METHOD FOR AUTOMATIC CALIBRATION OF VIDEO CAMERA MOUNTING ANGLES WITHIN TECHNICAL VISION SYSTEMS Russian patent published in 2023 - IPC B60R1/00 G06K15/00 

FIELD: cameras.

SUBSTANCE: invention relates to determining and bringing to the specified values of the parameters of video cameras and can be used in vision systems, for example, wheeled robots. A method for automatically calibrating the mounting angles of video cameras as part of technical vision systems is claimed. The carrier of the vision system makes a calibration passage, on which key frames are highlighted. A mask of low-information zones is calculated to optimize the resulting images and a matrix of vectors pointing from the optical centre of the camera to the ends of the motion segments. Then the displacement vector of the camera's optical centre between frames is calculated and a collection of displacement vectors of the camera's optical centre is formed. The focal point is calculated, which corresponds to the average velocity vector of the technical vision system carrier in the coordinates of the video camera, which corresponds to the direction of the motion axis. The coordinate axis of the video camera and the roll coordinates of the technical vision system carrier can be considered coincident, since the video camera is fixed motionless. Comparison of the axis of motion and the axis of roll in the coordinates of the video camera allows finding the angles of mounting the video cameras and performing the necessary calibration.

EFFECT: accuracy of calibration of the angles of mounting the video camera on wheeled robots is increased.

2 cl