取裝置2面向深度校正屏30，並調整影像擷取裝置2於這些第一深度校正位置之間靠近或遠離深度校正屏30，藉此取得影像擷取裝置2於不同拍攝距離之下的深度校正參數。Next, in step S03, the carrier portion 612 of the rotating frame body 61 faces the image capturing device 2 facing the depth correction screen 30, and adjusts the image capturing device 2 to approach or away from the depth correction screen 30 between the first depth correction positions. Thereby, the depth correction parameters of the image capturing device 2 under different shooting distances are obtained.
接著，如步驟S04，移動架體61至深度校正凸塊板40，並旋轉架體61的承載架部612面對深度校正凸塊板40，以進行影像擷取裝置2第二次的深度校正及解析度校正，藉此再提升影像擷取裝置2的深度量測準確度及校正影像擷取裝置2的解析度。Next, in step S04, the frame body 61 is moved to the depth correction bump plate 40, and the carrier portion 612 of the rotating frame body 61 faces the depth correction bump plate 40 to perform the second depth correction of the image capturing device 2 And the resolution correction, thereby increasing the depth measurement accuracy of the image capturing device 2 and correcting the resolution of the image capturing device 2.
根據上述實施例之校正設備，因校正設備同時具有深度校正屏及深度校正凸塊板，且深度校正凸塊板具有多個凸出長度相異的凸塊，使得影像擷取裝置除了透過移動機台調整與深度校正屏之間的距離以進行不同拍攝距離的深度校正外，還可透過移動機台移動至深度校正凸塊板，以分別利用深度校正屏及不同凸出長度的凸塊進行二次的深度校正，故可增加影像之三維資訊的準確度。According to the calibration apparatus of the above embodiment, since the correction device has both the depth correction screen and the depth correction bump plate, and the depth correction bump plate has a plurality of bumps having different protruding lengths, the image capturing device transmits the moving machine The distance between the table adjustment and the depth correction screen is adjusted for depth of different shooting distances, and can also be moved to the depth correction bump board through the moving machine to respectively perform the depth correction screen and the bumps of different protruding lengths. The depth correction is repeated, so the accuracy of the three-dimensional information of the image can be increased.
此外，藉由深度校正凸塊板的凸塊，還可判斷影像擷取裝置所拍攝之影像的解析度是否正常，並且校正影像擷取裝置的解析度，使得深度相機可解析出拍攝物，以更進一步提升影像之三維資訊的準確度。如此一來，經過二次的深度校正及解析度校正的影像擷取裝置可再進一步提升影像的三維資訊準確度。In addition, by deeply correcting the bumps of the bump plate, it is also possible to determine whether the resolution of the image captured by the image capturing device is normal, and correct the resolution of the image capturing device, so that the depth camera can parse the object to Further improve the accuracy of the three-dimensional information of the image. In this way, the image capturing device after the second depth correction and the resolution correction can further improve the three-dimensional information accuracy of the image.
再者，藉由第一影像校正板及第二影像校正板，可再對於影像擷取裝置進行深度校正及解析度校正之前，先進行影像擷取裝置的影像變形校正，以提升後續校正深度及解析度的準確度。Furthermore, by using the first image correcting plate and the second image correcting plate, before performing depth correction and resolution correction on the image capturing device, the image distortion correction of the image capturing device is performed to improve the subsequent correction depth and The accuracy of the resolution.
雖然本新型以前述之較佳實施例揭露如上，然其並非用以限定本新型，任何熟習相像技藝者，在不脫離本新型之精神和範圍內，當可作些許之更動與潤飾，因此本新型之專利保護範圍須視本說明書所附之申請專利範圍所界定者為準。Although the present invention has been described above in terms of the preferred embodiments thereof, it is not intended to limit the present invention, and it is intended that those skilled in the art can make some modifications and refinements without departing from the spirit and scope of the present invention. The scope of the new patent protection shall be subject to the definition of the scope of the patent application attached to this specification.
1‧‧‧校正設備
2‧‧‧影像擷取裝置
10‧‧‧第一影像校正板
11‧‧‧第一格
20‧‧‧第二影像校正板
21‧‧‧第二格
30‧‧‧深度校正屏
40‧‧‧深度校正凸塊板
41‧‧‧凸塊
50‧‧‧滑軌
60‧‧‧移動機台
61‧‧‧架體
611‧‧‧座體部
612‧‧‧承載架部
613‧‧‧旋轉構件
614‧‧‧升降構件
62‧‧‧置物台
621‧‧‧置物面
70‧‧‧測距儀
80‧‧‧驅控器
X、Y、Z‧‧‧軸向
S01-S04‧‧‧步驟1‧‧‧ calibration equipment
2‧‧‧Image capture device
10‧‧‧First Image Correction Board
11‧‧‧ first grid
20‧‧‧Second image correction board
21‧‧‧second grid
30‧‧‧Deep correction screen
40‧‧‧Deep correction bump plate
41‧‧‧Bumps
50‧‧‧Slide rails
60‧‧‧Mobile machine
61‧‧‧ ‧ frame
611‧‧‧ body
612‧‧‧ Carrying frame
613‧‧‧Rotating components
614‧‧‧ Lifting members
62‧‧‧Stores
621‧‧‧Storage
70‧‧‧ Rangefinder
80‧‧‧Driver
X, Y, Z‧‧‧ axial
S01-S04‧‧‧Steps
圖1為根據本新型第一實施例所揭露之校正設備的立體示意圖。 圖2為圖1的第一影像校正板的平面示意圖。 圖3為圖1的第二影像校正板的平面示意圖。 圖4為圖1的深度校正凸塊板的立體示意圖。 圖5為圖1的移動機台的放大圖。 圖6為圖1的校正設備的校正流程圖。1 is a perspective view of a calibration apparatus according to a first embodiment of the present invention. 2 is a schematic plan view of the first image correcting plate of FIG. 1. 3 is a schematic plan view of the second image correcting plate of FIG. 1. 4 is a perspective view of the depth correction bump plate of FIG. 1. Figure 5 is an enlarged view of the mobile station of Figure 1. 6 is a flow chart of correction of the calibration apparatus of FIG. 1.
Claims (10)
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| TW107202215U TWM561212U (en) | 2018-02-13 | 2018-02-13 | Calibration equipment |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI687708B (en) * | 2018-10-09 | 2020-03-11 | 大陸商光寶電子（廣州）有限公司 | System and method for calibrating wiggling error |
| TWI741442B (en) * | 2019-12-12 | 2021-10-01 | 鴻勁精密股份有限公司 | Correction device, correction method and working equipment for application thereof |
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2018
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI687708B (en) * | 2018-10-09 | 2020-03-11 | 大陸商光寶電子（廣州）有限公司 | System and method for calibrating wiggling error |
| TWI741442B (en) * | 2019-12-12 | 2021-10-01 | 鴻勁精密股份有限公司 | Correction device, correction method and working equipment for application thereof |
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