ADAPTIVE DETECTION METHOD FOR CHECKERBOARD SUB-PIXEL CORNER POINTS

摘要

Disclosed in the present invention is an adaptive detection method for checkerboard sub-pixel corner points. Said method comprises: marking the position of an initial unit grid on a checkerboard, expanding outward a homography matrix H obtained by using pixel coordinates of four corners of the initial unit grid in a pixel coordinate system and world coordinates thereof in a world coordinate system, adaptively adjusting an iterative window size during the process of expanding outward, and finally dispersing same to the whole checkerboard area to complete the adaptive detection of checkerboard sub-pixel corner points. Said method has a simple procedure and is easy to implement; for a low-resolution or large-distortion checkerboard image, can dynamically adjust the iterative window size of sub-pixel corner points, and reduce the error rate of sub-pixel corner point detection; has a fast corner point detection speed, and is not affected by an incomplete checkerboard, only needing to photograph a set identifier in an acquired picture; and enables the checkerboard image to completely cover the whole viewing angle of a camera and extracts feature points of an edge area, and has more accurate calibrated internal and external parameters of the camera.