Automatic scene calibration

Automatic scene calibration

  • CN 103,718,213 A
  • Filed: 01/14/2013
  • Published: 04/09/2014
  • Est. Priority Date: 01/13/2012
  • Status: Active Application
First Claim
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1. under three-dimensional environment, calibrate a method for three-dimensional flight time imaging system, described method comprises the steps:

  • A) determine the reference quadrature virtual three-dimensional coordinate system (M of 3-D imaging system c), described have level, vertical and degree of depth axle with reference to quadrature virtual three-dimensional coordinate system (Mc), wherein said transverse axis and described Z-axis align with the transverse axis and the Z-axis that are positioned at the sensor of described 3-D imaging system respectively, and the transverse axis by described sensor of described degree of depth axle and described sensor and the defined planar quadrature of Z-axis;

    B) at virtual coordinate system (M c) the middle vertical direction (V that obtains real world w);

    C) with respect to described reference frame, determine real world three-dimensional orthogonal coordinate system (M w), described real world three-dimensional orthogonal coordinate system (M w) there is level, vertical and degree of depth axle, wherein rotate the described Z-axis described vertical direction (V that makes it to align w);

    D) determine in scene a bit as described real world three-dimensional orthogonal coordinate system (M w) new initial point;

    E) from described virtual three-dimensional coordinate system (M c) initial point to the point that is defined as the new initial point of described scene, derive translation vector (T v);

    F) derive rotation matrix (M r), for being described real world three-dimensional system of coordinate by described virtual three-dimensional coordinate system transformation, and;

    G) derive the calibration matrix (M of described 3-D imaging system c2w) as the rotation matrix by the translation of described translation vector institute;

    It is characterized in that, described method also comprises the Z-axis by described real world three-dimensional system of coordinate and the defined plane of degree of depth axle and described virtual three-dimensional coordinate system (M cthereby) virtual Z-axis and the coplanar step of the defined planar registration of virtual depth axle.

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