CN207764847U - Multi-lens camera module quick stereo caliberating device - Google Patents
Multi-lens camera module quick stereo caliberating device Download PDFInfo
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- CN207764847U CN207764847U CN201820157525.XU CN201820157525U CN207764847U CN 207764847 U CN207764847 U CN 207764847U CN 201820157525 U CN201820157525 U CN 201820157525U CN 207764847 U CN207764847 U CN 207764847U
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- gridiron pattern
- lens camera
- caliberating device
- quick stereo
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Abstract
The utility model discloses a kind of multi-lens camera module quick stereo caliberating devices, including：At least two adjacent camera bellows；At least two gridiron pattern groups, are separately positioned on the inner top of the camera bellows, are shot for the multi-lens camera module；One rail plate is applied in the interior bottom of described two adjacent camera bellows, and the multi-lens camera module is set for cunning.The utility model using 2 camera bellows with rail plate due to being together in series, and there is the gridiron pattern of 3 kinds of different positions and poses simultaneously at the top of each camera bellows, do not spend the tessellated pose of transformation, therefore the number of calibration shooting can not only be reduced, and computational accuracy can be greatlyd improve, it is the multi-lens camera module quick stereo caliberating device that a kind of speed is fast, precision is high, is very suitable for factory mass calibration module.
Description
Technical field
The utility model is related to camera calibration technical field more particularly to a kind of multi-lens camera module quick stereo marks
Determine device.
Background technology
Vision is the human cognitive world, obtains mostly important one of the mode of information, therefore utilizes machine simulation human eye
Technology is taken advantage of a situation and is given birth to, and wherein technique of binocular stereoscopic vision is the most fiery technology for being also closest to the human eye observation world instantly.2016
Year September pushes this technique of binocular stereoscopic vision to a new height, respectively with the bis- fast sales for taking the photograph mobile phone of iPhone 7plus
A field is in full flourish, not only becomes new machine standard configuration in field of mobile phones binocular camera, in necks such as AR, VR, unmanned plane, automatic Pilots
Domain, this technology is also in research and development like a raging fire carry out.
Image is reaction of the space object by imaging system in image plane, i.e. throwing of the space object in image plane
Shadow.The gray scale of each pixel reflects the intensity of the reflected light of space object surface point on image, and the point is in image
On position it is then related with the geometric position of space object surface corresponding points.In computer vision, captured image is utilized
To calculate testee geometric parameter in three dimensions.The wherein first step of the video camera stereo calibration as the technology, occupies
The most basic part, will directly affect the precision and effect of back-end algorithm.
The purpose of video camera stereo calibration is the inner parameter and external parameter obtained between video camera module.Briefly,
It is exactly to be based on specific experiment condition under certain camera model, demarcate object as known to shape, size, shoot multiple
The picture (general no less than 10) for including the calibration object of different positions and pose, relevant extraction is carried out to the calibration object in these pictures
Detection, using the mathematic(al) manipulation of a series of complex, space conversion, iteration optimization, estimate camera model inner parameter and
External parameter.
The calibration object model of this kind of scaling method is very simple, very easy to improve the essence calculated by the way that corresponding measure is added
Degree, but the process demarcated is inconvenient to operate, and does not accomplish accurate simple control during converting pose especially, very
It is unfavorable for batch production pile line operation.Based on this, the utility model proposes a kind of device for realizing more mesh camera Fast Calibrations,
The present apparatus is only demarcated by 6 designed calibration objects without using high cost approach such as manipulators, and shooting two can be complete
It is of low cost at primary calibration, it is easy to operate, it is efficiently easy, and do not lose stated accuracy.
Utility model content
The utility model is not easy to accurately control, speed aiming at the complexity of video camera module calibration process in the prior art
Slowly, efficiency is low, is not suitable for the technical issues of factory mass module calibration, and it is an object of the present invention to provide a kind of novel multi-lens camera
Module quick stereo caliberating device.
The multi-lens camera module quick stereo caliberating device of the utility model includes：
At least two adjacent camera bellows；
At least two gridiron pattern groups, are separately positioned on the inner top of the camera bellows, are shot for the multi-lens camera module；
One rail plate is applied in the interior bottom of described two adjacent camera bellows, and the multi-lens camera module is set for cunning.
It is preferred that the multi-lens camera module quick stereo caliberating device of the utility model further includes at least two object distance tune
Part is saved, is located at the inside of camera bellows, object distance regulating part one end is connect with the gridiron pattern group.
It is preferred that the gridiron pattern group includes the gridiron pattern of at least two different angles.
It is preferred that the gridiron pattern group includes the gridiron pattern of three different angles.
It is preferred that the gridiron pattern group includes with horizontal line into 30 ° counterclockwise, 30 ° clockwise and 0 ° of three kinds of angles
The gridiron pattern of degree.
It is preferred that the gridiron pattern group includes with horizontal line into 45 ° counterclockwise, 45 ° clockwise and 0 ° of three kinds of angles
The gridiron pattern of degree.
It is preferred that the multi-lens camera module quick stereo caliberating device further includes an at least module fixture, if
It is placed on the rail plate, for clamping the multi-lens camera module.
It is preferred that the gridiron pattern is self-luminous gridiron pattern.
The positive effect of the utility model is：The utility model using 2 camera bellows with rail plate due to being connected
Get up, and there is the gridiron pattern of at least two kinds of above such as 3 kinds of different positions and poses simultaneously at the top of each camera bellows, does not spend transformation chessboard
The pose of lattice, therefore the number of calibration shooting can be not only reduced, and computational accuracy can be greatlyd improve, it is a kind of speed
Soon, multi-lens camera module quick stereo caliberating device that is efficient, being very suitable for factory mass calibration module.
Description of the drawings
Fig. 1 is a kind of quick stereo caliberating device provided by the utility model；
Fig. 2 is working standard gridiron pattern provided by the utility model；
Fig. 3 is self-luminous gridiron pattern provided by the utility model；
Fig. 4 A are left side camera bellows gridiron pattern group disposing ways provided by the utility model；
Fig. 4 B are right side camera bellows gridiron pattern group disposing ways provided by the utility model；
Fig. 5 A are left side camera bellows calibration images provided by the utility model；
Fig. 5 B are right side camera bellows calibration images provided by the utility model.
Specific implementation mode
It is understandable to enable the above objects, features, and advantages of the utility model to become apparent, below in conjunction with the accompanying drawings to this
The specific implementation mode of utility model is described in detail.
As shown in Figure 1, the multi-lens camera module quick stereo caliberating device of the utility model includes：Two adjacent camera bellows
Two 10a, 10b, i.e. left and right adjacent small camera bellows are such as closing camera bellows, and wall material selects low reflective object on the inside of camera bellows
Matter ensures that camera bellows interior walls will not introduce unnecessary interference because of reflective.Two gridiron pattern groups 20a, 20b, are separately positioned on
The inner top of camera bellows 10a, 10b are shot for multi-lens camera module.Each gridiron pattern group 20a, 20b includes that three poses are different
22 (not shown) of gridiron pattern, ensure intermediate gridiron pattern 22 and keeping parallelism at the top of camera bellows 10a, 10b.Rail plate 30, is passed through
The interior bottom of two adjacent camera bellows 10a, 10b and connection two camera bellows 10a, 10b are through, multi-lens camera module is set for cunning.It is sliding
Dynamic guide rail 30 is equipped with module fixture (not shown), for clamping multi-lens camera module, facilitates and realizes module automation movement, subtract
Calibrated error caused by few human interference.Two object distance regulating part 40a, 40b, are located at the inside of camera bellows 10a, 10b, object distance tune
Section one end part 40a, 40b is connect with gridiron pattern group 20a, 20b, and the other end is connect with rail plate 30.It can conveniently adjust chessboard
Lattice group between module at a distance from, carry out quantitative problem analysis.The multi-lens camera module quick stereo of the utility model is demarcated
Realize that all kinds of motors of automation do not repeat herein in device.
As shown in Fig. 2, traditional chessboard panel is mostly made of chequered with black and white sub-box, the length and width of each sub-box are
Know, using the point of interface of diagonally opposing corner same color grid as tessellated characteristic point, is then closed by these known image
System estimates the inner parameter (focal length, principal point, distortion) and external parameter (rotation and translation between module) of video camera module.Mesh
Preceding chessboard panel on the market mostly uses lighttight metal oxide or the glass plate of light transmission is made.In order to simplify fortune
It calculates, reduces influence of the ambient to calibration, the utility model proposes a kind of self-luminous gridiron pattern scaling board herein, or
Referred to as backlight type gridiron pattern, as shown in figure 3, for the cross section of the gridiron pattern 22.22 front end of gridiron pattern is glassy layer 221, glass
On layer 221 as traditional gridiron pattern, it is carved with these in white and black sub-boxes and (such as wants to reduce cost, remaining material can be selected
Black and white lattice are engraved, but due to cannot be guaranteed that material and glass plate are bonded completely, tessellated flatness can decline, and influence final
Stated accuracy), followed by source of parallel light region 222 selects preferable LED light array, makes its emitting parallel light source, this be for
The uneven illumination even probability for causing image angle point fuzziness is reduced, is finally encapsulated layer 223.Using this backlight type gridiron pattern one
It is the influence that can reduce external environment to precision, second is that keeping imaging background simple, conveniently does the acceleration of software operation.
Gridiron pattern group 20a includes the gridiron pattern of three different angles, that is, it is different to put pose, as shown in Figure 4 A, such as
Be followed successively by with horizontal line at 30 ° of rotation counterclockwise, do not rotate i.e. 0 °, rotate clockwise 30 ° and three kinds of angles gridiron pattern.
As shown in Figure 4 B, gridiron pattern group 20b also includes the gridiron pattern of three different angles, such as with horizontal line at 45 ° of rotation counterclockwise, no
Rotation i.e. 0 °, rotate clockwise 45 ° and three kinds of angles gridiron pattern.The final image in picture of two gridiron pattern groups
Case is followed successively by shown in Fig. 5 A, 5B.
Why the utility model selects the gridiron pattern of different positions and pose, is because the gridiron pattern of a pose can be in the hope of two
A unknown number, according to overdetermined equation it is found that the number of equation should be more than the number of unknown number.So two poses can obtain
Four equations, it is corresponding can be in the hope of tetra- unknown numbers of fx, fy, cx, cy.But due to the influence of the uncertain factors such as noise,
Only may not be accurate with the parameter that two kinds of poses acquire, so choosing multidigit appearance as far as possible, 5 kinds are had chosen in this utility model
Pose.
The side of gridiron pattern group 20a, 20b is connected with object distance regulating part 40a, 40b.First, can be to same multi-lens camera
The different burnt sections of module are demarcated, second is that accounting that can be according to gridiron pattern 22 in picture adjusts multi-lens camera module and chessboard
Spacing between lattice group 20a, 20b reaches optimal calibration picture.
The operation principle of the multi-lens camera module quick stereo caliberating device of the utility model is：
After multi-lens camera module normally can go out figure, put it into the module fixture on rail plate 30, with cunning
The left side camera bellows 10a specified locations that dynamic guide rail 30 enters keep multi-lens camera module parallel at the top of camera bellows, shoot chess
Disk lattice group 20a (the chessboard table images for including three kinds of poses), obtains first calibration maps；Keep focal length constant, by rail plate
30 are sent to multi-lens camera module the designated position of right side camera bellows 10b, shooting gridiron pattern group 20b (and include three kinds of poses
Chessboard table images), obtain second calibration maps.This two calibration maps are finally utilized, that is, include the figure of five kinds of gridiron pattern poses
Calculating as carrying out calibrating parameters.During shooting image, gridiron pattern can be adjusted by object distance regulating part 40a, 40b
Spacing between group 20a, 20b and multi-lens camera module ensures gridiron pattern group 20a, 20b in multi-lens camera module most
Imaging is full of entire picture as far as possible eventually.
The utility model is had due to being together in series with rail plate using 2 camera bellows at the top of each camera bellows simultaneously
The gridiron pattern of at least two kinds of above such as 3 kinds of different positions and poses, does not spend the tessellated pose of transformation, therefore can not only reduce calibration
The number of shooting, and computational accuracy can be greatlyd improve, it is that a kind of speed is fast, precision is high, is very suitable for factory mass
Demarcate the multi-lens camera module quick stereo caliberating device of module.The multi-lens camera module quick stereo mark of the utility model
If determining device to want to realize the calibration of higher efficiency, the camera bellows that wherein any one includes gridiron pattern group can be selected, realizes two
Calibration of the module in same device.
Claims (8)
1. a kind of multi-lens camera module quick stereo caliberating device, it is characterised in that including：
At least two adjacent camera bellows；
At least two gridiron pattern groups, are separately positioned on the inner top of the camera bellows, are shot for the multi-lens camera module；
One rail plate is applied in the interior bottom of described two adjacent camera bellows, and the multi-lens camera module is set for cunning.
2. multi-lens camera module quick stereo caliberating device as described in claim 1, which is characterized in that further include at least two
Object distance regulating part, is located at the inside of camera bellows, and object distance regulating part one end is connect with the gridiron pattern group.
3. multi-lens camera module quick stereo caliberating device as described in claim 1, which is characterized in that the gridiron pattern group
Include the gridiron pattern of at least two different angles.
4. multi-lens camera module quick stereo caliberating device as claimed in claim 3, which is characterized in that the gridiron pattern group
Include the gridiron pattern of three different angles.
5. multi-lens camera module quick stereo caliberating device as claimed in claim 4, which is characterized in that the gridiron pattern group
Including with horizontal line at the gridiron pattern of 30 ° counterclockwise, 30 ° clockwise and 0 ° of three kinds of angles.
6. multi-lens camera module quick stereo caliberating device as claimed in claim 4, which is characterized in that the gridiron pattern group
Including with horizontal line at the gridiron pattern of 45 ° counterclockwise, 45 ° clockwise and 0 ° of three kinds of angles.
7. multi-lens camera module quick stereo caliberating device as described in claim 1, which is characterized in that more mesh are taken the photograph
Camera module quick stereo caliberating device further includes an at least module fixture, is set on the rail plate, described in clamping
Multi-lens camera module.
8. multi-lens camera module quick stereo caliberating device as claimed in claim 3, which is characterized in that the gridiron pattern is
Self-luminous gridiron pattern.
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| CN201820157525.XU CN207764847U (en) | 2018-01-30 | 2018-01-30 | Multi-lens camera module quick stereo caliberating device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109544637A (en) * | 2018-10-18 | 2019-03-29 | 北京伟景智能科技有限公司 | Binocular calibration verifies device |
| CN109798831A (en) * | 2018-12-28 | 2019-05-24 | 辽宁红沿河核电有限公司 | A kind of Binocular vision photogrammetry method for fuel assembly |
| CN111192330A (en) * | 2020-03-13 | 2020-05-22 | 北京石头世纪科技股份有限公司 | Binocular camera calibration tool |
-
2018
- 2018-01-30 CN CN201820157525.XU patent/CN207764847U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109544637A (en) * | 2018-10-18 | 2019-03-29 | 北京伟景智能科技有限公司 | Binocular calibration verifies device |
| CN109544637B (en) * | 2018-10-18 | 2024-02-27 | 北京伟景智能科技有限公司 | Double-target fixed verification device |
| CN109798831A (en) * | 2018-12-28 | 2019-05-24 | 辽宁红沿河核电有限公司 | A kind of Binocular vision photogrammetry method for fuel assembly |
| CN111192330A (en) * | 2020-03-13 | 2020-05-22 | 北京石头世纪科技股份有限公司 | Binocular camera calibration tool |
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