Acta Photonica Sinica, Volume. 50, Issue 4, 172(2021)
Camera Calibration Method with Multi-condition Constraints Based on Laser Points
Figures & Tables(12)
Fig. 3. Initial homonymy points selection of Confucius statue and stone
Fig. 4. Three-dimensional reconstruction of Confucius statue before and after camera calibration
Fig. 5. Three-dimensional reconstruction of stone before and after camera calibration
Fig. 7. Effect of laser point cloud reflection of Confucius and stone statue
Fig. 8. The error distribution of the total unit weight of each iteration in the adjustment process
Table 1. Basic information of experiment data
View tableView in ArticleTable 1. Basic information of experiment data
Date Number of images Image size（pixel×pixel） Number of image 3D points Number of laser points Confucius statue 62 3 168×2 112 8 375 713 209 Stone 39 3 168×2 112 14 297 313 937
Table 2. Comparison of camera calibration results
View tableView in ArticleTable 2. Comparison of camera calibration results
3D control field Proposed method Confucius statue Stone Initial parameters Parameters after
calibration
Initial parameters Parameters after
calibration
4 642.07 4 599.21 4 608.82 4 607.99 4 605.99 1 581.02 1 570.44 1 579.97 1 585.44 1 586.42 1 041.89 1 060.56 1 051.27 1 057.41 1 051.27 -7.11×10-9 -2.92×10-13 -3.38×10-9 -6.63×10-9 -6.5×10-9 1.59×10-16 -1.46×10-25 1.64×10-17 1.65×10-16 5.41×10-17 2.54×10-23 1.91×10-38 6.28×10-24 1.91×10-23 4.54×10-23 1.06×10-7 2.12×10-7 -5.59×10-8 1.58×10-7 1.62×10-7 5.48×10-8 -9.56×10-8 1.49×10-8 6.22×10-8 9.37×10-8 0.224 \ 0.363 \ 0.260 0.257 \ 0.356 \ 0.242
Table 3. 3D reconstruction model accuracy statistics
View tableView in ArticleTable 3. 3D reconstruction model accuracy statistics
3D model
accuracy
Confucius statue Stone Initial parameters Parameters after calibration Initial parameters Parameters after calibration Accuracy 19.8 14.8 17.9 12.4 Integrity 21.3 15.4 16.2 9.8
Table 4. Effect of different sampling proportions of laser point cloud on the accuracy of camera inspection
View tableView in ArticleTable 4. Effect of different sampling proportions of laser point cloud on the accuracy of camera inspection
5% 20% 35% 50% 65% 80% 95% 100% Confucius
statue
Number of laser points 35 665 142 661 249 658 356 604 463 650 570 647 677 544 713 209 Density of laser points/ 2 822 1 1291 19 763 28 228 36 702 45 172 53 634 56 457 0.487 0.394 0.378 0.369 0.368 0.368 0.369 0.363 0.409 0.368 0.359 0.359 0.358 0.359 0.357 0.356 Stone Number of laser points 15 696 62 787 109 877 156 968 204 059 251 149 298 240 313 937 Density of laser points/ 1 986 7 947 13 908 19 869 25 830 31 791 37 752 39 739 0.389 0.274 0.263 0.263 0.262 0.263 0.264 0.260 0.366 0.259 0.246 0.244 0.250 0.253 0.243 0.242
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Cailin LI, Benya SU, Baoyun GUO, Zhiyong WANG, Fuhong ZHU. Camera Calibration Method with Multi-condition Constraints Based on Laser Points[J]. Acta Photonica Sinica, 2021, 50(4): 172
Paper Information
Category: Machine Vision
Received: Sep. 29, 2020
Accepted: Dec. 28, 2020
Published Online: May. 11, 2021
The Author Email: SU Benya (sby0302@foxmail.com)
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