CN113393531A - Camera automatic calibration method and device, electronic equipment and storage medium - Google Patents
Camera automatic calibration method and device, electronic equipment and storage medium Download PDFInfo
- Publication number
- CN113393531A CN113393531A CN202110625387.XA CN202110625387A CN113393531A CN 113393531 A CN113393531 A CN 113393531A CN 202110625387 A CN202110625387 A CN 202110625387A CN 113393531 A CN113393531 A CN 113393531A
- Authority
- CN
- China
- Prior art keywords
- camera
- court
- line
- course
- lines
- 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 41
- 238000003860 storage Methods 0.000 title claims abstract description 15
- 239000011159 matrix material Substances 0.000 claims abstract description 45
- 238000004422 calculation algorithm Methods 0.000 claims abstract description 38
- 238000004590 computer program Methods 0.000 claims description 12
- 238000005457 optimization Methods 0.000 claims description 12
- 238000007476 Maximum Likelihood Methods 0.000 claims description 4
- 239000011230 binding agent Substances 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 3
- 239000003550 marker Substances 0.000 claims 2
- 238000005070 sampling Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 14
- 238000012986 modification Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 238000013519 translation Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000004513 sizing Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
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
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10052—Images from lightfield camera
Landscapes
- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Studio Devices (AREA)
Abstract
The embodiment of the application provides a camera automatic calibration method, a device, electronic equipment and a storage medium, and when the camera calibration is carried out, firstly, video data of a court shot by a camera to be calibrated is obtained; determining a key point according to a court mark line with a determined size or a fixed facility of the court, wherein the key point is an intersection point of side lengths with the determined size in the court; and then acquiring coordinate information of the key points in a camera coordinate system according to the video data, and calculating the coordinate information of the key points in the camera coordinate system through a camera calibration algorithm to obtain an internal reference matrix and an external reference matrix of the camera to be calibrated. The camera is automatically calibrated by taking the intersection point of the side length with specific size fixedly existing in the court as the key point of camera calibration without using any auxiliary calibration device, so that the camera calibration device is simple and convenient to operate and easy to apply on a large scale.
Description
Technical Field
The present application relates to computer vision technologies, and in particular, to a method and an apparatus for automatically calibrating a camera, an electronic device, and a storage medium.
Background
In the image measurement process and machine vision application, the calibration of camera parameters is a very critical link, and the accuracy of the calibration result and the stability of the algorithm directly influence the accuracy of the result generated by the camera. The calibration of the camera is a process of solving camera internal parameters, camera external parameters and distortion parameters of the camera to establish a geometric model of camera imaging.
At present, when camera calibration is carried out, a specific calibration auxiliary device is generally needed to finish the camera calibration, so that the camera calibration work is difficult to operate and cannot be applied in a large scale.
Disclosure of Invention
The embodiment of the application provides an automatic camera calibration method and device, electronic equipment and a storage medium, and aims to solve the problems that in the prior art, camera calibration can be completed only by using a specific calibration auxiliary device, so that the camera calibration is difficult to operate and cannot be applied in a large scale.
According to a first aspect of the embodiments of the present application, there is provided an automatic calibration method for a camera, the method including:
acquiring video data of a court shot by a camera to be calibrated;
determining the key point according to a place marking line with a determined size in the court or a fixed facility of the court, wherein the key point is an intersection point of side lengths with a determined size in the court;
acquiring coordinate information of the key point in a camera coordinate system according to the video data;
and calculating the coordinate information of the key points in a camera coordinate system through a camera calibration algorithm to obtain an internal reference matrix and an external reference matrix of the camera to be calibrated.
According to a second aspect of the embodiments of the present application, there is provided an automatic calibration apparatus for a camera, the apparatus including:
the data acquisition module is used for acquiring video data of a court shot by a camera to be calibrated;
the key point determining module is used for determining key points according to the court mark lines with determined sizes in the court or the fixed facilities of the court, wherein the key points are intersection points of side lengths with determined sizes in the court;
the coordinate acquisition module is used for acquiring coordinate information of the key point in a camera coordinate system according to the video data;
and the calculation module is used for calculating the coordinate information of the key point in a camera coordinate system through a camera calibration algorithm to obtain an internal reference matrix and an external reference matrix of the camera to be calibrated.
According to a third aspect of embodiments of the present application, there is provided an electronic apparatus, including: the camera calibration system comprises a processor, a memory and a bus, wherein the memory stores machine readable instructions executable by the processor, the processor and the memory communicate through the bus when the electronic device runs, and the machine readable instructions are executed by the processor to execute a camera automatic calibration method.
According to a fourth aspect of embodiments of the present application, there is provided a storage medium having a computer program stored thereon, the computer program, when executed by a processor, executing a camera auto-calibration method.
By adopting the automatic camera calibration method, the automatic camera calibration device, the electronic equipment and the storage medium, when the camera calibration is carried out, firstly, video data of a court shot by a camera to be calibrated is obtained; determining a key point according to a court mark line with a determined size or a fixed facility of the court, wherein the key point is an intersection point of side lengths with the determined size in the court; and then acquiring coordinate information of the key points in a camera coordinate system according to the video data, and calculating the coordinate information of the key points in the camera coordinate system through a camera calibration algorithm to obtain an internal reference matrix and an external reference matrix of the camera to be calibrated. The camera is automatically calibrated by taking the intersection point of the side length with specific size fixedly existing in the court as the key point of camera calibration without using any auxiliary calibration device, so that the camera calibration device is simple and convenient to operate and easy to apply on a large scale.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a schematic diagram of a setting position of an intelligent mobile device according to an embodiment of the present application;
fig. 2 is a flowchart of an automatic camera calibration method according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of an intersection provided by an embodiment of the present application;
fig. 4 is a second flowchart of an automatic camera calibration method according to an embodiment of the present application;
fig. 5 is a functional block diagram of an automatic camera calibration device according to an embodiment of the present disclosure;
fig. 6 is a schematic view of an electronic device provided in an embodiment of the present application.
Detailed Description
In the process of implementing the present application, the inventor finds that, with the rapid development of the computer vision algorithm, more and more scenes are likely to be applied to the computer vision algorithm, that is, a series of processing operations are performed according to the captured video data. However, before the video data captured by the camera is applied to the computer vision algorithm, the camera parameters need to be calibrated, and the accuracy of the calibration result will directly affect the accuracy of the result generated by the camera.
At present, in the prior art, when camera calibration is carried out, camera calibration can be completed only by using a specific calibration device for assistance, so that the camera calibration work is difficult to operate and cannot be applied in a large scale.
In order to solve the above problems, embodiments of the present application provide an automatic camera calibration method, apparatus, electronic device, and storage medium, where when performing camera calibration, first obtaining video data of a court shot by a camera to be calibrated; determining a key point according to a court mark line with a determined size or a fixed facility of the court, wherein the key point is an intersection point of side lengths with the determined size in the court; and then acquiring coordinate information of the key points in a camera coordinate system according to the video data, and calculating the coordinate information of the key points in the camera coordinate system through a camera calibration algorithm to obtain an internal reference matrix and an external reference matrix of the camera to be calibrated. The camera is automatically calibrated by taking the intersection point of the side length with specific size fixedly existing in the court as the key point of camera calibration without using any auxiliary calibration device, so that the camera calibration device is simple and convenient to operate and easy to apply on a large scale.
The scheme in the embodiment of the application can be implemented by adopting various computer languages, such as object-oriented programming language Java and transliterated scripting language JavaScript.
In order to make the technical solutions and advantages of the embodiments of the present application more apparent, the following further detailed description of the exemplary embodiments of the present application with reference to the accompanying drawings makes it clear that the described embodiments are only a part of the embodiments of the present application, and are not exhaustive of all embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
First, the camera automatic calibration method provided by the embodiment of the present application may be used for an intelligent mobile device or a video camera, where the intelligent mobile device includes a mobile phone, a tablet, and the like. A camera module is generally provided in a smart mobile device. The intelligent mobile device has the advantages that high-definition video data can be shot, and real-time uploading can be realized through a mobile network or a wireless network, so that calibration work for a camera in the intelligent mobile device can be automatically carried out.
When the camera module built in the intelligent mobile device is calibrated, a plurality of intelligent mobile devices can be fixed at different positions for shooting a competition field (namely a court), so that the camera view field of each intelligent mobile device can cover the whole competition field. As shown in fig. 1, fig. 1 is a schematic diagram of a setting location of an intelligent mobile device according to an embodiment of the present application. After the intelligent mobile device is fixed, an application program for camera calibration in the intelligent mobile device can be started, the application program can upload video data shot by the camera to a back-end service system (namely a server) through a mobile network, the server performs operation on camera parameters, and the operation result is sent to the corresponding intelligent mobile device to complete camera calibration.
Optionally, when calibrating the camera module built in the smart mobile device, the smart mobile device may also perform operation on the camera parameters, and send the camera parameters obtained through the operation to the built-in camera module.
When the cameras are calibrated, the cameras can be fixed at different positions of a competition field, so that the shooting visual field of the cameras can cover the whole competition field, the cameras are in communication connection with the server, the server can receive video data sent by each camera, the server performs operation on camera parameters according to the video data, and sends the parameters obtained through the operation to the corresponding cameras, and camera calibration is completed.
Camera calibration requires calibration of camera internal and external parameters, and the calibration process requires coordinates of a certain point (i.e., a key point) in a world coordinate system. In an application scene of sports, a camera may be required to shoot a match in real time, and in order to ensure the shooting effect and the accuracy of a subsequent computer vision algorithm result, parameters of the camera arranged on a sports ground need to be calibrated. In actual sports, the playing facilities in the playing arena (i.e. the playing field) have uniform standards, for example, the mark lines on the ground, the size and height of the backboard in the basketball game have uniformity, and the specific size has standard to be checked. Automatic camera calibration is possible with these sizing markers in the venue.
Referring to fig. 2, fig. 2 is a flowchart of an automatic camera calibration method according to an embodiment of the present disclosure, in which the automatic camera calibration method is applied to an electronic device, and the electronic device may be a server or an intelligent mobile device. The method comprises the following steps:
and step S11, acquiring video data of the court shot by the camera to be calibrated.
Step S12, a key point is determined from a court mark line or a fixed facility of the court having a determined size in the court.
Wherein the key point is an intersection point of side lengths with determined sizes in the court.
And step S13, acquiring coordinate information of the key point in the camera coordinate system according to the video data.
And step S14, calculating the coordinate information of the key point in the camera coordinate system through a camera calibration algorithm to obtain an internal reference matrix and an external reference matrix of the camera to be calibrated.
In the steps, firstly, video data of a court shot by a camera to be calibrated is obtained, then, a key point is determined according to a court mark line with a determined size in the court or a fixed facility of the court, and then, coordinate information of the key point in a camera coordinate system is obtained according to the video data. In the field of image recognition, the intersection point refers to an intersection point of contour lines of an object, such as a portion shown by a circle in fig. 3, and fig. 3 is a schematic diagram of the intersection point provided in the embodiment of the present application.
After coordinate information of the key points is obtained, operation can be carried out through a camera calibration algorithm, an internal reference matrix and an external reference matrix of the camera to be calibrated are obtained, and camera calibration can be completed. Optionally, in this embodiment, after obtaining the coordinate information of the key point, the operation of the internal reference matrix and the external reference matrix may be performed according to the coordinate information of the key point by using a camera calibration algorithm such as a zhangying camera calibration method, a conventional camera calibration method, an active vision camera calibration method, and the like.
The embodiment calibrates the camera by taking the intersection point of the side length with the specific size, which is fixedly arranged in the court, as the key point for calibrating the camera, without using any auxiliary calibration device, so that the operation is simple and convenient, and the large-scale application is easy.
Specifically, referring to fig. 4, fig. 4 is a second flowchart of an automatic camera calibration method according to an embodiment of the present disclosure. In this embodiment, after step S14, the method further includes:
and step S15, performing parameter optimization on the internal parameter matrix and the external parameter matrix through an optimization algorithm to obtain optimized camera internal parameters and optimized camera external parameters. The optimization algorithm includes a Random Sample Consensus (RANSAC) algorithm or a maximum likelihood estimation algorithm.
In the above step, the internal reference matrix of the camera is
Wherein f isx、fyFor camera focus, in general fx＝fy，x0、y0Is the principal point coordinate (relative to the imaging plane) and s is the coordinate axis tilt parameter, ideally 0. And obtaining the camera internal reference through the internal reference matrix of the camera.
The camera's external reference matrix includes a rotation matrix and a translation matrix, which together describe how to convert points from the world coordinate system to the camera coordinate system. The rotation matrix describes the orientation of the coordinate axes of the world coordinate system relative to the camera coordinate axes; the translation matrix describes the position of the spatial origin in the camera coordinate system. The camera external parameters can be obtained through the rotation matrix and the translation matrix, wherein the camera external parameters comprise 3 rotation parameters and 3 translation parameters.
The internal parameters and the external parameters of the camera to be calibrated can be obtained after the internal parameter matrix and the external parameter matrix are obtained, and in order to improve the shooting effect of the camera and the accuracy of the result of the subsequent computer vision algorithm, the internal parameter matrix and the external parameter matrix can be optimized through an optimization algorithm so as to obtain the optimized internal parameters and the optimized external parameters of the camera.
Specifically, the optimization algorithm includes a RANdom SAmple Consensus (RANSAC) algorithm or a Maximum Likelihood Estimation (MLE) algorithm.
Optionally, in this embodiment, the court may be a basketball court, a football court, a badminton court, a volleyball court, a table tennis court, a hockey rink, an ice hockey rink, or the like, in different courts, the user may select different courts through the interactive interface of the intelligent mobile terminal, and after selecting a court, the server may call a logic algorithm corresponding to the selected court to determine the key point.
For example, when the court is a basketball court, the user may select the basketball court on the mobile smart device through an interactive interface of an application program for camera calibration, and the server receives the selection of the user and invokes a logic algorithm corresponding to the basketball court to determine key points in a scene corresponding to the basketball court.
Specifically, when the key points are determined, the positions of the field marking lines and the fixed facilities of the basketball court in the video can be identified through a trained target detection algorithm, and then the key points are determined according to the identified field marking lines and the fixed facilities. For example, the intersection of the field marking lines may be used as a key point. After the key points are determined, the coordinates of the key points can be determined according to the positions and the sizes of the site marking lines or the fixed facilities.
Optionally, in this embodiment, when the court is a basketball court, step S12 includes:
and determining key points according to the site mark lines of the basketball court or the fixed facilities of the basketball court. The court mark lines of the basketball court comprise at least one of a penalty line, a three-line, a middle line, a bottom line, a side line, a three-second line and a penalty basketball goal division line, and the fixed facilities of the basketball court comprise a basket or a backboard.
In the above steps, when the court is a basketball court, the basketball court's baskets, backboard, etc. and the penalty line, three-line, center line, bottom line, side line, three-second line and penalty scoring basketball goal division line are all fixed positions and fixed sizes, so that the key points can be determined according to these fixed court marks or fixed facilities.
For example, when the court is a basketball court, the key point can be set as the intersection point of any two court mark lines, or set as any vertex angle of the backboard.
Optionally, in this embodiment, when the course is a ping-pong course, step S15 includes:
the key points are determined according to the field mark lines of the table tennis court or the fixing facilities of the table tennis court, wherein the fixing facilities of the table tennis court comprise a table tennis table, a table tennis net or a net post for fixing the table tennis net, and the field mark lines of the table tennis court comprise side lines or end lines.
Alternatively, in this embodiment, when the court is a badminton court, step S12 includes:
the key point is determined according to the badminton court's place mark line or the badminton court's fixed facilities, wherein the badminton court's place mark line includes at least one of central line, single binder line, double binder line, preceding service line and back service line, the badminton court's fixed facilities include the badminton net or be used for fixing the net post of badminton net.
Optionally, when the court is a football field, step S12 includes:
the key points are determined according to the field mark lines of the football field or the fixed facilities of the badminton court, wherein the field mark lines of the football field comprise at least one of sidelines, end lines, center lines, middle circles, penalty zone arcs, goal zone lines, corner zone arcs, penalty points and starting points, and the infrastructure of the football field comprises goals.
In addition, when the court is a volleyball court, the key points can be determined according to court mark lines or fixed facilities such as sidelines, end lines, middle lines, attack lines, short lines of a tee area, net posts and nets of the volleyball court.
When the court is a tennis court, the key points can be determined according to single-side lines, double-side lines, bottom lines, service area center lines, center line marks, court mark lines such as net posts and nets or fixed facilities of the tennis court.
When the field is a rink, the key points can be determined according to the field mark lines or fixed facilities such as the center line, the middle circle, the goal opening point, the middle section ball competing point, the subarea line, the ball competing circle, the end section ball competing point, the goal line, the goal area arc line and the goal of the rink.
When the court is a curling court, key points can be determined according to ground marking lines or fixed facilities of a bottom line, a side line, a keel line, a rear defence line, a T line, a center line, an inner circle, an outer circle, a center line, a front throwing line, a jug frame and the like of the curling court.
In summary, the embodiment of the present application provides an automatic calibration method for a camera, which includes, when calibrating a camera, first obtaining video data of a court shot by the camera to be calibrated; determining a key point according to a court mark line with a determined size or a fixed facility of the court, wherein the key point is an intersection point of side lengths with the determined size in the court; and then acquiring coordinate information of the key points in a camera coordinate system according to the video data, and calculating the coordinate information of the key points in the camera coordinate system through a camera calibration algorithm to obtain an internal reference matrix and an external reference matrix of the camera to be calibrated. The camera is automatically calibrated by taking the intersection point of the side length with specific size fixedly existing in the court as the key point of camera calibration without using any auxiliary calibration device, so that the camera calibration device is simple and convenient to operate and easy to apply on a large scale.
Referring to fig. 5, fig. 5 is a functional block diagram of an automatic camera calibration device 110 according to an embodiment of the present disclosure, in which the automatic camera calibration device 110 includes:
the data acquisition module 1101 is used for acquiring video data of a court shot by a camera to be calibrated;
a key point determining module 1102, configured to determine a key point according to a court mark line with a determined size in the court or a fixed facility of the court, where the key point is an intersection of side lengths with determined sizes in the court;
a coordinate obtaining module 1103, configured to obtain, according to the video data, coordinate information of the key point in a camera coordinate system; (ii) a
And the calculation module 1104 is configured to calculate coordinate information of the key point in a camera coordinate system through a camera calibration algorithm, so as to obtain an internal reference matrix and an external reference matrix of the camera to be calibrated.
Optionally, in this embodiment, the camera automatic calibration apparatus 110 further includes:
and the optimization module is used for performing parameter optimization on the internal parameter matrix and the external parameter matrix through an optimization algorithm to obtain optimized camera internal parameters and optimized camera external parameters. Wherein the optimization algorithm comprises a random sample consensus algorithm or a maximum likelihood estimation algorithm.
Fig. 6 shows a schematic view of an electronic device 10 provided in the embodiment of the present application. In the present embodiment, the electronic device 10 includes: a processor 11, a memory 12 and a bus 13, where the memory 12 stores machine-readable instructions executable by the processor 11, when the electronic device 10 runs, the processor 11 and the memory 12 communicate with each other through the bus 13, and the machine-readable instructions, when executed by the processor 11, perform the camera auto-calibration method provided in the embodiment of the present application.
The embodiment of the application also provides a storage medium, wherein a computer program is stored on the storage medium, and when the computer program is executed by a processor, the automatic camera calibration method provided by the embodiment of the application is executed.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (9)
1. An automatic calibration method of a camera is characterized by comprising the following steps:
acquiring video data of a court shot by a camera to be calibrated;
determining a key point according to a place marking line with a determined size in the court or a fixed facility of the court, wherein the key point is an intersection point of side lengths with the determined size in the court;
acquiring coordinate information of the key point in a camera coordinate system according to the video data;
and calculating the coordinate information of the key points in a camera coordinate system through a camera calibration algorithm to obtain an internal reference matrix and an external reference matrix of the camera to be calibrated.
2. The method according to claim 1, wherein after the coordinate information of the key point in the world coordinate system is calculated by a camera calibration algorithm to obtain an internal reference matrix and an external reference matrix of the camera to be calibrated, the method further comprises:
and performing parameter optimization on the internal parameter matrix and the external parameter matrix through an optimization algorithm to obtain optimized camera internal parameters and optimized camera external parameters, wherein the optimization algorithm comprises a random sampling consensus algorithm or a maximum likelihood estimation algorithm.
3. The method as claimed in claim 1, wherein when the course is a basketball court, determining the keypoints from a course marker line of determined size in the course or a fixture of the course comprises:
and determining the key points according to the field mark lines of the basketball court or the fixed facilities of the basketball court, wherein the field mark lines of the basketball court comprise at least one of penalty lines, three lines, a center line, a bottom line, a side line, a three-second line and a penalty basketball backboard ball division zone line, and the fixed facilities of the basketball court comprise a basket or a backboard.
4. The method as claimed in claim 1, wherein when the course is a table tennis course, the key point is determined from a course mark line having a determined size in the course or a fixed facility of the course, further comprising:
the key points are determined according to the field mark lines of the table tennis court or the fixing facilities of the table tennis court, wherein the fixing facilities of the table tennis court comprise a table tennis table, a table tennis net or a net post for fixing the table tennis net, and the field mark lines of the table tennis court comprise side lines or end lines.
5. The method as claimed in claim 1, wherein when the course is a badminton course, the keypoints are determined from a course marker line of determined size in the course or a fixed facility of the course, further comprising:
the key point is determined according to the badminton court's place mark line or the badminton court's fixed facilities, wherein the badminton court's place mark line includes at least one of central line, single binder line, double binder line, preceding service line and back service line, the badminton court's fixed facilities include the badminton net or be used for fixing the net post of badminton net.
6. The method according to claim 1, wherein when the playing field is a soccer field, the key points are determined from a field marking line of a determined size in the playing field or a fixed facility of the playing field, further comprising:
the key points are determined according to the field mark lines of the football field or the fixed facilities of the badminton court, wherein the field mark lines of the football field comprise at least one of sidelines, end lines, center lines, middle circles, penalty zone arcs, goal zone lines, corner zone arcs, penalty points and starting points, and the infrastructure of the football field comprises goals.
7. An automatic calibration device of camera, characterized in that, the device includes:
the data acquisition module is used for acquiring video data of a court shot by a camera to be calibrated;
the key point determining module is used for determining key points according to the court mark lines with determined sizes in the court or the fixed facilities of the court, wherein the key points are intersection points of side lengths with determined sizes in the court;
the coordinate acquisition module is used for acquiring coordinate information of the key point in a camera coordinate system according to the video data;
and the calculation module is used for calculating the coordinate information of the key point in a camera coordinate system through a camera calibration algorithm to obtain an internal reference matrix and an external reference matrix of the camera to be calibrated.
8. An electronic device, comprising: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory communicating over the bus when the electronic device is operating, the machine-readable instructions when executed by the processor performing the method of any of claims 1-6.
9. A storage medium, characterized in that the storage medium has stored thereon a computer program which, when being executed by a processor, performs the method according to any one of claims 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110625387.XA CN113393531A (en) | 2021-06-04 | 2021-06-04 | Camera automatic calibration method and device, electronic equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110625387.XA CN113393531A (en) | 2021-06-04 | 2021-06-04 | Camera automatic calibration method and device, electronic equipment and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113393531A true CN113393531A (en) | 2021-09-14 |
Family
ID=77618296
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110625387.XA Pending CN113393531A (en) | 2021-06-04 | 2021-06-04 | Camera automatic calibration method and device, electronic equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113393531A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102147918A (en) * | 2010-02-09 | 2011-08-10 | 新奥特（北京）视频技术有限公司 | Stadium marker line-based method and system for determining camera exterior parameters |
| CN108010086A (en) * | 2017-12-04 | 2018-05-08 | 深圳市赢世体育科技有限公司 | Camera marking method, device and medium based on tennis court markings intersection point |
| CN110910410A (en) * | 2019-11-07 | 2020-03-24 | 河海大学 | Court positioning system and method based on computer vision |
-
2021
- 2021-06-04 CN CN202110625387.XA patent/CN113393531A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102147918A (en) * | 2010-02-09 | 2011-08-10 | 新奥特（北京）视频技术有限公司 | Stadium marker line-based method and system for determining camera exterior parameters |
| CN108010086A (en) * | 2017-12-04 | 2018-05-08 | 深圳市赢世体育科技有限公司 | Camera marking method, device and medium based on tennis court markings intersection point |
| CN110910410A (en) * | 2019-11-07 | 2020-03-24 | 河海大学 | Court positioning system and method based on computer vision |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11715214B1 (en) | Systems and methods for indicating user performance in launching a basketball toward a basketball hoop | |
| US9036864B2 (en) | Ball trajectory and bounce position detection | |
| US9925439B2 (en) | Electronic golf assistant utilizing one or more lay up positions | |
| US20140226869A1 (en) | System and method for photographing moving subject by means of fixed camera, and acquiring projection image of actual movement trajectory of subject based on photographed image | |
| US20220180570A1 (en) | Method and device for displaying data for monitoring event | |
| US9028344B2 (en) | Electronic golf assistant utilizing electronic storing | |
| KR102050373B1 (en) | Green information providing system by image matching and method thereof | |
| JP7076955B2 (en) | Methods, systems, and non-temporary computer-readable recording media for correcting the brightness of the ball's image. | |
| CN114025183B (en) | Live broadcast method, device, equipment, system and storage medium | |
| KR20140023136A (en) | Putting information display system and method for golf on the air | |
| US10776929B2 (en) | Method, system and non-transitory computer-readable recording medium for determining region of interest for photographing ball images | |
| CN113393531A (en) | Camera automatic calibration method and device, electronic equipment and storage medium | |
| CN113343844A (en) | Automatic generation method, system and server for penalty instruction of ball game | |
| KR102050970B1 (en) | Green information providing method using picture and terminal thereof | |
| JP5687670B2 (en) | Display control system, game system, display control device, and program | |
| KR102050387B1 (en) | Green information providing method using image matching and terminal thereof | |
| US11052284B2 (en) | Method, system and non-transitory computer-readable recording medium for supporting shooting a golf swing | |
| KR102128310B1 (en) | Green information providing system of golf and providing method thereof | |
| US8442274B2 (en) | Electronic golf assistant utilizing a plurality of images | |
| KR20140013712A (en) | Green information providing method using picture and terminal thereof | |
| US20240144613A1 (en) | Augmented reality method for monitoring an event in a space comprising an event field in real time | |
| CN114500981B (en) | Venue target tracking method, device, equipment and medium | |
| CN113674145A (en) | Spherical stitching and real-time alignment of PTZ moving images | |
| TW202318341A (en) | Method for analyzing basketball movements | |
| CN119478790A (en) | Ball sports video analysis method, system, electronic device and storage medium |
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 |
Application publication date: 20210914 |
|
| RJ01 | Rejection of invention patent application after publication |