公开(公告)号：EP3128482A1

公开(公告)日：2017-02-08

申请号：EP15405052.0

申请日：2015-08-07

申请人： Xovis AG

发明人： Herrli, Markus ,  Pauli, Adrian

IPC分类号： G06T7/00

CPC分类号： G06T7/85 ,  G06T2207/10012 ,  G06T2207/30242

摘要： In a method for calibration of a stereo camera (1) comprising two cameras (2, 3) arranged in a distance along a first direction (x) and mechanically attached to a common structure, rectification functions mapping raw image coordinates to rectified coordinates are provided. Recalibration is based on images of a scene captured by the stereo camera (1) affixed in an observation position, the recalibration yielding correction functions mapping rectified coordinates to corrected coordinates. Recalibration is based on matching objects comprised in images of the captured scene obtained by the two cameras (2, 3). The stereo camera (1) is affixed in a fixed relationship with a planar surface (4), with a known distance and angle between the stereo camera (1) and the surface (4), and objects are matched in the recalibration that belong to the surface (4), wherein a disparity caused by the known distance is exploited when determining the correction functions. Exploiting the additional information with respect to the surface (4), the determination of the correction functions may be greatly improved. In particular, the inventive method allows for employing general correction functions, and no modelling of the calibration errors is required.

摘要翻译： 在用于校准包括沿着第一方向（x）一定距离布置并且机械地附接到公共结构的两个照相机（2,3））的立体照相机（1）的校准方法中，提供将原始图像坐标映射到校正坐标的整流功能 。 重新校准是基于固定在观察位置的立体摄像机（1）拍摄的场景的图像，重新校准屈服修正功能将校正坐标映射到校正坐标。 重新校准基于由两个摄像机（2,3）获得的拍摄场景的图像中包含的匹配对象。 立体照相机（1）以与立体照相机（1）和表面（4）之间的已知距离和角度的平面（4）固定关系，并且对象在重新校准中匹配，属于 当确定校正功能时，利用已知距离引起的视差的表面（4）。 利用关于表面（4）的附加信息，可以大大提高校正功能的确定。 具体地，本发明的方法允许采用通用校正功能，并且不需要校准误差的建模。