Multispectral camera external parameter self-calibration algorithm based on edge features

A multispectral camera external parameter self-calibration algorithm based on edge features, comprising the following steps:

• 1) original image correction:
• conducting de-distortion and binocular correction on an original image according to internal parameters and original external parameters of the infrared camera and the visible light camera;
• 2) scene edge detection:
• extracting the edges of an infrared image and a visible light image respectively;
• 3) judging an optimal corresponding position of the infrared image on the visible light image:
• matching the edges of the infrared image with the edges of the visible light image, and determining the corresponding position according to a matching result;
• 4) extracting and selecting an optimal matching point pair:
• extracting and selecting a satisfactory matching point pair according to the optimal corresponding position of the infrared image on the visible light image;
• 5) judging a feature point coverage area:
• dividing the image into m*n grids;
• if the feature points cover all the grids, executing a next step;
• otherwise continuing to shoot the image and extracting the feature points;
• 6) correcting the calibration result:
• using image coordinates of all the feature points to calculate the positional relationship between the two cameras after correction;
• and then superimposing with the original external parameters.