Binocular vision calibration method based on coplanar intersecting circles

Objective: In order to achieve binocular vision measurement technology, the binocular camera needs to be calibrated. Based on the Pinhole imaging model, a camera calibration algorithm based on coplanar intersecting circles is proposed in this paper. Method: Firstly, two intersecting circle calibration plates are designed, and two cameras simultaneously shoot on the calibration plates. Then the ellipse of the circle pattern in the shooting image is fitted, and the general equation of ellipse is obtained. Then, the intrinsic parameters of the camera are obtained by the conjugate imaginary intersection of two elliptic equations. Finally, the external parameters of each image are obtained according to the real intersection point of the elliptic equation, and the relative position relation of the two cameras is calculated. Result: The experimental results show that the mean reprojection error of this method is 0.69 pix. Conclusion: The binocular camera calibration method has high accuracy, robustness and practicability.