CN108010086A - Camera marking method, device and medium based on tennis court markings intersection point - Google Patents
Camera marking method, device and medium based on tennis court markings intersection point Download PDFInfo
- Publication number
- CN108010086A CN108010086A CN201711261583.3A CN201711261583A CN108010086A CN 108010086 A CN108010086 A CN 108010086A CN 201711261583 A CN201711261583 A CN 201711261583A CN 108010086 A CN108010086 A CN 108010086A
- Authority
- CN
- China
- Prior art keywords
- tennis court
- camera
- court
- coordinate system
- image
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 48
- 238000004422 calculation algorithm Methods 0.000 claims abstract description 7
- 238000001514 detection method Methods 0.000 claims abstract description 6
- 239000003550 marker Substances 0.000 claims description 28
- 239000011159 matrix material Substances 0.000 claims description 17
- 238000004590 computer program Methods 0.000 claims description 10
- 238000013519 translation Methods 0.000 claims description 8
- 238000005457 optimization Methods 0.000 claims description 6
- 238000007781 pre-processing Methods 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 4
- 230000009467 reduction Effects 0.000 claims description 4
- 238000003860 storage Methods 0.000 claims description 4
- 230000014759 maintenance of location Effects 0.000 claims description 3
- 239000013558 reference substance Substances 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 238000004458 analytical method Methods 0.000 description 4
- 230000009466 transformation Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 238000007476 Maximum Likelihood Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000000844 transformation Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/12—Edge-based segmentation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
Landscapes
- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Image Processing (AREA)
Abstract
The invention discloses a kind of camera marking method based on tennis court markings intersection point, device and medium, its method includes：Using video camera several clearly tennis field pictures are obtained from multiple and different angles；The tennis court markings in court image of often throwing the net are extracted using line detection algorithm, determine the linear equation of each tennis court markings；Multigroup relevant straightway pair is selected from the tennis court markings extracted by each image, calculates multiple tennis court markings intersection points；Using the real three-dimensional world coordinate of corresponding points on the pixel coordinate of tennis court markings intersection point and tennis court, the inner parameter and external parameter of video camera is calculated.The present invention can carry out proving operation to the video camera being erected on tennis court in the case of without using traditional scaling reference such as gridiron pattern scaling board and obtain high-precision camera interior and exterior parameter, suitable for the occasion of this traditional scaling board inconvenient to use, operation is simple flexible, and has very high precision.
Description
Technical Field
The invention belongs to the technical field of camera calibration in computer vision discipline, in particular to a calibration technology based on a calibration reference object, and specifically relates to a camera calibration method, a device and a medium based on a tennis court marker line intersection point.
Background
Camera calibration is a concern and problem to be solved in both computer vision and photogrammetry, and generally refers to the determination of the geometric relationship between the camera image pixels and their corresponding scene points. Specifically, the internal parameters and the external parameters of the camera are solved by the image coordinates and the three-dimensional world coordinates of the known feature points for a given camera model.
In practice, the technology for calibrating camera parameters mainly utilizes a calibration reference object. By means of a calibration reference object with known size, the internal and external parameters of the camera model are obtained by utilizing a certain algorithm through establishing the correspondence between the known point on the calibration reference object and the image point of the calibration reference object. The calibration reference objects are mainly divided into three categories: three-dimensional precise calibration objects, two-dimensional plane calibration objects and one-dimensional calibration objects.
Although the traditional camera calibration method can be suitable for any camera model, the traditional camera calibration method needs to utilize a known scene structure and a high-precision calibration reference, and the calibration precision depends on the precision of the calibration reference to a great extent. The camera calibration generally requires that the target occupies a large area in the field of view as much as possible, however, in the case of a large field of view like a stadium, the manufacturing of the calibration reference object with high precision and large size is difficult, and the calibration precision is difficult to guarantee. Moreover, when the camera needs to be adjusted in angle or changed in position, the calibration reference object needs to be reused for calibration, so that the calibration method causes complicated operation. Therefore, if we need to erect the camera on the tennis court, it is necessary to develop a simple, flexible and reliable camera calibration method.
Disclosure of Invention
The invention provides a simple, flexible and reliable camera calibration method, device and medium based on the intersection point of the marker lines of the tennis court.
In order to achieve the aim, the invention provides a camera calibration method based on the intersection point of the tennis court marker lines, which comprises the following steps:
acquiring a plurality of clear tennis court images from a plurality of different angles by using a camera;
extracting tennis court mark lines in each tennis court image by using a linear detection algorithm, and determining a linear equation of each tennis court mark line;
selecting a plurality of groups of related straight line segment pairs from the tennis court marking lines extracted from each image, and calculating a plurality of tennis court marking line intersection points;
and calculating to obtain the internal parameters and the external parameters of the camera by using the pixel coordinates of the intersection point of the marker lines of the tennis court and the real three-dimensional world coordinates of the corresponding point on the tennis court.
Wherein the step of acquiring a plurality of sharp tennis court images from a plurality of different angles using the camera comprises:
shooting a tennis court from different angles by using a camera, acquiring a plurality of images containing tennis court mark lines from different viewing angles, respectively establishing a camera coordinate system and an image plane coordinate system of the camera at different shooting positions, and establishing a three-dimensional world coordinate system;
and selecting images at least containing the whole 1/2 court from the image set, carrying out image preprocessing operation on the selected images one by one, and carrying out noise reduction processing on the images on the basis of ensuring the retention of effective information of the images.
The step of calculating the internal parameters and the external parameters of the camera by using the pixel coordinates of the intersection point of the marker lines of the tennis court and the real three-dimensional world coordinates of the corresponding point on the tennis court comprises the following steps:
solving homography matrix H of each sub-image plane coordinate system and the court plane coordinate system according to the pixel coordinate of the court angular point in the image and the corresponding real three-dimensional world coordinate;
solving internal parameters and external parameters (R, t) of the camera for a plurality of homography matrixes obtained from a plurality of shot images, wherein the external parameters (R, t) of the camera represent the relationship between a court plane coordinate system and each image plane coordinate system;
solving a rotation matrix and a translation vector between each image coordinate system and the court plane coordinate system;
and carrying out nonlinear optimization on the acquired internal parameters and external parameters of the camera.
The invention also provides a camera calibration device based on the tennis court marker line intersection, which comprises a memory, a processor and a computer program stored on the memory, wherein the computer program realizes the steps of the method when being executed by the processor.
The invention also proposes a computer-readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the method as described above.
The invention provides a camera calibration method based on the intersection point of the marker lines of a tennis court, which can calibrate the camera erected on the tennis court without using traditional calibration reference substances such as a chessboard calibration board and the like and obtain high-precision internal and external parameters of the camera, is suitable for occasions inconvenient to use the traditional calibration board, is simple and flexible to operate and has high precision.
Compared with the prior art, the invention has the following advantages:
1. compared with the common calibration mode of the traditional calibration reference substances by means of a checkerboard calibration plate and the like, the method can save the manufacture of the traditional calibration reference substances, thereby saving the calibration cost of the camera;
2. the camera calibration method can greatly reduce the complexity of the camera calibration process, is simple, convenient and flexible to operate, and can realize semi-automation of the calibration process;
3. the method is suitable for calibrating the camera under the condition of most large visual fields, has better robustness and can obtain more accurate calibration data.
Drawings
FIG. 1 is a schematic flow chart of an embodiment of a camera calibration method based on a tennis court marker line intersection point, provided by the invention;
fig. 2 is a schematic specific flow chart of the camera calibration method based on the tennis court marker line intersection point provided by the invention.
FIG. 3 is a schematic diagram of two-dimensional coordinate points of the marker lines and their intersections in the image of the camera calibration method based on the tennis court marker line intersections proposed by the present invention.
Fig. 4 is a schematic diagram of coordinate points (Z ═ 0) of marker lines and their intersection points in a real three-dimensional space of the camera calibration method based on the tennis court marker line intersection points provided by the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Specifically, referring to fig. 1 and fig. 2, fig. 1 is a schematic flow chart of an embodiment of a camera calibration method based on a tennis court marker line intersection point according to the present invention. Fig. 2 is a schematic specific flow chart of the camera calibration method based on the tennis court marker line intersection point provided by the invention.
As shown in fig. 1 and fig. 2, an embodiment of the present invention provides a camera calibration method based on a tennis court marker line intersection, including the following steps:
s1, acquiring a plurality of clear tennis court images from a plurality of different angles by using the camera;
wherein the step of using a camera to acquire a plurality of clear tennis court images from a plurality of different angles comprises:
shooting a tennis court from different angles by using a camera, acquiring a plurality of images containing tennis court mark lines from different viewing angles, respectively establishing a camera coordinate system and an image plane coordinate system of the camera at different shooting positions, and establishing a three-dimensional world coordinate system;
selecting from the set of images at least the wholeAnd (3) carrying out image preprocessing operation on the selected images one by one for the images of the court, and carrying out noise reduction processing on the images on the basis of ensuring the retention of effective information of the images.
Referring to fig. 3 and 4, steps S2, S3, and S4 are proposed.
S2, extracting the tennis court mark lines in each tennis court image by using a straight line detection algorithm, and determining a straight line equation of each tennis court mark line;
s3, selecting a plurality of groups of related straight line segment pairs from the tennis court marking lines extracted from each image, and calculating a plurality of intersection points of the tennis court marking lines;
s4, as shown in fig. 3 and 4, calculating the internal parameter and the external parameter of the camera by using the pixel coordinate of the intersection point of the tennis court marker lines and the real three-dimensional world coordinate of the corresponding point on the tennis court.
The step of calculating the internal parameters and the external parameters of the camera by using the pixel coordinates of the intersection point of the marker lines of the tennis court and the real three-dimensional world coordinates of the corresponding point on the tennis court comprises the following steps:
solving homography matrix H of each sub-image plane coordinate system and the court plane coordinate system according to the pixel coordinate of the court angular point in the image and the corresponding real three-dimensional world coordinate;
solving internal parameters and external parameters of the camera for a plurality of homography matrixes obtained from a plurality of shot images, wherein the external parameters (R, t) of the camera represent the relationship between a court plane coordinate system and each image plane coordinate system;
solving a rotation matrix and a translation vector between each image coordinate system and the court plane coordinate system;
and carrying out nonlinear optimization on the acquired internal parameters and external parameters of the camera.
The following describes the embodiments of the present invention in detail:
the invention aims to provide a camera calibration method based on the intersection point of the marker lines of the tennis court, which can calibrate the camera erected on the tennis court without using traditional calibration reference substances such as a chessboard calibration board and the like, obtain high-precision internal and external parameters of the camera, is suitable for occasions inconvenient to use the traditional calibration board, is simple and flexible to operate and has high precision.
The camera calibration method based on the tennis court marker line intersection point comprises the following steps: firstly, acquiring a plurality of clear tennis court images from a plurality of different angles by using a camera; extracting tennis court mark lines in each tennis court image by using a linear detection algorithm, and determining a linear equation of each mark line; then selecting a plurality of groups of related straight line segment pairs from the tennis court marking lines extracted from each image, and calculating a plurality of intersection points; and finally, calculating to obtain the internal parameters and the external parameters of the camera by using the pixel coordinates of the intersection point of the marker lines of the tennis court and the real three-dimensional world coordinates of the corresponding point on the tennis court.
The method mainly comprises the following operation steps:
a) shooting a tennis court by a camera from different angles, acquiring a plurality of images containing tennis court mark lines from different angles, respectively establishing a camera coordinate system and an image plane coordinate system of the camera at different shooting positions, and establishing a three-dimensional world coordinate system;
b) selecting from the set of images at least the wholeThe images of the court pay attention to the fact that the shooting angle diversity of the images is guaranteed, image preprocessing operation is carried out on the selected images one by one, and noise reduction processing is carried out on the images on the basis that the effective information of the images is kept;
c) detecting all straight line segments in the image by using a straight line detection algorithm, and obtaining two-point equation representation of the straight line segments;
d) further screening, extracting a tennis court mark straight line;
e) determining a court angular point to be extracted, and solving the intersection point of two corresponding straight line segments as a pixel coordinate in the image;
f) and finally, calculating to obtain the internal parameters and the external parameters of the camera by combining the real three-dimensional world coordinates of each corresponding court corner point.
The calibration parameter calculation process comprises the following steps:
and solving the homography matrix H of each sub-image plane coordinate system and the court plane coordinate system by the pixel coordinate of the court corner point in the image and the corresponding real three-dimensional world coordinate (Z is 0). Method of solving the homography matrix H in zhang.z.y article "a flexible new technique for camera calibration [ J ]. IEEE trans.on pattern analysis and Machine analysis, 2000, 22 (11): 1330, 1334 ".
And solving internal parameters and external parameters of the camera for a plurality of homography matrixes obtained from a plurality of shot images.
And decomposing the homography matrix by the orthogonality of the rotation matrix to form an over-determined equation containing the internal parameters and the external parameters of the camera, and obtaining the internal parameters and the external parameters of the camera through singular value decomposition and a series of transformations. Specific solution methods in zhang.z.y. article "a flexible new technique for camera calibration [ J ]. ieee trans.on Pattern Analysis and machine Intelligence, 2000, 22 (11): 1330, 1334 ".
The camera extrinsic parameters (R, t) represent the relationship between the court plane coordinate system and the respective image plane coordinate systems.
The camera intrinsic parameter matrix A can be expressed as
Wherein α and β are scale factors of two coordinate axes of an image plane coordinate system respectively, and gamma is a non-perpendicular factor of the two coordinate axes, (u)0,v0) Are camera principal point coordinates.
And solving the rotation matrix and the translation vector between each image coordinate system and the court plane coordinate system.
Here, with the camera extrinsic parameters obtained in step b), i.e. the relationship between the court plane coordinate system and the respective image plane coordinate systems, a rotation matrix R between the two can be obtainediAnd translation vector Ti
Carrying out nonlinear optimization on the internal parameters and the external parameters of the camera obtained in the step b).
Assuming that the noise follows a zero-mean gaussian distribution and is independently distributed, in order to obtain an optimal solution of the internal parameters and the external parameters of the camera under the maximum likelihood criterion, an objective function with a reprojection error as the minimum needs to be established:
wherein,
wherein A is a camera internal parameter matrix, k1,k2As a parameter of radial distortion, Ri,Ti(i 1.. m-1) is a rotation matrix and a translation vector between each image plane coordinate system and the court plane coordinate system;the rotation matrix and the translation vector between the court plane coordinate system and the camera coordinate system are obtained; n is the number of images acquired at different shooting positions of the camera; t is in the coordinate system of the courtThe total number of feature points;the homogeneous coordinate of the court feature point in the jth shooting angle image in the image plane coordinate system is obtained;and the homogeneous coordinates of the re-projected image with lens distortion of the ball field characteristic points in the jth shooting angle in the image plane coordinate system.
Here, if piIs the three-dimensional coordinate of the court feature point P under the image coordinate system of a certain shooting angle,is converted into a coordinate P under a court plane coordinate systemTiThen, projecting the ideal image homogeneous coordinate under the camera image coordinate,for the homogeneous coordinates of the corresponding re-projected image with lens distortion, the specific transformation relationship of the above parameters is as follows:
wherein A is an internal parameter of the camera, and rho is any nonzero constant.
In particular toAndthe transformation relation of (1) is in the article "A flexible new technical for camera calibration [ J ] of ZHANG.Z.Y]IEEE trans. on Pattern Analysis and machinery intelligence, 2000, 22 (11): 1330, 1334 ".
Bonding ofThe rotation matrix and the translation vector between each image plane coordinate system and the court plane coordinate system in the above steps can be obtained according to the above formulaThen according to the distortion correction method
And finally, carrying out nonlinear optimization on the minimum objective function by adopting a Levenberg-Marquardt nonlinear optimization method to obtain the optimal solution of the internal parameters and the external parameters of the camera under the maximum likelihood criterion.
The invention does not use the traditional calibration reference object, only uses the original mark line and the size information of the playground to calibrate the cameras erected around the visual field, can calibrate the cameras erected on the tennis court under the condition of not using the traditional calibration reference objects such as a chessboard calibration plate and the like, and obtains the high-precision internal and external parameters of the cameras, is suitable for the occasion that the traditional calibration plate is inconvenient to use, has simple and flexible operation, and has high precision.
Compared with the prior art, the invention has the following advantages:
1. compared with the common calibration mode of the traditional calibration reference substances by means of a checkerboard calibration plate and the like, the method can save the manufacture of the traditional calibration reference substances, thereby saving the calibration cost of the camera;
2. the camera calibration method can greatly reduce the complexity of the camera calibration process, is simple, convenient and flexible to operate, and can realize semi-automation of the calibration process;
3. the method is suitable for calibrating the camera under the condition of most large visual fields, has better robustness and can obtain more accurate calibration data.
Furthermore, the present invention also provides a camera calibration apparatus based on tennis court marker line intersection, comprising a memory, a processor and a computer program stored on the memory, wherein the computer program is executed by the processor to implement the steps of the method according to the above embodiment.
The invention also proposes a computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, implements the steps of the method according to the above embodiment.
The above description is only for the preferred embodiment of the present invention and is not intended to limit the scope of the present invention, and all equivalent structures or flow transformations made by the present specification and drawings, or applied directly or indirectly to other related arts, are included in the scope of the present invention.
Claims (5)
1. A camera calibration method based on tennis court marker line intersection points is characterized by comprising the following steps:
acquiring a plurality of clear tennis court images from a plurality of different angles by using a camera;
extracting tennis court mark lines in each tennis court image by using a linear detection algorithm, and determining a linear equation of each tennis court mark line;
selecting a plurality of groups of related straight line segment pairs from the tennis court marking lines extracted from each image, and calculating a plurality of tennis court marking line intersection points;
and calculating to obtain the internal parameters and the external parameters of the camera by using the pixel coordinates of the intersection point of the marker lines of the tennis court and the real three-dimensional world coordinates of the corresponding point on the tennis court.
2. The tennis court marking line intersection-based camera calibration method as claimed in claim 1, wherein said step of using a camera to acquire a plurality of clear tennis court images from a plurality of different angles comprises:
shooting a tennis court from different angles by using a camera, acquiring a plurality of images containing tennis court mark lines from different viewing angles, respectively establishing a camera coordinate system and an image plane coordinate system of the camera at different shooting positions, and establishing a three-dimensional world coordinate system;
and selecting images at least containing the whole 1/2 court from the image set, carrying out image preprocessing operation on the selected images one by one, and carrying out noise reduction processing on the images on the basis of ensuring the retention of effective information of the images.
3. The method for calibrating a camera based on the tennis court marker line intersection point according to claim 1, wherein the step of calculating the internal parameters and the external parameters of the camera by using the pixel coordinates of the tennis court marker line intersection point and the real three-dimensional world coordinates of the corresponding point on the tennis court comprises the following steps:
solving homography matrix H of each sub-image plane coordinate system and the court plane coordinate system according to the pixel coordinate of the court angular point in the image and the corresponding real three-dimensional world coordinate;
solving internal parameters and external parameters (R, t) of the camera for a plurality of homography matrixes obtained from a plurality of shot images, wherein the external parameters (R, t) of the camera represent the relationship between a court plane coordinate system and each image plane coordinate system;
solving a rotation matrix and a translation vector between each image coordinate system and the court plane coordinate system;
and carrying out nonlinear optimization on the acquired internal parameters and external parameters of the camera.
4. A camera calibration arrangement based on tennis court marker line intersections, comprising a memory, a processor and a computer program stored on the memory, which computer program, when executed by the processor, carries out the steps of the method according to any one of claims 1 to 3.
5. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the steps of the method according to any one of claims 1-3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711261583.3A CN108010086A (en) | 2017-12-04 | 2017-12-04 | Camera marking method, device and medium based on tennis court markings intersection point |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711261583.3A CN108010086A (en) | 2017-12-04 | 2017-12-04 | Camera marking method, device and medium based on tennis court markings intersection point |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108010086A true CN108010086A (en) | 2018-05-08 |
Family
ID=62056386
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711261583.3A Pending CN108010086A (en) | 2017-12-04 | 2017-12-04 | Camera marking method, device and medium based on tennis court markings intersection point |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108010086A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108805936A (en) * | 2018-05-24 | 2018-11-13 | 北京地平线机器人技术研发有限公司 | Join scaling method, device and electronic equipment outside video camera |
| CN109345568A (en) * | 2018-09-19 | 2019-02-15 | 深圳市赢世体育科技有限公司 | Sports ground intelligent implementing method and system based on computer vision algorithms make |
| CN109807885A (en) * | 2018-12-29 | 2019-05-28 | 深圳市越疆科技有限公司 | A kind of vision calibration method of manipulator, device and intelligent terminal |
| CN110378966A (en) * | 2019-06-11 | 2019-10-25 | 北京百度网讯科技有限公司 | Camera extrinsic scaling method, device, computer equipment and storage medium |
| CN110490943A (en) * | 2019-08-26 | 2019-11-22 | 长沙自由视像信息科技有限公司 | Quick method for precisely marking, system and the storage medium of 4D holography capture system |
| CN110969662A (en) * | 2018-09-28 | 2020-04-07 | 杭州海康威视数字技术股份有限公司 | Fisheye camera internal reference calibration method and device, calibration device controller and system |
| CN111340890A (en) * | 2020-02-20 | 2020-06-26 | 北京百度网讯科技有限公司 | Camera external reference calibration method, device, equipment and readable storage medium |
| CN113393531A (en) * | 2021-06-04 | 2021-09-14 | 北京格灵深瞳信息技术股份有限公司 | Camera automatic calibration method and device, electronic equipment and storage medium |
| CN114511640A (en) * | 2020-11-17 | 2022-05-17 | 北京四维图新科技股份有限公司 | Method, device and storage medium for calibrating camera by using map |
| CN116328277A (en) * | 2023-03-07 | 2023-06-27 | 灵羲科技(北京)有限公司 | Multi-view collaborative real-time tennis intelligent judge system |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103617644A (en) * | 2013-12-03 | 2014-03-05 | 西安电子科技大学 | Badminton side boundary crossing distinguishing method based on machine vision |
| CN104613899A (en) * | 2015-02-09 | 2015-05-13 | 淮阴工学院 | Full-automatic calibration method for structured light hand-eye three-dimensional measuring system |
| CN105389808A (en) * | 2015-10-27 | 2016-03-09 | 郑州大学 | Camera self-calibration method based on two vanishing points |
-
2017
- 2017-12-04 CN CN201711261583.3A patent/CN108010086A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103617644A (en) * | 2013-12-03 | 2014-03-05 | 西安电子科技大学 | Badminton side boundary crossing distinguishing method based on machine vision |
| CN104613899A (en) * | 2015-02-09 | 2015-05-13 | 淮阴工学院 | Full-automatic calibration method for structured light hand-eye three-dimensional measuring system |
| CN105389808A (en) * | 2015-10-27 | 2016-03-09 | 郑州大学 | Camera self-calibration method based on two vanishing points |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108805936A (en) * | 2018-05-24 | 2018-11-13 | 北京地平线机器人技术研发有限公司 | Join scaling method, device and electronic equipment outside video camera |
| CN109345568A (en) * | 2018-09-19 | 2019-02-15 | 深圳市赢世体育科技有限公司 | Sports ground intelligent implementing method and system based on computer vision algorithms make |
| CN110969662B (en) * | 2018-09-28 | 2023-09-26 | 杭州海康威视数字技术股份有限公司 | Method and device for calibrating internal parameters of fish-eye camera, calibration device controller and system |
| CN110969662A (en) * | 2018-09-28 | 2020-04-07 | 杭州海康威视数字技术股份有限公司 | Fisheye camera internal reference calibration method and device, calibration device controller and system |
| CN109807885B (en) * | 2018-12-29 | 2021-06-29 | 深圳市越疆科技有限公司 | Visual calibration method and device for manipulator and intelligent terminal |
| CN109807885A (en) * | 2018-12-29 | 2019-05-28 | 深圳市越疆科技有限公司 | A kind of vision calibration method of manipulator, device and intelligent terminal |
| CN110378966A (en) * | 2019-06-11 | 2019-10-25 | 北京百度网讯科技有限公司 | Camera extrinsic scaling method, device, computer equipment and storage medium |
| CN110490943B (en) * | 2019-08-26 | 2022-04-15 | 深圳市自由视像科技有限公司 | Rapid and accurate calibration method and system of 4D holographic capture system and storage medium |
| CN110490943A (en) * | 2019-08-26 | 2019-11-22 | 长沙自由视像信息科技有限公司 | Quick method for precisely marking, system and the storage medium of 4D holography capture system |
| CN111340890A (en) * | 2020-02-20 | 2020-06-26 | 北京百度网讯科技有限公司 | Camera external reference calibration method, device, equipment and readable storage medium |
| CN111340890B (en) * | 2020-02-20 | 2023-08-04 | 阿波罗智联(北京)科技有限公司 | Camera external parameter calibration method, device, equipment and readable storage medium |
| CN114511640A (en) * | 2020-11-17 | 2022-05-17 | 北京四维图新科技股份有限公司 | Method, device and storage medium for calibrating camera by using map |
| CN113393531A (en) * | 2021-06-04 | 2021-09-14 | 北京格灵深瞳信息技术股份有限公司 | Camera automatic calibration method and device, electronic equipment and storage medium |
| CN116328277A (en) * | 2023-03-07 | 2023-06-27 | 灵羲科技(北京)有限公司 | Multi-view collaborative real-time tennis intelligent judge system |
| CN116328277B (en) * | 2023-03-07 | 2023-11-10 | 灵羲科技(北京)有限公司 | Multi-view collaborative real-time tennis intelligent judge system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108010086A (en) | Camera marking method, device and medium based on tennis court markings intersection point | |
| CN100557635C (en) | A Camera Calibration Method Based on Flexible Stereo Target | |
| CN109035320B (en) | Monocular vision-based depth extraction method | |
| CN106485755B (en) | Calibration method of multi-camera system | |
| CN110956660B (en) | Positioning method, robot, and computer storage medium | |
| CN107886547B (en) | Fisheye camera calibration method and system | |
| CN109146980A (en) | The depth extraction and passive ranging method of optimization based on monocular vision | |
| CN109559355B (en) | Multi-camera global calibration device and method without public view field based on camera set | |
| CN105654547B (en) | Three-dimensional rebuilding method | |
| CN109754427A (en) | A method and apparatus for calibration | |
| US20070104361A1 (en) | Device and method for calibrating an imaging device for generating three dimensional surface models of moving objects | |
| CN109242915A (en) | Multicamera system scaling method based on multi-face solid target | |
| CN108305233B (en) | A light field image correction method for microlens array errors | |
| CN109919975B (en) | Wide-area monitoring moving target association method based on coordinate calibration | |
| CN110033407B (en) | Shield tunnel surface image calibration method, splicing method and splicing system | |
| CN109255818B (en) | A novel target and its sub-pixel corner extraction method | |
| CN106408551A (en) | Monitoring device controlling method and device | |
| CN115201883B (en) | Moving target video positioning and speed measuring system and method | |
| CN105513074B (en) | A kind of scaling method of shuttlecock robot camera and vehicle body to world coordinate system | |
| CN106871900A (en) | Image matching positioning method in ship magnetic field dynamic detection | |
| CN112184807B (en) | Golf ball floor type detection method, system and storage medium | |
| CN113329179B (en) | Shooting alignment method, device, equipment and storage medium | |
| Possegger et al. | Unsupervised calibration of camera networks and virtual PTZ cameras | |
| CN113963065A (en) | Lens internal reference calibration method and device based on external reference known and electronic equipment | |
| CN113963067B (en) | A calibration method using a small target to calibrate a vision sensor with a large field of view |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180508 |