Title：3D获取系统的校准方法
Country：China
Patent No.：201310201810.9
Legal Status：Authorized
Inventor：Yiyi Ren, Ying Zhou, Junhong Lv, Wei Wang, Xiang Xie, Guolin Li, Zhihua Wang
Assignee：Tsinghua University
Address：Mailbox No. 82, Beijing 100084
Filing Date：2013-05-27
Issue Date：2016-05-18
Abstract：
The invention discloses a calibration method for a 3D (three-dimensional) acquisition system and relates to the field of system calibration. The method comprises the following steps of A) performing acquisition for many times along different routes on a calibration object and recording depth information, image information, location information and posture information of every time of the acquisition; B) obtaining external parameters between a calibrated depth sensor and a calibrated location and posture sensor and accurate three-dimensional coordinates of the calibration object by calibrating three-dimensional coordinates in a local coordinate system of the calibration object; and C) obtaining external parameters of a calibrated image sensor and the calibrated location and posture sensor by calibrating two dimensional coordinates of the accurate three-dimensional coordinates of the calibration object in the image information and horizontal coordinates of the calibration object in the image information. According to the calibration method, the external parameters between the depth sensor and the location and posture sensor and the external parameters between the image sensor and the location and posture sensor are calibrated at the same time during a calibration process, and thus an aim for calibrating the 3D acquisition system is fulfilled.
Patent Certificate：
PDF/Jpg