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1. CN110782496 - Calibration method and device, aerial photography equipment and storage medium

Office
Chine
Numéro de la demande 201910843584.1
Date de la demande 06.09.2019
Numéro de publication 110782496
Date de publication 11.02.2020
Type de publication A
CIB
G06T 7/80
GPHYSIQUE
06CALCUL; COMPTAGE
TTRAITEMENT OU GÉNÉRATION DE DONNÉES D'IMAGE, EN GÉNÉRAL
7Analyse d'image
80Analyse des images capturées pour déterminer les paramètres de caméra intrinsèques ou extrinsèques, c. à d. étalonnage de caméra
CPC
G06T 2207/30208
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
2207Indexing scheme for image analysis or image enhancement
30Subject of image; Context of image processing
30204Marker
30208Marker matrix
G06T 7/80
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
80Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
Déposants SHENZHEN AUTEL INTELLIGENT AVIATION TECHNOLOGY CO., LTD.
深圳市道通智能航空技术有限公司
Inventeurs XIE QINGQING
谢青青
Mandataires 广州市越秀区哲力专利商标事务所(普通合伙) 44288
Titre
(EN) Calibration method and device, aerial photography equipment and storage medium
(ZH) 标定方法、装置、航拍设备和存储介质
Abrégé
(EN)
The invention relates to a calibration method and device, aerial photography equipment and a storage medium. The method comprises the following steps: obtaining a plurality of camera poses of a camerain a world coordinate system when the camera shoots a plurality of images of a calibration plate in a movement process; obtaining camera angular velocities and camera accelerations of the camera at different moments according to the plurality of camera poses; acquiring a sensor angular velocity and a sensor acceleration measured by the inertial sensor in the motion process of the camera; according to preset space external parameters of the camera and the inertial sensor, converting the camera angular velocity and the camera acceleration from a camera coordinate system of the camera to a sensor coordinate system of the inertial sensor to obtain a first predicted angular velocity and a predicted acceleration; constructing an acceleration error term according to the first predicted angular velocity, the predicted acceleration, the sensor angular velocity and the sensor acceleration; optimizing the spatial extrinsic parameters and the time deviation to obtain the spatial extrinsic parameters and the time deviation which enable the acceleration error term to be minimum.

(ZH)
本申请涉及一种标定方法、装置、航拍设备和存储介质,标定方法包括:获取相机在运动过程中拍摄标定板的多张图像时,相机在世界坐标系下的多个相机位姿;根据多个相机位姿,获得相机在不同时刻的相机角速度和相机加速度;获取惯性传感器在相机在运动过程中测量的传感器角速度和传感器加速度;根据相机和惯性传感器的预设的空间外参,将相机角速度和相机加速度从相机的相机坐标系变换到惯性传感器的传感器坐标系,以得到第一预测角速度和预测加速度;根据第一预测角速度、预测加速度、传感器角速度、及传感器加速度,构造加速度误差项;优化空间外参和时间偏差,得到使得加速度误差项最小的空间外参和时间偏差。

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