US 2019/0096092 A1 · METHOD AND DEVICE FOR CALIBRATION

Abstract

The present invention provides a method and device for calibration, applied to the field of image processing. The method comprises: obtaining a first two-dimensional image of a calibration object with a marking point and a first depth map of the calibration object, obtaining calibrated three-dimensional model data of the calibration object, determining a first three-dimensional marking point in the first depth map corresponding to the marking point based on the marking point in the first two-dimensional image, determining a second three-dimensional marking point in the three-dimensional model data of the calibration object corresponding to the marking point based on the marking point in the first two-dimensional image, and determining a first matrix. By adoption of the method mentioned above, when the device for photographing the three-dimensional image is calibrated, it is simple and feasible, and the operation difficulty is small.

Claims22

Dependent claims

A method for calibration, comprising:

obtaining a first two-dimensional image of a calibration object with a marking point and a first depth map of the calibration object;
obtaining calibrated three-dimensional model data of the calibration object, wherein pixels in the first two-dimensional image correspond to pixels in the first depth map;
determining a first three-dimensional marking point in the first depth map corresponding to the marking point based on the marking point in the first two-dimensional image;
determining a second three-dimensional marking point in the three-dimensional model data of the calibration object corresponding to the marking point based on the marking point in the first two-dimensional image;
and
determining a first matrix, which is used for transforming at least one of the first depth map of the calibration object and the three-dimensional model data of the calibration object, so that the first three-dimensional marking point and the second three-dimensional marking point are aligned.

3 more elements

A method for calibration, comprising:

obtaining a first portion of a three-dimensional model of a calibration object;
obtaining a second portion of the three-dimensional model of the calibration object, wherein the first portion of the three-dimensional model of the calibration object is photographed by a first photographic device, the second portion of the three-dimensional model of the calibration object is photographed by a second photographic device, and a first part of the calibration object corresponding to the first portion of the three-dimensional model and a second part of the calibration object corresponding to the second portion of the three-dimensional model overlap in a third part of the calibration object;
and
determining a matrix, which is used for transforming one of (1) the first portion of the three-dimensional model of the calibration object and (2) the second portion of the three-dimensional model of the calibration object, so that the first portion of the three-dimensional model and the second portion of the three-dimensional model overlap in the three-dimensional model corresponding to the third part of the calibration object.

1 more element

A device for calibration, comprising:

a first obtaining module, configured to obtain:
a first two-dimensional image of a calibration object with a marking point and a first depth map of the calibration object;
and
calibrated three-dimensional model data of the calibration object, wherein pixels in the first two-dimensional image correspond to pixels in the first depth map;
a first determining module, configured to determine:
a first three-dimensional marking point in the first depth map corresponding to the marking point based on the marking point in the first two-dimensional image;
a second three-dimensional marking point in the three-dimensional model data of the calibration object corresponding to the marking point based on the marking point in the first two-dimensional image;
and
a second determining module, configured to determine a first matrix, which is used for transforming at least one of the first depth map of the calibration object and the three-dimensional model data of the calibration object, so that the first three-dimensional marking point and the second three-dimensional marking point are aligned.

6 more elements

A device for calibration, comprising:

a first obtaining module, configured to obtain:
a first portion of a three-dimensional model of a calibration object;
and
a second portion of the three-dimensional model of the calibration object, wherein the first portion of the three-dimensional model of the calibration object is photographed by a first photographic device, the second portion of the three-dimensional model of the calibration object is photographed by a second photographic device, and a first part of the calibration object corresponding to the first portion of the three-dimensional model and a second part of the calibration object corresponding to the second portion of the three-dimensional model overlap in a third part of the calibration object;
and
a second determining module, configured to determine a matrix, which is used for transforming one of (1) the first portion of the three-dimensional model of the calibration object and (2) the second portion of the three-dimensional model of the calibration object, so that the first portion of the three-dimensional model and the second portion of the three-dimensional model overlap in the three-dimensional model corresponding to the third part of the calibration object.

3 more elements

Dependencies are inferred from the claim text.

Method and device for calibration

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Method and device for calibration

Life of this patent

Abstract

Claims22