Method for calibrating a measuring system
First Claim
1. A method for calibrating a measuring system (1) based on at least one camera (4) for determining the position of an object (2) in a reference three-dimensional coordinate system (3), in which the external and internal parameters of the camera are calibrated in various steps, the method comprising at least three steps:
- in a first method step, the internal camera parameters of a certain camera (4) are ascertained and fixedly assigned to this camera (4) before the camera (4) is installed in the measuring system (1);
in a second method step, using the assigned internal camera (4) parameters, the position (6) of the camera (4) mounted in the measuring system (1) is determined with the aid of external measuring means by measuring a recorded camera point located in a known relation to the camera (4), andin a third method step, using the determined position (6) of the camera (4), ascertaining an orientation (7) of the camera (4) in the reference three-dimensional coordinate system (3) by evaluating camera images, including recording two or more features (10) of the object (2) in one camera image, wherein positions of the two or more features (10) in the reference coordinate system (3) are known;
wherein the steps are executed in sequential order and non-iteratively.
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Accused Products
Abstract
A method for calibrating a measuring system uses at least one camera for determining the position of an object in a reference three-dimensional coordinate system. The external and internal parameters of the camera are calibrated in various steps and the position of the camera is determined with the aid of external measuring means in accordance with three steps. In the first step, the internal camera parameters are ascertained and fixedly assigned to the internal camera. In a second step, the position of the internal camera in the measuring system is determined. In a third step, the orientation of the internal camera is ascertained in the reference three-dimensional coordinate system by evaluating camera images.
50 Citations
7 Claims
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1. A method for calibrating a measuring system (1) based on at least one camera (4) for determining the position of an object (2) in a reference three-dimensional coordinate system (3), in which the external and internal parameters of the camera are calibrated in various steps, the method comprising at least three steps:
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in a first method step, the internal camera parameters of a certain camera (4) are ascertained and fixedly assigned to this camera (4) before the camera (4) is installed in the measuring system (1); in a second method step, using the assigned internal camera (4) parameters, the position (6) of the camera (4) mounted in the measuring system (1) is determined with the aid of external measuring means by measuring a recorded camera point located in a known relation to the camera (4), and in a third method step, using the determined position (6) of the camera (4), ascertaining an orientation (7) of the camera (4) in the reference three-dimensional coordinate system (3) by evaluating camera images, including recording two or more features (10) of the object (2) in one camera image, wherein positions of the two or more features (10) in the reference coordinate system (3) are known; wherein the steps are executed in sequential order and non-iteratively. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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Specification