Automatic detection and sorting of corners by improved chessboard pattern

ZHAO Bin; ZHOU Jun

doi:10.3788/OPE.20152301.0237

您当前的位置：

首页 >

文章列表页 >

Automatic detection and sorting of corners by improved chessboard pattern

更新时间：2020-08-13

- Automatic detection and sorting of corners by improved chessboard pattern
- Optics and Precision Engineering Vol. 23, Issue 1, Pages: 237-244(2015)
- 作者机构：
  
  西北工业大学精确制导与控制研究所,陕西西安,710072
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20152301.0237
  CLC： TP391.4
- Received：13 May 2014，
  
  Revised：23 June 2014，
  
  Published：25 January 2015
- 稿件说明：
移动端阅览
赵斌, 周军,. 基于改进棋盘的角点自动检测与排序[J]. 光学精密工程, 2015,23(1): 237-244

ZHAO Bin, ZHOU Jun,. Automatic detection and sorting of corners by improved chessboard pattern[J]. Editorial Office of Optics and Precision Engineering, 2015,23(1): 237-244
赵斌, 周军,. 基于改进棋盘的角点自动检测与排序[J]. 光学精密工程, 2015,23(1): 237-244 DOI： 10.3788/OPE.20152301.0237.

ZHAO Bin, ZHOU Jun,. Automatic detection and sorting of corners by improved chessboard pattern[J]. Editorial Office of Optics and Precision Engineering, 2015,23(1): 237-244 DOI： 10.3788/OPE.20152301.0237.

摘要

考虑采用传统黑白棋盘进行相机自动标定时角点排序结果受标定模板旋转角度影响较大

本文设计了一种改进的棋盘标定模板及相应的角点自动检测与排序算法.新的标定模板通过增加4个长方形边界滤除复杂背景

增加沙漏状图形确定排序原点

从而使得排序结果适应于模板的旋转.针对新的标定模板提出了一种基于对称象限灰度交叉熵的角点检测算法

该算法通过抑制局部非极大值以及筛选矩形边界实现了角点的像素级定位

然后采用Frostner算子解算了角点的亚像素坐标.针对角点检测结果

采用曲线拟合并结合角点至原点的距离信息实现了角点自动排序.实验结果表明:得到的角点检测结果正确

亚像素解算坐标与Matlab标定工具箱的检测结果误差小于0.8 pixel

排序结果对标定模板的旋转具有不变性

易于实现在线标定.

Abstract

In automatic camera calibration with traditional black and white chessboard patterns

the corner sorting results are usually influenced by the rotation angle of the calibration pattern. Therefore

this paper designs an improved chessboard pattern and corresponding automatic corner detection and sorting algorithm. In the new pattern

four rectangular boundaries were added to filter the complex background

and a double-triangle mark was used to determine the original point of the corners so as to adapt to the rotation of the pattern. A corner detection algorithm based on cross entropy of the symmetrical quadrant was proposed to implement the corner position with the accuracy of pixel level by local non-maximum suppression and rectangular selection. Then

the Frostner operator was used to calculate the sub-pixel coordinates of the corners. According to the detected corner

the curve fitting method was employed to realize the automatic corner sorting with the distance information between the corners and the origin. Experiment results show that the corner detection results are correct and the sub-pixel coordinate error between the new method and Matlab Calibration Toolbox is less than 0.8 pixel unit. Moreover

the sorting results show an invariance to the pattern rotation

which verifies that the method is suitable for online auto camera calibration.

关键词

Keywords

references

OSUMAN A. Multi-robot tested for distributed space system . The Netherland: Delft University of Technology, 2012.

ZHAO B, GUO J, GILL E K A. A Camera-based positioning system for the formation flying tested[C] Proc 63rd International Astronautical Congress, 2012: 8325- 8333.

ZHANG Z. A flexible new technique for camera calibration [J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2000, 22(10):1330-1334.

张丹,段锦,顾玲嘉,等. 基于图像的模拟相机标定方法的研究 [J]. 红外与激光工程, 2007, 36 (增): 293-297. ZHANG D, DUAN J, GU L J,et al.. Method of camera calibration based on image processing [J].Infrared and Laser Engineering, 2007, 36(Supp.): 293-297. (in Chinese)

刘博超,赵建,孙强. 基于边缘改进的Harris角点检测方法 [J]. 液晶与显示,2013, 28(6): 939-942. LIU B CH, ZHAO J, SUN Q. Improved Harris corner detection method based on edge [J]. Chinese Journal of Liquid Crystals and Displays, 2013, 28(6): 939-942. (in Chinese)

王飞宇,邸男,贾平. 结合尺度空间FAST角点检测器和SURF描绘器的图像特征 [J]. 液晶与显示,2014, 29(4): 598-604. WAGN F Y, DI N, JIA P. Image features using scale-space FAST corner detector and SURF descriptor [J]. Chinese Journal of Liquid Crystals and Displays, 2014, 29(4): 598-604.(in Chinese)

牛海涛,赵勋杰. 采用棋盘格模板的摄像机标定新方法 [J]. 红外与激光工程, 2011, 40 (1): 133-137. NIU H T, ZHAO X J. New method of camera calibration based on checkerboard [J].Infrared and Laser Engineering, 2011, 40(1): 133-137. (in Chinese)

屠大维,张翼成. 基于灰度差异的棋盘格角点自动检测 [J]. 光学精密工程, 2011, 19 (6): 1360-1366. TU D W, ZHANG Y CH. Auto-detection of checkerboard corners based on grey-level difference [J]. Opt. Precision Eng., 2011, 19 (6): 1360-1366. (in Chinese)

BOUGUET J. Visual methods for three-dimensional modeling[D]. Pasadena: California Institute of Technology, 1999.

BRADSKI G, KAEHLER A. Learning OpenCV [M]. Sebastopol: O'Reilly Media, Inc., 2008: 370-430.

SHI X F, HONG N, CAI T F. An automatic and robust chessboard corner extraction [J]. Transaction on Edutainment VI, 2011,6758: 49-56.

YU C, PENG Q, Robust recognition of checkerboard pattern for camera calibration [J]. Optical Engineering, 2006, 45(9): 093201.

梁力,尹东斐,王川. 高精度摄像机标定模板的设计及识别算法 [J]. 西安交通大学学报, 2011, 45(4): 82-85. LIANG L, YIN D F, WANG CH. Design and detection methods for accurate camera calibration targets [J]. Journal of Xi'an Jiaotong University, 2011, 45(4): 82-85. (in Chinese)

王崴,唐一平,任娟莉,等. 一种改进的Harris角点提取算法 [J]. 光学精密工程, 2008,16(10): 1995-2001. WANG W, TANG Y P, REN J L,et al.. An improved algorithm for Harris corner detection [J]. Opt. Precision Eng., 2008, 16(10): 1995-2001. (in Chinese)

LI C, LEE C. Minimum cross entropy thresholding [J]. Pattern Recognition, 1993, 26(4): 617-625.

CANNY J. A computational approach to edge detection [J]. IEEE Trans. On Pattern Analysis and Machine Intelligence, 1986, PAMI-8(6):679-698.

贾平,徐宁,张叶. 基于局部特征提取的目标自动识别 [J]. 光学精密工程, 2013,21(7): 1898-1905. JIA P, XU N, ZHANG Y. Automatic target recognition based on local feature extraction [J].Opt. Precision Eng., 2013,21(7): 1898-1905. (in Chinese)

黎志华,李新国. 基于OpenCV的红外弱小运动目标检测与跟踪 [J]. 红外与激光工程, 2013, 42(9): 2561-2565. LI ZH H, LI X G. Infrared small moving target detection and tracking based on OpenCV [J].Infrared and Laser Engineering, 2013, 42(9): 2561-2565. (in Chinese)

黄宣达. 摄像机标定中亚像素级角点检测算法 [J]. 计算机与数字工程, 2008, 222(4): 137-139. HUANG X D. Sub-pixel corner detection algorithm in camera calibration [J].Computer & Digital Engineering, 2008, 222(4): 137-139. (in Chinese)

陈阔,冯华君,徐之海,等. 亚像素精度的行星中心定位算法 [J]. 光学精密工程, 2013,21(7): 1881-1890. CHEN K, FENG H J, XU ZH H,et al.. Sub-pixel location algorithm for planetary center measurement [J]. Opt. Precision Eng., 2013,21(7): 1881-1890. (in Chinese)

Views

394

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Finger vein recognition algorithm based on FAST feature extraction

Filtering of UV images of UV-Vis dual-band imaging system

Application of the nonlinear mapping method in the foot scanner's automatic camera calibration

Automatic corner detection of checkerboard based on LSD

Corner detection via consistency of local directional differential vectors

Related Author

Si DI

Jian JING

Wei-jian LI

JIAO Guo-hua

DONG Yu-ming

XING Sheng

LI Jian-ping

CHEN Tao

Related Institution

Precision Engineering Research Center, Guangzhou Institute of Advanced Technology, Chinese Academy of Sciences

College of Information Science and Technology, Chengdu University of Technology

Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences

Shenzhen Institutes of Advanced Technology, University of Chinese Academy of Sciences

Power Supply Construction Contracting Company in Beijing

AI问答

Address：No.3888 Dong Nanhu Road, Changchun, Jilin, China Postal code：130033
Tel：0431-86176855 Email：gxjmgc@ciomp.ac.cn
Technical support is provided by Beijing Founder electronics co., LTD 吉ICP备11002662号-17 京公网安备11010802024621
It is recommended to read the content of this site in Chrome&IE9+. Please switch to extreme mode in browser 360.
Cookies We use cookies to help provide and enhance our service and tailor content. By continuing, you agree to the use of cookies.

⁰