Camera Calibration Based on Improved Grey-Wolf Genetic Algorithm

Chunming Li; Lü Dayong; Songling Yuan

doi:10.3788/LOP240510

Journals >Laser & Optoelectronics Progress >Volume 61 >Issue 18 >Page 1815004 > Article

Laser & Optoelectronics Progress
Vol. 61, Issue 18, 1815004 (2024)

Camera Calibration Based on Improved Grey-Wolf Genetic Algorithm

Chunming Li¹, Lü Dayong^1,*, and Songling Yuan²

Author Affiliations

¹School of Information Science and Engineering, Hebei University of Science and Technology, Shijiazhuang 050091, Hebei, China

²Shijiazhuang Jinghua Electronic Industry Co., Ltd., Shijiazhuang 050299, Hebei, China

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DOI: 10.3788/LOP240510 Cite this Article Set citation alerts

Chunming Li, Lü Dayong, Songling Yuan. Camera Calibration Based on Improved Grey-Wolf Genetic Algorithm[J]. Laser & Optoelectronics Progress, 2024, 61(18): 1815004 Copy Citation Text

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Fig. 1. Pinhole imaging model of camera

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Fig. 2. Camera distortion

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Fig. 3. Variation of convergence factor

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Fig. 4. Improved grey-wolf genetic algorithm flow

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Fig. 5. Some images of checkerboard grid captured by camera

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Fig. 6. Corner point extraction of chessboard pattern

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Fig. 7. Average reprojection error curve

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Fig. 8. Distribution of reprojection error after optimization with different algorithms. (a) GWO; (b) IGA; (c) SSA; (d) proposed algorithm

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Fig. 9. Average re-projection error after repeated calibration

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Fig. 10. Calibration results under different noise levels

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Parameter	$N_{m a x}$	$N$	$T_{s i z e 0}$	$c_{0}$	$c_{e n d}$	$P_{m 0}$
Initial value	100	500	15	0.8	0.3	0.01

Table 1. Initial parameters of improved grey-wolf genetic algorithm

Parameter	$f_{x} / p i x e l$	$f_{y} / p i x e l$	$u_{0} / p i x e l$	$v_{0} / p i x e l$	$k_{1}$	$k_{2}$	$k_{3}$	$p_{1}$	$p_{2}$	$ρ / p i x e l$
Value	650.09350	648.58910	302.91380	248.27660	0.30840	-1.15850	0.95979	0.00713	-0.00980	0.02054

Table 2. Camera calibration results based on improved grey-wolf genetic algorithm

Parameter	GWO	IGA	SSA	Proposed algorithm
$f_{x} / p i x e l$	640.08930	649.59240	650.13380	650.09350
$f_{y} / p i x e l$	638.56900	647.93130	648.44540	648.58910
$u_{0} / p i x e l$	292.91620	302.55000	302.86850	302.91380
$v_{0} / p i x e l$	238.27780	248.40420	248.41740	248.27660
$k_{1}$	-2.19380	0.38255	0.31260	0.30840
$k_{2}$	-5.55630	-2.18540	-1.32660	-1.15850
$k_{3}$	-2.03630	0.82250	1.26550	0.95970
$p_{1}$	-2.53880	0.00080	0.00170	0.00710
$p_{2}$	-6.14320	-0.00440	-0.00930	-0.00980
$ρ / p i x e l$	0.07664	0.05157	0.03034	0.02054

Table 3. Calibration results of different algorithms

Chunming Li, Lü Dayong, Songling Yuan. Camera Calibration Based on Improved Grey-Wolf Genetic Algorithm[J]. Laser & Optoelectronics Progress, 2024, 61(18): 1815004

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