| 一种双目立体视觉技术中三维坐标点的改进求取算法 |
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| 引用本文： | 李克国,李大运,陶学恒.一种双目立体视觉技术中三维坐标点的改进求取算法[J].机电产品开发与创新,2008,21(5):31-32. |
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| 作者姓名： | 李克国 李大运 陶学恒 |
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| 作者单位： | 1. 大连工业大学,信息科学与工程学院,辽宁,大连,116034
2. 大连船舶重工有限公司,船研所,辽宁,大连,116000 |
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| 摘 要： | 在双目立体视觉技术中,经过特征提取和立体匹配得到两两对应的像素点对,根据摄像机标定建立的物体空间坐标到像平面坐标对应的矩阵,利用最小二乘法求取物体三维空间点的坐标。但是,由于最小二乘法没有考虑所建立的超限定方程组所代表的几何意义,计算出的点坐标精度不高。本文提出一种考虑方程组所代表几何意义的方法,利用异面直线公垂线中点去逼近物体空间点。
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| 关 键 词： | 双目立体视觉 摄像机标定 立体匹配 最小二乘法 异面直线公垂线中点 |
An Improved Algorithm for Three-dimensional Coordinate Point in Binocular Stereo Vision |
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| LI Ke-Guo,LI Da-Yun,TAO Xue-Heng.An Improved Algorithm for Three-dimensional Coordinate Point in Binocular Stereo Vision[J].Development & Innovation of Machinery & Electrical Products,2008,21(5):31-32. |
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| Authors: | LI Ke-Guo LI Da-Yun TAO Xue-Heng |
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| Affiliation: | LI Ke-Guo , LI Da-Yun , TAO Xue-Hen (1.School of Information Science ＆ Engineering, Dalian Polytechnic University, Dalian Liaoning 116034, China; 2.Dalian Shipbuilding Industry Co.,LTD, Ship-researched Institute, Dalian Liaoning 116000, China) |
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| Abstract: | In binocular stereo vision, after character distilling and three-dimensional matching, there are many two pixel points which be matched with each other, according to camera calibration to create a matrix and use least square-method to obtain coordinate point which is three-dimensional. But least square-method do not consider geometric meaning that the equation is represent for, so the measure precision is lower. A model is described which consider the equation geometric meaning, making use of mid-point of vertical line in crossover lines to get three-dimensional points coordinate. |
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| Keywords: | binocular stereo vision camera calibration three-dimensional matching least square-method mid-point of vertical line in crossover lines |
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