CALIBRATION DEVICE AND METHOD FOR LINE SENSOR CAMERA

• Main Authors: FUKAI HIRONAGA, WATABE YUSUKE
• Format: Patent
• Language: English; Japanese
• Published: 12.03.2020
• Subjects: CALCULATING; COMPUTING; COUNTING; ELECTRIC COMMUNICATION TECHNIQUE; ELECTRICITY; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; MEASURING; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS; MEASURING LENGTH, THICKNESS OR SIMILAR LINEARDIMENSIONS; PHYSICS; PICTORIAL COMMUNICATION, e.g. TELEVISION; TESTING

To provide a calibration device and a method for a line sensor camera capable of performing stable calibration for the line sensor camera.SOLUTION: There is a device provided with: an image input section 32 into which an image of an L-shape marker 20 is inputted, that has a black and white band 23 with known two-dimensional plane coordinates and comes with various positions and postures; a measurement coordinate calculation section 33 which calculates one-dimensional image coordinates for the black and white band 23 of the L-shape maker 20; an external parameter calculation section 34 which inputs initial internal parameters into a conversion matrix of a line sensor camera 10, for calculating initial external parameters using a linear solution; and a non-linear least-squares section 35 which inputs the initial internal and external parameters into a tolerance function to which distortions of lenses are taken into account and an evaluation function added with a value to which the internal parameters are taken into account, for calculating internal and external parameters, using a non-linear solution, in which an evaluation function added with a value to which the sum of the tolerance function as to all detection points and all images and the internal parameters are taken into account becomes the least.SELECTED DRAWING: Figure 1 【課題】安定したラインセンサカメラのキャリブレーションを行うことができるラインセンサカメラのキャリブレーション装置及び方法を提供する。【解決手段】２次元平面座標が既知の白黒帯２３を有し位置および姿勢が異なるＬ字マーカ２０の画像が入力される画像入力部３２、Ｌ字マーカ２０の白黒帯２３の１次元画像座標を算出する計測座標算出部３３、ラインセンサカメラ１０の変換行列に初期の内部パラメータを入力し線形解法により初期の外部パラメータを算出する外部パラメータ算出部３４、レンズ歪みを考慮した誤差関数と内部パラメータを考慮した値を加算した評価関数に初期の内部及び外部パラメータを入力し、検出点の全数及び画像の全数についての誤差関数の総和と内部パラメータを考慮した値を加算した評価関数が最小となる内部及び外部パラメータを非線形解法により算出する非線形最小二乗部３５を設けた。【選択図】図１