Accurate camera calibration is a well-known and widely used task in computer vision that has been researched for decades. However, the standard approach based on checkerboard calibration patterns has some drawbacks that limit its applicability. For example, the calibration pattern must be completely visible without any occlusions. Alternative solutions such as ChArUco boards allow partial occlusions, but require a higher camera resolution due to the fine details of the position encoding. We present a new calibration pattern that combines the advantages of checkerboard calibration patterns with a lightweight position coding that can be decoded at very low resolutions. The decoding algorithm includes error correction and is computationally efficient. The whole approach is backward compatible to both checkerboard calibration patterns and several checkerboard calibration algorithms. Furthermore, the method can be used not only for camera calibration but also for camera pose estimation and marker-based object localization tasks.

本研究针对传统棋盘格标定模式在实际应用中的局限性提出了一种新型标定图案，通过轻量级位置编码技术，实现在低分辨率下进行有效解码。该方法不仅在相机标定中表现优异，还能够应用于相机姿态估计和基于标记的物体定位任务，具有较高的实用价值和兼容性。

拼图板：一种具有位置编码的新型相机标定图案