Image calibration system and calibration method of a stereo camera

A calibration method of a stereo camera, wherein the stereo camera comprises a left eye image capture unit, a right eye image capture unit, and a memory, the calibration method comprising:

• controlling the left eye image capture unit and the right eye image capture unit to execute an image capture operation on a calibration pattern with a plurality of feature points to generate at least one left eye image and at least one right eye image, respectively;
• extracting a plurality of first feature points and a plurality of second feature points corresponding to the plurality of feature points to the memory from the at least one left eye image and the at least one right eye image, respectively;
• calculating camera calibration parameters corresponding to extrinsic parameters of the stereo camera according to the plurality of first feature points, the plurality of second feature points, and intrinsic parameters of the stereo camera stored in the memory;
• and
• executing an camera calibration process on the left eye image capture unit and the right eye image capture unit according to the camera calibration parameters, respectively.

A calibration method of a stereo camera, wherein the stereo camera comprises a left eye image capture unit and a right eye image capture unit, the calibration method comprising:

• utilizing a numerical optimization method and extrinsic parameters and intrinsic parameters of the stereo camera to execute an automatic calibration operation on the left eye image capture unit and the right eye image capture unit;
• calculating camera calibration parameters corresponding to the extrinsic parameters of the stereo camera;
• executing an camera calibration process on the left eye image capture unit and the right eye image capture unit according to the camera calibration parameters corresponding to the extrinsic parameters of the stereo camera, respectively;
• and
• utilizing a cost function cost function to determine whether calibration of the left eye image capture unit and the right eye image capture unit meets a predetermined standard according to a difference between a calibrated left eye image and a calibrated right eye image generated by the left eye image capture unit and the right eye image capture unit executing an image capture operation on a calibration pattern, respectively.

An image calibration system, comprising:

• a stereo camera comprising a left eye image capture unit, a right eye image capture unit, a memory, and a processor;
• and
• a calibration pattern having a plurality of feature points;
• wherein the processor controls the left eye image capture unit and the right eye image capture unit to execute an image capture operation on the calibration pattern to generate at least one left eye image and at least one right eye image respectively, extracts a plurality of first feature points and a plurality of second feature points corresponding to the plurality of feature points to the memory from the at least one left eye image and the at least one right eye image respectively, calculates camera calibration parameters corresponding to extrinsic parameters of the stereo camera according to the plurality of first feature points, the plurality of second feature points, and intrinsic parameters of the stereo camera, and executes an camera calibration process on the left eye image capture unit and the right eye image capture unit according to the camera calibration parameters, respectively.

An image calibration system, comprising:

• a stereo camera comprising a left eye image capture unit and a right eye image capture unit;
• and
• a calibration pattern having a plurality of feature points;
• wherein the stereo camera is electrically connected to a device outside the stereo camera to execute an camera calibration process, wherein a processor of the device controls the left eye image capture unit and the right eye image capture unit to execute an image capture operation on the calibration pattern to generate at least one left eye image and at least one right eye image respectively, extracts a plurality of first feature points and a plurality of second feature points corresponding to the plurality of feature points to a memory of the device from the at least one left eye image and the at least one right eye image respectively, loads intrinsic parameters of the stereo camera to the memory, calculates camera calibration parameters corresponding to extrinsic parameters of the stereo camera according to the plurality of first feature points and the plurality of second feature points, and the intrinsic parameters, and executes the camera calibration process on the left eye image capture unit and the right eye image capture unit according to the camera calibration parameters, respectively.

An image calibration system, comprising:

• a stereo camera comprising a left eye image capture unit, a right eye image capture unit, and a processor;
• and
• a calibration pattern;
• wherein the processor utilizes a numerical optimization method and intrinsic parameters and extrinsic parameters of the stereo camera to execute an automatic calibration operation on the left eye image capture unit and the right eye image capture unit, calculates camera calibration parameters corresponding to the extrinsic parameters of the stereo camera after the processor executes the automatic calibration operation, executes an camera calibration process on the left eye image capture unit and the right eye image capture unit according to the camera calibration parameters corresponding to the extrinsic parameters of the stereo camera respectively, and utilizes a cost function to determine whether calibration of the left eye image capture unit and the right eye image capture unit meets a predetermined standard according to a difference between a calibrated left eye image and a calibrated right eye image generated by the left eye image capture unit and the right eye image capture unit executing an image capture operation on the calibration pattern respectively after the processor executes the camera calibration process.

An image calibration system, comprising:

• a stereo camera comprising a left eye image capture unit and a right eye image capture unit;
• and
• a calibration pattern;
• wherein the stereo camera is electrically connected to a device outside the stereo camera to execute an camera calibration process, wherein a processor of the device loads intrinsic parameters and extrinsic parameters of the stereo camera, utilizes a numerical optimization method and the intrinsic parameters and the extrinsic parameters of the stereo camera to execute an automatic calibration operation on the left eye image capture unit and the right eye image capture unit, calculates camera calibration parameters corresponding to the extrinsic parameters of the stereo camera after the processor executes the automatic calibration operation, executes the camera calibration process on the left eye image capture unit and the right eye image capture unit according to the camera calibration parameters corresponding to the extrinsic parameters of the stereo camera respectively, and utilizes a cost function to determine whether calibration of the left eye image capture unit and the right eye image capture unit meets a predetermined standard according to a difference between a calibrated left eye image and a calibrated right eye image generated by the left eye image capture unit and the right eye image capture unit executing an image capture operation on the calibration pattern respectively after the processor executes the camera calibration process.