CN-122027906-A - Calibration method and device for equipment deployment

CN122027906ACN 122027906 ACN122027906 ACN 122027906ACN-122027906-A

Abstract

The embodiment of the application discloses a calibration method and a device for equipment deployment, which are characterized by acquiring recommended deployment information of a plurality of camera equipment, wherein the recommended deployment information comprises recommended pose of each camera equipment in a target deployment space, acquiring images acquired by the plurality of camera equipment in a preset initial state and camera internal parameters of each camera equipment, determining one of the plurality of camera equipment as a reference equipment, determining relative external reference relations between the reference equipment and other camera equipment based on the images and the camera internal parameters, acquiring actual absolute pose of the reference equipment in the target deployment space, determining actual absolute pose of other camera equipment in the target deployment space according to the actual absolute pose and the relative external reference relation of the reference equipment, and updating the recommended pose in the recommended deployment information based on the actual absolute pose of all the camera equipment. Full-automatic equipment positioning and calibration updating can be realized under the condition of no human participation, and the calibration efficiency of equipment deployment is improved.

Inventors

HUANG TAO
WU YUANBIN
HUANG JIE

Assignees

厦门亿联网络技术股份有限公司

Dates

Publication Date: 20260512
Application Date: 20251231

Claims (11)

1. A calibration method for equipment deployment, applied to a target deployment space, characterized in that the target deployment space is deployed with a plurality of camera equipment, the method comprising: acquiring recommended deployment information of the plurality of camera devices, wherein the recommended deployment information comprises recommended pose of each camera device in a target deployment space; Acquiring images acquired by the plurality of camera devices in a preset initial state and camera internal parameters of the camera devices; determining one of the plurality of image pickup devices as a reference device, and determining a relative external reference relationship between the reference device and other image pickup devices based on each image and the camera internal reference; acquiring an actual absolute pose of the reference equipment in the target deployment space; determining the actual absolute pose of each other camera device in the target deployment space according to the actual absolute pose of the reference device and the relative external reference relationship; And updating the recommended pose in the recommended deployment information based on the actual absolute poses of all the image pickup devices.
2. The method according to claim 1, wherein the recommended deployment information includes a recommended yaw angle of each of the image capturing apparatuses; the obtaining the actual absolute pose of the reference device in the target deployment space comprises: acquiring an actual pitch angle and an actual roll angle measured by an angle sensor integrated on the reference equipment in a preset initial state; And determining the actual absolute pose of the reference equipment according to the actual pitch angle, the actual roll angle and the recommended yaw angle of the reference equipment in the recommended deployment information.
3. The method of claim 2, wherein the reference device comprises a first lens and a second lens, the angle sensor being electrically connected to the second lens; the obtaining the actual absolute pose of the reference device in the target deployment space comprises: acquiring an actual pitch angle and an actual roll angle of the second lens, which are measured by the angle sensor; Determining a relative pose relationship between the first lens and the second lens based on images acquired by the first lens and the second lens; Determining an actual absolute pose of the second lens according to an actual pitch angle of the second lens, the actual roll angle and a recommended yaw angle of the reference device in the recommended deployment information; And calculating the actual absolute pose of the first lens of the reference device based on the actual absolute pose of the second lens and the relative pose relationship, and taking the actual absolute pose of the first lens of the reference device as the actual absolute pose of the reference device.
4. The method of claim 3, wherein the predetermined initial state comprises an initial pitch state after the second lens is powered up.
5. The method of claim 1, wherein the acquiring the actual absolute pose of the reference device within the target deployment space comprises: Acquiring an actual pitch angle and an actual roll angle of the reference equipment; acquiring a recommended yaw angle configured for the reference equipment in the recommended deployment information, and determining a preset value range of the recommended yaw angle; And traversing a preset value range of the recommended yaw angle according to the actual pitch angle and the actual roll angle to obtain a plurality of candidate absolute poses of the reference equipment in the target deployment space.
6. The method of claim 5, wherein determining the actual absolute pose of each other imaging device within the target deployment space based on the actual absolute pose of the reference device and the relative exogenous relationship comprises: aiming at each candidate absolute pose of the reference equipment, acquiring candidate absolute poses corresponding to other shooting equipment to form a plurality of groups of global pose schemes; acquiring the overall deviation between each group of global pose schemes and corresponding recommended poses in the recommended deployment information; And selecting a group of global pose schemes with the minimum overall deviation, and determining candidate absolute poses as actual absolute poses of the image pickup devices in the target deployment space.
7. The method according to any one of claims 1-6, further comprising: And based on the actual absolute pose of the plurality of camera devices, carrying out pose calibration on at least one non-visual device in the target deployment space so as to obtain the device pose of the non-visual device in the target deployment space.
8. The method of claim 7, wherein said performing pose calibration on at least one non-visual device in the target deployment space based on actual absolute poses of the plurality of camera devices to obtain device poses of the non-visual device in the target deployment space comprises: Acquiring characteristic information of a visual marker arranged on the non-visual equipment; Acquiring calibration images comprising the visual marks through the plurality of camera devices; And obtaining the equipment pose of the non-visual equipment in the target deployment space according to the actual absolute pose of each camera equipment, the camera internal parameters and the projection of the visual mark in the calibration image.
9. The method of claim 8, wherein the visual indicia comprises an actively illuminated logo, the method further comprising: Controlling the active luminous mark to be lightened according to a preset time sequence; The capturing, by the plurality of image capturing apparatuses, calibration images including the visual mark includes: and synchronously acquiring an image sequence of calibration images of the time sequence optical signals comprising the visual marks through the plurality of camera equipment.
10. The method of claim 7, wherein the non-visual device comprises at least one of an audio acquisition device, or an audio playback device; based on the actual absolute pose of the plurality of camera devices, the pose calibration of at least one non-visual device in the target deployment space is performed, including: Disposing an acoustic calibration source within the target deployment space, the acoustic calibration source configured to emit a calibration acoustic signal and generate a synchronized visual calibration event; Based on the actual absolute pose of the plurality of camera devices, capturing the vision calibration event by the plurality of camera devices, and determining the spatial position of the acoustic calibration source; and capturing the calibration sound signal through the audio acquisition device or the audio playing device, and calculating the device pose of the non-visual device by combining the spatial position of the acoustic calibration source.
11. A calibration apparatus for equipment deployment applied to a target deployment space, wherein the target deployment space is deployed with a plurality of image capturing devices, comprising: The system comprises an acquisition unit, a storage unit and a storage unit, wherein the acquisition unit is used for acquiring recommended deployment information of the plurality of camera devices, and the recommended deployment information comprises recommended pose of each camera device in a target deployment space; the acquisition unit is used for acquiring images acquired by the plurality of image pickup devices in a preset initial state and camera internal parameters of the image pickup devices; A determining unit, configured to determine one of the plurality of image capturing devices as a reference device, determine a relative external reference relationship between the reference device and each other image capturing device based on each of the images and the camera internal reference, obtain an actual absolute pose of the reference device in the target deployment space, and determine an actual absolute pose of each other image capturing device in the target deployment space according to the actual absolute pose of the reference device and the relative external reference relationship; And the updating unit is used for updating the recommended pose in the recommended deployment information based on the actual absolute poses of all the image pickup devices.

Description

Calibration method and device for equipment deployment Technical Field The application relates to the technical field of computers, in particular to a calibration method and device for equipment deployment. Background When the image pickup apparatus is deployed in a conference room, a worker needs to deploy in accordance with a layout designed on a design draft. However, the position and orientation of the device may deviate from the design draft during actual deployment, and if calibration and calibration of the device deployment are not performed, the accuracy of downstream tasks (such as tasks of target tracking) may be seriously affected by adopting the camera relationship on the design draft. Therefore, after the image pickup apparatuses are deployed, repositioning and calibration of the lenses of all the image pickup apparatuses are required to ensure that the camera pose of the actual deployment is obtained. In the existing calibration method for equipment deployment, calibration plates are often placed at different positions in a conference room manually, and all calibration plate pictures shot by the camera equipment are collected and calibrated one by one. Or marking some marking points in the conference room to record 3D coordinates, then matching the marking points with pixels in the camera images to obtain a certain number of paired 3D points and 2D points one by one, and obtaining the pose and the position of all cameras by utilizing the geometric relationship. However, the calibration methods of the equipment deployment all need manual cooperation, consume manpower and time cost, and are extremely easy to introduce errors in the marking process, so that the calibration efficiency of the equipment deployment is low. Disclosure of Invention The embodiment of the application provides a device deployment calibration method and device, which can realize full-automatic device positioning and calibration updating without manual participation, effectively improve the accuracy and suitability of the camera device deployment in a target physical space, and further improve the calibration efficiency of the device deployment. The embodiment of the application provides a calibration method for equipment deployment, which is applied to a target deployment space, wherein a plurality of camera equipment are deployed in the target deployment space, and the calibration method comprises the following steps: acquiring recommended deployment information of the plurality of camera devices, wherein the recommended deployment information comprises recommended pose of each camera device in a target deployment space; Acquiring images acquired by the plurality of camera devices in a preset initial state and camera internal parameters of the camera devices; determining one of the plurality of image pickup devices as a reference device, and determining a relative external reference relationship between the reference device and other image pickup devices based on each image and the camera internal reference; acquiring an actual absolute pose of the reference equipment in the target deployment space; determining the actual absolute pose of each other camera device in the target deployment space according to the actual absolute pose of the reference device and the relative external reference relationship; And updating the recommended pose in the recommended deployment information based on the actual absolute poses of all the image pickup devices. Correspondingly, the embodiment of the application also provides a calibration device for equipment deployment, which is applied to a target deployment space, wherein a plurality of camera equipment are deployed in the target deployment space, and the calibration device comprises: The system comprises an acquisition unit, a storage unit and a storage unit, wherein the acquisition unit is used for acquiring recommended deployment information of the plurality of camera devices, and the recommended deployment information comprises recommended pose of each camera device in a target deployment space; the acquisition unit is used for acquiring images acquired by the plurality of image pickup devices in a preset initial state and camera internal parameters of the image pickup devices; A determining unit, configured to determine one of the plurality of image capturing devices as a reference device, determine a relative external reference relationship between the reference device and each other image capturing device based on each of the images and the camera internal reference, obtain an actual absolute pose of the reference device in the target deployment space, and determine an actual absolute pose of each other image capturing device in the target deployment space according to the actual absolute pose of the reference device and the relative external reference relationship; And the updating unit is used for updating the recommended pose in the recommended deployment information based on