Journal of Applied Optics, Volume. 42, Issue 5, 848(2021)

Calibration of multiple cameras based on ChArUco board

Ziliang ZHAO... Zonghua ZHANG*, Nan GAO and Zhaozong MENG |Show fewer author(s)
Author Affiliations
  • School of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, China
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    Figures & Tables(13)
    Schematic diagram of ChArUco board corner extraction
    Schematic diagram of external parameter calibration of multiple cameras
    Flow chart of multiple cameras calibration
    Multiple cameras calibration image acquisition system
    Photo of multiple cameras structure
    ChArUco board calibration images
    Distribution of reprojection errors
    Test point position and distance
    • Table 1. Internal parameters of each camera

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      Table 1. Internal parameters of each camera

      相机机位等效焦距/pixel主点坐标/pixel
      fxfyu0v0
      上机位1 581.51 581.01 261.4963.26
      中机位1 570.41 569.81 271.01 029.7
      下机位1 573.41 573.81 228.1904.39
    • Table 2. External parameters and BMRE between each camera

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      Table 2. External parameters and BMRE between each camera

      对应关系旋转矩阵R平移矩阵TBMRE/pixel
      中-上$ \left[0.99990.00040.00530.00380.74480.66730.00370.66730.7448\right] $$ {\left[0.00040.03190.0114\right]}^{{\rm{T}}} $0.137 5
      中-下$ \left[0.99990.00040.00380.00290.74100.67150.00250.67150.7410\right] $$ {\left[0.00010.02990.0138\right]}^{{\rm{T}}} $0.146 5
      上-下$ \left[0.99990.00060.00670.00600.10390.99460.00680.99460.1038\right] $$ {\left[0.00040.04880.0396\right]}^{{\rm{T}}} $/
    • Table 3. Angle and error between each camera

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      Table 3. Angle and error between each camera

      对应关系真实值/°本文方法/°误差/°
      中-上41.92841.858−0.070
      中-下−42.235−42.1830.052
      上-下84.16084.040−0.120
    • Table 4. Point position coordinate measurements

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      Table 4. Point position coordinate measurements

      空间点本文方法/mm辅助相机方法/mm
      A(ID = 9)(90.546, 89.793, −0.311)(90.528, 89.799, −0.301)
      B(ID = 22)(315.131, 135.047, −0.277)(314.986, 135.048, 0.048)
      C(ID = 34)(134.838, 224.973, 0.641)(134.672, 224.964, 0.732)
      D(ID = 37)(269.866, 224.937, 0.499)(269.794, 224.806, 0.496)
    • Table 5. Measurement error of point distance

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      Table 5. Measurement error of point distance

      点间 测量 值/mm 本文方 法/mm 辅助相机 方法/mm 本文方法 误差/% 辅助相机 方法误差/%
      AB229.445229.098 4228.973 50.151 60.206 2
      AC142.302142.254 1142.194 40.033 70.075 7
      AD225.000224.543 9224.419 30.203 10.258 7
      BC201.246201.477 3201.490 90.114 70.121 4
      BD100.623100.646 6100.493 80.023 40.128 5
      CD135.000135.028 1135.122 10.020 80.090 3
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    Ziliang ZHAO, Zonghua ZHANG, Nan GAO, Zhaozong MENG. Calibration of multiple cameras based on ChArUco board[J]. Journal of Applied Optics, 2021, 42(5): 848

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    Paper Information

    Category: OE INFORMATION ACQUISITION AND PROCESSING

    Received: Mar. 8, 2021

    Accepted: --

    Published Online: Oct. 26, 2021

    The Author Email: ZHANG Zonghua (zhzhang@hebut.edu.cn)

    DOI:10.5768/JAO202142.0502004

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