Hangzhou Hikvision Digital Technology Co., Ltd.

Kui Zhang

Hui Mao

Shiliang Pu

Jie Li

Chao Wang

Xunlong Xia

Yangqin Li

Embodiments of the present application provide a method, apparatus, device and system for calibrating parameters of a camera. In this solution, a camera performs image capturing on multiple checkerboard targets to obtain a calibration image, in other words, the calibration image contains multiple checkerboards, and the camera parameters are solved based on the calibration image containing the multiple checkerboards. In a first aspect, the calibration image contains multiple checkerboards, so that it is not necessary to adjust the position or posture of a checkerboard target for multiple times and to capture a calibration image with respect to the checkerboard target for multiple times, thereby improving the calibration efficiency. In a second aspect, the fact of capturing a calibration image with respect to the checkerboard target for multiple times results in a relatively large error for capturing, while this error for capturing is reduced by applying this solution.

Camera parameter calibration method, device, apparatus, and system

A method and apparatus for constructing a 3D scene model are provided. The method includes: acquiring a first point cloud corresponding to a current target scene (S); determining a first partial point cloud corresponding to a dynamic object from the first point cloud (S); constructing a foreground 3D model based on the first partial point cloud (S); and superimposing the foreground 3D model with a background 3D model to obtain a current 3D scene model (S). As can be seen, it is not necessary to fuse each pixel acquired by each depth camera. Instead, the dynamic object is determined in the point cloud acquired by the depth camera. Only the foreground 3D model corresponding to the dynamic object is superimposed with the background 3D model corresponding to the static objects obtained in advance. This reduces the amount of computation to build a 3D scene model.

Method and device for constructing 3D scene model

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Hangzhou, China

Kui Zhang