CN109389649A - The quick calibrating method and device of binocular camera - Google Patents
The quick calibrating method and device of binocular camera Download PDFInfo
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- CN109389649A CN109389649A CN201811129014.8A CN201811129014A CN109389649A CN 109389649 A CN109389649 A CN 109389649A CN 201811129014 A CN201811129014 A CN 201811129014A CN 109389649 A CN109389649 A CN 109389649A
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- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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Abstract
This specification provides the quick calibrating method and device of a kind of binocular camera, and wherein scaling method includes: to obtain facing image, left view image, right view image, overhead view image and looking up image for Calibration Box by binocular camera；Image, the left view image, the right view image, the overhead view image and the image of looking up faced is split, tessellated apex coordinate on each scaling board is extracted；The calibrating parameters of the binocular camera are calculated according to tessellated apex coordinate on extracted each scaling board.
Description
Technical field
This specification is related to technical field of machine vision, the in particular to quick calibrating method and dress of a kind of binocular camera
It sets.
Background technique
Binocular camera calibration is that the element task in binocular measurement and three-dimensional reconstruction is needed according to Zhang Zhengyou scaling method
Staking-out work is completed with the scaling board of binocular camera shooting different angle.According to correlative study result, it is considered that calibration maps
Calibration result is relatively stable when piece reaches 20~30.Current common practice is that binocular camera or scaling board are fixed, pass through
The mobile scaling board of manpower or camera are taken pictures in different angle, picture needed for obtaining calibration.It is successively right when calibrating parameters calculate
Each picture extracts angle point, then calculates binocular camera inside and outside parameter.
The scene less for calibration number, traditional method are able to satisfy requirement, but factory are mass produced double
The case where mesh camera, this scaling method are difficult to meet the requirements, the reason is that: first, the single binocular camera nominal time is too long, often
A binocular camera needs to shoot the scaling board picture of 20 different locations；Second, the accuracy and consistency of calibration result are difficult to
Guarantee, go mobile scaling board randomness very big by manpower, it cannot be guaranteed that all positions of scaling board covering visual field.
Summary of the invention
In view of this, this specification embodiment provides the quick calibrating method and device of a kind of binocular camera, to solve
Technological deficiency existing in the prior art.
According to this specification embodiment in a first aspect, providing a kind of quick calibrating method of binocular camera, comprising:
Image, left view image, right view image, overhead view image and bottom view are faced by binocular camera acquisition Calibration Box
Picture, wherein the Calibration Box includes the first scaling board, the second scaling board, third scaling board and the 4th scaling board, the binocular phase
The imaging plane of machine and first scaling board, second scaling board, the third scaling board and the 4th scaling board
Angle is all larger than 45 °, and first scaling board, second scaling board, the third scaling board and the 4th scaling board are equal
For gridiron pattern scaling board；
To it is described face image, the left view image, the right view image, the overhead view image and it is described look up image into
Row segmentation, extracts tessellated apex coordinate on each scaling board；
The calibrating parameters of the binocular camera are calculated according to tessellated apex coordinate on extracted each scaling board.
Optionally, the Calibration Box obtains in the following manner:
The long side of first scaling board and the long side of the second scaling board contact platform are vertically arranged, first scaling board position
In the left side of second scaling board, the spacing of first scaling board and second scaling board in first threshold range,
The angle of first scaling board and second scaling board is within the scope of second threshold；
Third scaling board and the 4th scaling board are horizontally set on platform in the way of long side side-by-side contact, described
Three scaling boards are located at the right of the 4th scaling board, the upper left corner of the 4th scaling board and first scaling board from left to right the
The two tessellated centers of column are connected, the upper right corner of the third scaling board and second scaling board secondary series gridiron pattern from right to left
Center be connected, the central dividing line of first scaling board and second scaling board and the third scaling board and described
The bonding wire of 4th scaling board is point-blank.
Optionally, described that image, left view image, right view image, top view are faced by binocular camera acquisition Calibration Box
It picture and looks up image and includes:
Binocular camera and Calibration Box distance are adjusted so that first scaling board, second scaling board, the third mark
Fixed board and the 4th scaling board are completely shown in the visual field of the binocular camera；
The center at the center and the Calibration Box that adjust the binocular camera is overlapped, and obtains the front view of the Calibration Box
Picture；
It is to obtain the Calibration Box with reference to the binocular camera set angle is rotated to the left with the center of the Calibration Box
Left view image；
It is to obtain the Calibration Box with reference to the binocular camera set angle is rotated to the right with the center of the Calibration Box
Right view image；
It is to obtain the Calibration Box with reference to the binocular camera set angle is rotated upwards with the center of the Calibration Box
Overhead view image；
It is to obtain the Calibration Box with reference to the binocular camera set angle is rotated down with the center of the Calibration Box
Look up image.
Optionally, described to face image, the left view image, the right view image, the overhead view image and institute to described
It states and looks up image and be split, extracting tessellated apex coordinate on each scaling board includes:
Image, the left view image, the right view image, the overhead view image and the bottom view are faced to described respectively
Each calibration Board position as in is split, and dividing method is as follows:
Using the image lower left corner as starting point, in the horizontal direction successively search for gridiron pattern cut-off rule, obtain adjacent segmentation line between
Horizontal distance；
The maximum value of horizontal distance between adjacent segmentation line is obtained, two cut-off rules corresponding to the value are the third mark
The right hand edge line of the left edge line of fixed board and the 4th scaling board；
Calculate the horizontal distance middle line of the left edge line of the third scaling board and the right hand edge line of the 4th scaling board
Location information, as scaling board vertical direction segmentation line position information；
Using the image lower left corner as starting point, gridiron pattern cut-off rule is searched for from bottom to up along the vertical direction, calculate adjacent segmentation line
Between vertical range；
The maximum value of vertical range between adjacent segmentation line is obtained, two articles of cut-off rules corresponding to the value are the 4th mark
The lower edge line of the top edge line of fixed board and first scaling board；
Calculate the vertical range middle line of the top edge line of the 4th scaling board and the lower edge line of first scaling board
Location information, the segmentation line position as scaling board horizontal direction；
It faces image, the left view image, the right view image, the overhead view image for described and described looks up image
In each image divide to obtain 4 scaling boards respectively where image-region, successively extract the gridiron pattern top of each scaling board
Point image coordinate.
Optionally, described that the binocular camera is calculated according to tessellated apex coordinate on extracted each scaling board
Calibrating parameters include:
According to the gridiron pattern top of the gridiron pattern size of each scaling board image zooming-out corresponding with scaling board each after segmentation
Point coordinate, according to Zhang Zhengyou calibration algorithm calculate the binocular camera inside and outside parameter.
Optionally, first threshold range be 15 × (1+/- 5%) mm, the second threshold range be 115 ° × (1+/-
5%).
Optionally, the set angle is 5 °.
According to the second aspect of this specification embodiment, a kind of fast calibration device of binocular camera is additionally provided, comprising:
Image collection module is configured as facing image, left view image, right view by binocular camera acquisition Calibration Box
As, overhead view image and image is looked up, wherein the Calibration Box includes the first scaling board, the second scaling board, third scaling board and the
Four scaling boards, the imaging plane of the binocular camera and first scaling board, second scaling board, the third scaling board
45 ° are all larger than with the angle of the 4th scaling board, first scaling board, second scaling board, the third scaling board
It is gridiron pattern scaling board with the 4th scaling board；
Apex coordinate extraction module is configured as facing image, the left view image, the right view image, institute to described
It states overhead view image and the image of looking up is split, extract tessellated apex coordinate on each scaling board；
Parameter calculating module is configured as that institute is calculated according to tessellated apex coordinate on extracted each scaling board
State the calibrating parameters of binocular camera.
Optionally, above-mentioned caliberating device further includes；
First setup module, it is vertical by the long side of the first scaling board and the long side of the second scaling board contact platform to be configured as
Setting, first scaling board are located at the left side of second scaling board, first scaling board and second scaling board
Spacing is in first threshold range, and the angle of first scaling board and second scaling board is within the scope of second threshold；
Second setup module is configured as the water in the way of long side side-by-side contact by third scaling board and the 4th scaling board
Flat to be arranged on platform, the third scaling board is located at the right of the 4th scaling board, the upper left corner of the 4th scaling board
It is connected at the tessellated center of secondary series from left to right with first scaling board, the upper right corner of the third scaling board and described second
Scaling board is connected at the tessellated center of secondary series from right to left, the central dividing line of first scaling board and second scaling board
Point-blank with the bonding wire of the third scaling board and the 4th scaling board.
Optionally, described image acquisition module includes:
Distance adjusting unit is configured as adjusting binocular camera and Calibration Box distance so that first scaling board, described
Second scaling board, the third scaling board and the 4th scaling board are completely shown in the visual field of the binocular camera；
Image acquisition unit is faced, is configured as adjusting the center weight at the center of the binocular camera and the Calibration Box
It closes, obtain the Calibration Box faces image；
Left view image acquiring unit is configured as rotating to the left the binocular camera with the center of the Calibration Box for reference
Set angle obtains the left view image of the Calibration Box；
Right view image acquiring unit is configured as rotating to the right the binocular camera with the center of the Calibration Box for reference
Set angle obtains the right view image of the Calibration Box；
Overhead view image acquiring unit is configured as rotating the binocular camera upwards with the center of the Calibration Box for reference
Set angle obtains the overhead view image of the Calibration Box；
Image acquisition unit is looked up, is configured as with the center of the Calibration Box being described double with reference to being rotated down
Mesh camera set angle, obtain the Calibration Box looks up image.
This specification embodiment obtains uncalibrated image by way of building Calibration Box, and calibration, which is taken pictures, once claps multiple calibration
Plate, and divide scaling board automatically according to scaling board number and can be greatly reduced the mobile number of camera and number of taking pictures, when calibration
Between only general scaling method a quarter, while can guarantee the accuracy and consistency of calibration result, for binocular phase
The promotion of production efficiency and quality is significant in machine large-scale production process.
Detailed description of the invention
In order to illustrate more clearly of the technical solution of this specification embodiment, will make below to required in embodiment description
Attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is only some embodiments of this specification, right
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings
His attached drawing.
Fig. 1 is to show the Calibration Box schematic diagram of the Fast Calibration of the binocular camera according to one embodiment of this specification；
Fig. 2 is to show the calibration environment schematic of the Fast Calibration of the binocular camera according to one embodiment of this specification
Specific embodiment
Many details are explained in the following description in order to fully understand this specification.But this specification energy
Enough to be implemented with being much different from other way described herein, those skilled in the art can be without prejudice to this specification intension
In the case where do similar popularization, therefore this specification is not limited by following public specific implementation.
Be below according to the quick calibrating method for binocular camera of one embodiment of this specification, this method comprises:
Step 102: by binocular camera obtain Calibration Box face image, left view image, right view image, overhead view image and
Image is looked up, wherein the Calibration Box includes the first scaling board, the second scaling board, third scaling board and the 4th scaling board, it is described
The imaging plane of binocular camera and first scaling board, second scaling board, step 104: the third scaling board and institute
The angle for stating the 4th scaling board is all larger than 45 °, first scaling board, second scaling board, the third scaling board and institute
Stating the 4th scaling board is gridiron pattern scaling board；
Step 106: facing image, the left view image, the right view image, the overhead view image to described and described face upward
Visible image is split, and extracts tessellated apex coordinate on each scaling board；
Step 108: the binocular camera is calculated according to tessellated apex coordinate on extracted each scaling board
Calibrating parameters.
In a kind of implementation, the Calibration Box obtains in the following manner:
The long side of first scaling board and the long side of the second scaling board contact platform are vertically arranged, first scaling board position
In the left side of second scaling board, the spacing of first scaling board and second scaling board in first threshold range,
The angle of first scaling board and second scaling board is within the scope of second threshold；
Third scaling board and the 4th scaling board are horizontally set on platform in the way of long side side-by-side contact, described
Three scaling boards are located at the right of the 4th scaling board, the upper left corner of the 4th scaling board and first scaling board from left to right the
The two tessellated centers of column are connected, the upper right corner of the third scaling board and second scaling board secondary series gridiron pattern from right to left
Center be connected, the central dividing line of first scaling board and second scaling board and the third scaling board and described
The bonding wire of 4th scaling board is point-blank.
It is described to face image, left view image, right view by what binocular camera obtained Calibration Box in a kind of implementation
As, overhead view image and looks up image and include:
Binocular camera and Calibration Box distance are adjusted so that first scaling board, second scaling board, the third mark
Fixed board and the 4th scaling board are completely shown in the visual field of the binocular camera；
The center at the center and the Calibration Box that adjust the binocular camera is overlapped, and obtains the front view of the Calibration Box
Picture；
It is to obtain the Calibration Box with reference to the binocular camera set angle is rotated to the left with the center of the Calibration Box
Left view image；
It is to obtain the Calibration Box with reference to the binocular camera set angle is rotated to the right with the center of the Calibration Box
Right view image；
It is to obtain the Calibration Box with reference to the binocular camera set angle is rotated upwards with the center of the Calibration Box
Overhead view image；
It is to obtain the Calibration Box with reference to the binocular camera set angle is rotated down with the center of the Calibration Box
Look up image.
It is described to face image, the left view image, the right view image, the vertical view to described in a kind of implementation
Image and the image of looking up are split, and are extracted tessellated apex coordinate on each scaling board and are included:
Image, the left view image, the right view image, the overhead view image and the bottom view are faced to described respectively
Each calibration Board position as in is split, and dividing method is as follows:
Using the image lower left corner as starting point, in the horizontal direction successively search for gridiron pattern cut-off rule, obtain adjacent segmentation line between
Horizontal distance；
The maximum value of horizontal distance between adjacent segmentation line is obtained, two cut-off rules corresponding to the value are the third mark
The right hand edge line of the left edge line of fixed board and the 4th scaling board；
Calculate the horizontal distance middle line of the left edge line of the third scaling board and the right hand edge line of the 4th scaling board
Location information, as scaling board vertical direction segmentation line position information；
Using the image lower left corner as starting point, gridiron pattern cut-off rule is searched for from bottom to up along the vertical direction, calculate adjacent segmentation line
Between vertical range；
The maximum value of vertical range between adjacent segmentation line is obtained, two articles of cut-off rules corresponding to the value are the 4th mark
The lower edge line of the top edge line of fixed board and first scaling board；
Calculate the vertical range middle line of the top edge line of the 4th scaling board and the lower edge line of first scaling board
Location information, the segmentation line position as scaling board horizontal direction；
It faces image, the left view image, the right view image, the overhead view image for described and described looks up image
In each image divide to obtain 4 scaling boards respectively where image-region, successively extract the gridiron pattern top of each scaling board
Point image coordinate.
In a kind of implementation, it is described be calculated according to tessellated apex coordinate on extracted each scaling board it is described
The calibrating parameters of binocular camera include:
According to the gridiron pattern top of the gridiron pattern size of each scaling board image zooming-out corresponding with scaling board each after segmentation
Point coordinate, according to Zhang Zhengyou calibration algorithm calculate the binocular camera inside and outside parameter.
In a kind of implementation, first threshold range is 15 × (1+/- 5%) mm, the second threshold range is 115 ° ×
(1+/- 5%).
In a kind of implementation, the set angle is 5 °.
Scaling board 1
It include: the first mark in figure by taking calibration environment shown in Fig. 2 as an example (building as shown in Figure 1 for Calibration Box)
Fixed board 1, the second scaling board 2, third scaling board 3, the 4th scaling board 4, binocular camera 5, guide rail and
Bracket 6 and Calibration Box 7 can be implemented in accordance with the following steps in specific implementation:
1) Calibration Box is built according to mode shown in Fig. 1；
2) according to the fixed binocular camera of mode shown in Fig. 2 and Calibration Box；
3) binocular camera center and Calibration Box center is adjusted to be overlapped；
4) be reference with Calibration Box center, shooting faces, left view, it is right depending on, look up, overlook picture；
5) scaling board segmentation is taken turns doing to 5 calibration pictures and apex coordinate extracts.
6) vertex coordinates data of 20 groups of different angle scaling board images is obtained.
7) calibrating parameters are calculated.
This specification embodiment obtains uncalibrated image by way of building Calibration Box, and calibration, which is taken pictures, once claps multiple calibration
Plate, and divide scaling board automatically according to scaling board number and can be greatly reduced the mobile number of camera and number of taking pictures, when calibration
Between only general scaling method a quarter, while can guarantee the accuracy and consistency of calibration result, for binocular phase
The promotion of production efficiency and quality is significant in machine large-scale production process.
Corresponding with preceding method, this specification additionally provides Installation practice, and described device embodiment can be by soft
Part is realized, can also be realized by way of hardware or software and hardware combining.Taking software implementation as an example, as a logical meaning
On device, be to be read computer program instructions corresponding in nonvolatile memory by the processor of equipment where it
Operation is formed in memory.For hardware view, a kind of hardware configuration of equipment may include where the device of this specification
Except processor, network interface, memory and nonvolatile memory, the equipment in embodiment where device is generally according to reality
Function can also include other hardware, repeat no more to this.
One embodiment of this specification provide device include:
Image collection module is configured as facing image, left view image, right view by binocular camera acquisition Calibration Box
As, overhead view image and image is looked up, wherein the Calibration Box includes the first scaling board, the second scaling board, third scaling board and the
Four scaling boards, the imaging plane of the binocular camera and first scaling board, second scaling board, the third scaling board
45 ° are all larger than with the angle of the 4th scaling board, first scaling board, second scaling board, the third scaling board
It is gridiron pattern scaling board with the 4th scaling board；
Apex coordinate extraction module is configured as facing image, the left view image, the right view image, institute to described
It states overhead view image and the image of looking up is split, extract tessellated apex coordinate on each scaling board；
Parameter calculating module is configured as that institute is calculated according to tessellated apex coordinate on extracted each scaling board
State the calibrating parameters of binocular camera.
In a kind of implementation, above-mentioned caliberating device further include:
First setup module, it is vertical by the long side of the first scaling board and the long side of the second scaling board contact platform to be configured as
Setting, first scaling board are located at the left side of second scaling board, first scaling board and second scaling board
Spacing is in first threshold range, and the angle of first scaling board and second scaling board is within the scope of second threshold；
Second setup module is configured as the water in the way of long side side-by-side contact by third scaling board and the 4th scaling board
Flat to be arranged on platform, the third scaling board is located at the right of the 4th scaling board, the upper left corner of the 4th scaling board
It is connected at the tessellated center of secondary series from left to right with first scaling board, the upper right corner of the third scaling board and described second
Scaling board is connected at the tessellated center of secondary series from right to left, the central dividing line of first scaling board and second scaling board
Point-blank with the bonding wire of the third scaling board and the 4th scaling board.
In a kind of implementation, described image obtains module and includes:
Distance adjusting unit is configured as adjusting binocular camera and Calibration Box distance so that first scaling board, described
Second scaling board, the third scaling board and the 4th scaling board are completely shown in the visual field of the binocular camera；
Image acquisition unit is faced, is configured as adjusting the center weight at the center of the binocular camera and the Calibration Box
It closes, obtain the Calibration Box faces image；
Left view image acquiring unit is configured as rotating to the left the binocular camera with the center of the Calibration Box for reference
Set angle obtains the left view image of the Calibration Box；
Right view image acquiring unit is configured as rotating to the right the binocular camera with the center of the Calibration Box for reference
Set angle obtains the right view image of the Calibration Box；
Overhead view image acquiring unit is configured as rotating the binocular camera upwards with the center of the Calibration Box for reference
Set angle obtains the overhead view image of the Calibration Box；
Image acquisition unit is looked up, is configured as being rotated down the binocular camera with the center of the Calibration Box for reference
Set angle, obtain the Calibration Box looks up image.
Device, module or the unit that above-described embodiment illustrates can specifically realize by computer chip or entity,
Or it is realized by the product with certain function.It is a kind of typically to realize that equipment is computer, the tool of computer
Body form can be personal computer, laptop computer, cellular phone, camera phone, smart phone, personal digital assistant,
Media player, navigation equipment, E-mail receiver/send equipment, game console, tablet computer, wearable device or these
The combination of any several equipment in equipment.
The function of each unit and the realization process of effect are specifically detailed in the above method and correspond to step in above-mentioned apparatus
Realization process, details are not described herein.
For device embodiment, since it corresponds essentially to embodiment of the method, so related place is referring to method reality
Apply the part explanation of example.The apparatus embodiments described above are merely exemplary, wherein described be used as separation unit
The unit of explanation may or may not be physically separated, and component shown as a unit can be or can also be with
It is not physical unit, it can it is in one place, or may be distributed over multiple network units.It can be according to actual
The purpose for needing to select some or all of the modules therein to realize this specification scheme.Those of ordinary skill in the art are not
In the case where making the creative labor, it can understand and implement.
One embodiment of this specification also provides a kind of calculating equipment, including memory, processor and storage are on a memory
And the computer instruction that can be run on a processor, when the processor executes described instruction the step of method described in realization.
One embodiment of this specification also provides a kind of computer readable storage medium, is stored with computer instruction, this refers to
Enable the step of method is realized when being executed by processor.
A kind of exemplary scheme of above-mentioned computer readable storage medium for the present embodiment.It should be noted that this is deposited
The technical solution of storage media and the technical solution of above-mentioned automated testing method belong to same design, the technical side of storage medium
The detail content that case is not described in detail may refer to the description of the technical solution of above-mentioned automated testing method.
The computer instruction includes computer program code, the computer program code can for source code form,
Object identification code form, executable file or certain intermediate forms etc..The computer-readable medium may include: that can carry institute
State any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic disk, CD, the computer storage of computer program code
Device, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory),
Electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that the computer-readable medium include it is interior
Increase and decrease appropriate can be carried out according to the requirement made laws in jurisdiction with patent practice by holding, such as in certain jurisdictions of courts
Area does not include electric carrier signal and telecommunication signal according to legislation and patent practice, computer-readable medium.
It should be noted that for the various method embodiments described above, describing for simplicity, therefore, it is stated as a series of
Combination of actions, but those skilled in the art should understand that, this specification is not limited by the described action sequence, because
For according to this specification, certain steps can use other sequences or carry out simultaneously.
Secondly, those skilled in the art should also know that, the embodiments described in the specification are all preferred embodiments,
Related actions and modules might not all be necessary to this specification.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, there is no the portion being described in detail in some embodiment
Point, it may refer to the associated description of other embodiments.
This specification preferred embodiment disclosed above is only intended to help to illustrate this specification.Alternative embodiment is not
All details of detailed descriptionthe, do not limit the invention to the specific embodiments described.Obviously, according in this specification
Hold, can make many modifications and variations.These embodiments are chosen and specifically described to this specification, is in order to preferably explain this theory
The principle and practical application of bright book, so that skilled artisan be enable to better understand and utilize this specification.This
Specification is limited only by the claims and their full scope and equivalents.
Claims (10)
1. a kind of quick calibrating method of binocular camera characterized by comprising
Facing image, left view image, right view image, overhead view image and looking up image for Calibration Box is obtained by binocular camera,
Described in Calibration Box include the first scaling board, the second scaling board, third scaling board and the 4th scaling board, the binocular camera at
As plane and the angle of first scaling board, second scaling board, the third scaling board and the 4th scaling board are equal
Greater than 45 °, first scaling board, second scaling board, the third scaling board and the 4th scaling board are chessboard
Case marker fixed board；
Image, the left view image, the right view image, the overhead view image and the image of looking up faced is divided
It cuts, extracts tessellated apex coordinate on each scaling board；
The calibrating parameters of the binocular camera are calculated according to tessellated apex coordinate on extracted each scaling board.
2. scaling method according to claim 1, which is characterized in that the Calibration Box obtains in the following manner:
The long side of first scaling board and the long side of the second scaling board contact platform are vertically arranged, first scaling board is located at institute
State the left side of the second scaling board, the spacing of first scaling board and second scaling board is described in first threshold range
The angle of first scaling board and second scaling board is within the scope of second threshold；
Third scaling board and the 4th scaling board are horizontally set on platform in the way of long side side-by-side contact, the third mark
Fixed board is located at the right of the 4th scaling board, the upper left corner of the 4th scaling board and first scaling board secondary series from left to right
Tessellated center is connected, the upper right corner of the third scaling board and second scaling board from right to left secondary series it is tessellated in
The heart is connected, the central dividing line of first scaling board and second scaling board and the third scaling board and the described 4th
The bonding wire of scaling board is point-blank.
3. scaling method according to claim 1, which is characterized in that described to obtain facing for Calibration Box by binocular camera
It image, left view image, right view image, overhead view image and looks up image and includes:
Binocular camera and Calibration Box distance are adjusted so that first scaling board, second scaling board, the third scaling board
It is completely shown with the 4th scaling board in the visual field of the binocular camera；
The center at the center and the Calibration Box that adjust the binocular camera is overlapped, and obtain the Calibration Box faces image；
It is to obtain the left view of the Calibration Box with reference to the binocular camera set angle is rotated to the left with the center of the Calibration Box
Image；
It is to obtain the right view of the Calibration Box with reference to the binocular camera set angle is rotated to the right with the center of the Calibration Box
Image；
It is to obtain the vertical view of the Calibration Box with reference to the binocular camera set angle is rotated upwards with the center of the Calibration Box
Image；
It is to obtain looking up for the Calibration Box with reference to the binocular camera set angle is rotated down with the center of the Calibration Box
Image.
4. scaling method according to claim 1, which is characterized in that it is described to it is described face image, the left view image,
The right view image, the overhead view image and the image of looking up are split, and are extracted tessellated vertex on each scaling board and are sat
Mark includes:
It faces image, the left view image, the right view image, the overhead view image to described respectively and described looks up in image
Each calibration Board position be split, dividing method is as follows:
Using the image lower left corner as starting point, gridiron pattern cut-off rule is successively searched in the horizontal direction, obtains the level between adjacent segmentation line
Distance；
The maximum value of horizontal distance between adjacent segmentation line is obtained, two cut-off rules corresponding to the value are the third scaling board
Left edge line and the 4th scaling board right hand edge line；
Calculate the horizontal distance midline position of the left edge line of the third scaling board and the right hand edge line of the 4th scaling board
Information, as scaling board vertical direction segmentation line position information；
Using the image lower left corner as starting point, along the vertical direction from bottom to up search for gridiron pattern cut-off rule, calculate adjacent segmentation line between
Vertical range；
The maximum value of vertical range between adjacent segmentation line is obtained, two articles of cut-off rules corresponding to the value are the 4th scaling board
Top edge line and first scaling board lower edge line；
Calculate the vertical range midline position of the top edge line of the 4th scaling board and the lower edge line of first scaling board
Information, the segmentation line position as scaling board horizontal direction；
It faces image, the left view image, the right view image, the overhead view image for described and described looks up in image
Each image divide to obtain 4 scaling boards respectively where image-region, successively extract the gridiron pattern vertex graph of each scaling board
As coordinate.
5. scaling method according to claim 1, which is characterized in that described according to gridiron pattern on extracted each scaling board
Apex coordinate the calibrating parameters of the binocular camera be calculated include:
It is sat according to the gridiron pattern vertex of the gridiron pattern size of each scaling board image zooming-out corresponding with scaling board each after segmentation
Mark, according to Zhang Zhengyou calibration algorithm calculate the binocular camera inside and outside parameter.
6. scaling method according to claim 2, which is characterized in that first threshold range is 15 × (1+/- 5%) mm, institute
State second threshold range be 115 ° × (1+/- 5%).
7. scaling method according to claim 3, which is characterized in that the set angle is 5 °.
8. a kind of fast calibration device of binocular camera characterized by comprising
Image collection module, be configured as by binocular camera obtain Calibration Box face image, left view image, right view image,
Overhead view image and image is looked up, wherein the Calibration Box includes the first scaling board, the second scaling board, third scaling board and the 4th mark
Fixed board, the imaging plane of the binocular camera and first scaling board, second scaling board, the third scaling board and institute
The angle for stating the 4th scaling board is all larger than 45 °, first scaling board, second scaling board, the third scaling board and institute
Stating the 4th scaling board is gridiron pattern scaling board；
Apex coordinate extraction module is configured as facing image to described, the left view image, the right view image, described bowing
Visible image and the image of looking up are split, and extract tessellated apex coordinate on each scaling board；
Parameter calculating module is configured as being calculated according to tessellated apex coordinate on extracted each scaling board described double
The calibrating parameters of mesh camera.
9. caliberating device according to claim 8, which is characterized in that further include:
First setup module is configured as vertically setting the long side of the first scaling board and the long side of the second scaling board contact platform
It sets, first scaling board is located at the left side of second scaling board, between first scaling board and second scaling board
Away from first threshold range, the angle of first scaling board and second scaling board is within the scope of second threshold；
Second setup module, the level in the way of long side side-by-side contact by third scaling board and the 4th scaling board that is configured as are set
It sets on platform, the third scaling board is located at the right of the 4th scaling board, the upper left corner of the 4th scaling board and institute
It states the first scaling board to be connected at the tessellated center of secondary series from left to right, the upper right corner of the third scaling board and second calibration
Plate is connected at the tessellated center of secondary series from right to left, the central dividing line and institute of first scaling board and second scaling board
State the bonding wire of third scaling board and the 4th scaling board point-blank.
10. caliberating device according to claim 8, which is characterized in that described image obtains module and includes:
Distance adjusting unit is configured as adjusting binocular camera and Calibration Box distance so that first scaling board, described second
Scaling board, the third scaling board and the 4th scaling board are completely shown in the visual field of the binocular camera；
Image acquisition unit is faced, is configured as adjusting the center coincidence at the center of the binocular camera and the Calibration Box, obtain
Take the Calibration Box faces image；
Left view image acquiring unit is configured as rotating to the left the binocular camera setting with the center of the Calibration Box for reference
Angle obtains the left view image of the Calibration Box；
Right view image acquiring unit is configured as rotating to the right the binocular camera setting with the center of the Calibration Box for reference
Angle obtains the right view image of the Calibration Box；
Overhead view image acquiring unit is configured as rotating the binocular camera setting upwards with the center of the Calibration Box for reference
Angle obtains the overhead view image of the Calibration Box；
Image acquisition unit is looked up, is configured as being rotated down the binocular camera setting with the center of the Calibration Box for reference
Angle, obtain the Calibration Box looks up image.
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