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基于LS-SVM的立体视觉摄像机标定 总被引:2,自引:1,他引:1
利用最小二乘支持向量机来直接学习图像信息与三维信息之间的关系,不需确定摄像机具体的内部参数和外部参数.在双目视觉的情况下,两摄像机的位置关系不需具体求出,而是隐含在映射关系中.根据最小二乘支持向量机与摄像机标定的特点,提出了基于最小二乘支持向量机的双目立体摄像机标定方法.将摄像头采集到的图像的像素坐标作为输入,将世界坐标作为输出,用最小二乘支持向量机使网络实现给定的输入输出映射关系.该方法同BP神经网络预测结果对比表明:基于最小二乘支持向量机的双目视觉标定方法速度快,实时性好,能有效提高标定精度. 相似文献
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提出一种新的摄像机标定方法,该方法基于2D共面参照物摄像机标定方法和相移技术.首先由摄像机记录已知相位分布的平面,通过相移计算出相位分布.对任意标定平面,两个正交相位分布与平面坐标的对应关系已知,由此可以建立像素坐标与2D平面坐标的一一对应关系.将该已知相位分布的平面在空间中放置不同的位置,分别完成上述测量,即可根据2D共面参照物摄像机标定方法完成摄像机的高精度标定.该方法避开了复杂的标定特征点提取,大大增加了2D标定数据量,提高了标定精度.实验和计算机模拟表明,该方法简单、可靠和精度高. 相似文献
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针对目前利用相机标定参数进行图像拼接的方法存在受场景限制大、标定过程复杂而耗时长的问题,提出一种多场景下基于快速相机标定的柱面图像拼接方法。首先,利用棋盘格标定板角点特征提取精度高的特点,使其分别位于两两邻接图像的重叠视场中,对该图像序列依次进行角点提取、精确化和匹配等预处理,以准确快速求解出待拼接图像间的配准参数;然后利用标定得到的配准参数快速拼接图像,通过柱面投影以保持图像的视觉一致性,并采用多频段融合以保留图像的细节信息;最后,将整个系统搭建在低功耗嵌入式平台,实现可在多场景下完成快速标定及基于标定参数的拼接过程。实验结果表明,该文方法在室内及隧道等场景下可准确快速完成相机标定,图像拼接过程耗时短,同时可保证较高的拼接精度和较好的成像效果,具有较强的鲁棒性。 相似文献
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基于计算机立体视觉的图像测量技术 总被引:8,自引:0,他引:8
对基于计算机立体视觉和图像处理的高精度测量技术的应用进行了研究,建立了用于测量目的的计算机立体视觉系统模型,提出了对被测量物体附着网格的方法以获取物体本征图像,再应用图像处理和网格点匹配技术获取测点的坐标。对系统涉及的几个重要算法:摄像机标定算法、网格点的提取算法和网格点的匹配算法做了详细的研究,并结合金属板材加工的应变测量的实际应用给出了测量实例。 相似文献
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目的 针对物流行业运输中包装箱的非接触自动测量,提出一种基于改进SURF配准算法的双目立体尺寸测量方法。方法 首先采用二进制FREAK描述子代替传统SURF的描述子,解决传统SURF描述子计算耗时、描述向量生成依赖于特征主方向,且主方向计算误差会在后续步骤中出现传导放大 的缺点;其次,采用PROSAC删除误匹配点,并利用FREAK级联匹配的方式进一步提高算法的匹配 速度和匹配准确率。最后,利用视差优化和边缘提取算法获得精确三维空间体,实现非接触尺寸测量。结果 实验表明改进算法可快速提取图片特征点并准确匹配,对不同规格包装箱检测结果显示,基于改进算法的测量方法测量误差小,检测速度快。结论 改进图像匹配算法可有效提高图像匹配准确率,减少测量时间,对于提高物流行业运输效率、减少人工成本具有重要意义。 相似文献
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TDI CCD相机实验室辐射定标的研究 总被引:2,自引:0,他引:2
TDI CCD相机辐射定标的目的是建立输入辐亮度和探测器数字化输出之间的关系,为相机提供调光参数.本文推导了辐射定标的原理,并针对特定的TDI CCD相机在应用光学国家重点实验室里使用积分球对其进行了基于光谱辐照度灯的辐射定标,标定了TID CCD相机响应的线性度、TDI CCD相机响应分别与增益和级数的关系,根据实验结果我们得到了在不同的辐亮度值下的增益和级数参考值,从而确定了TDI CCD相机的调光参数,并给出了标定的误差和各项误差源的影响. 相似文献
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针对复杂的工业现场环境以及打印机打印质量水平的限制,对于工业现场的摄像机标定,采用直接提取平面模板角点的方法往往出现失败.现对不能顺利提取角点的标定板图像采用一种基于区域分割的图像处理方法,首先采用均值滤波的方法消除打印机打印质量问题,然后对图像像素按照一定的准则采用区域生长算法得到区域边界,最后与滤波图像进行相减得到所需图像.在一定程度上,这种方法能够消除工业现场环境的干扰,达到精确提取标定板角点的目的.通过分析摄像机模型和几种坐标系之间的转换关系,利用标定板完成了摄像机标定.结果表明,采用该方法,能够准确、方便地获得工业现场中摄像机的内外参数. 相似文献
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Xiao-feng Feng 《Journal of Modern Optics》2013,60(15):1204-1210
A single camera stereo vision sensor model based on planar mirror imaging is proposed for measuring a three-dimensional point. The model consists of a CCD camera and a planar mirror. Using planar mirror reflections of a scene, a picture with parallax is obtained by shooting the target object and its virtual image. This is equivalent to shooting the target object from different angles with the camera and the virtual camera in the planar mirror, so it has the function of binocular stereo vision. In addition, the measurement theory of the three-dimensional point is discussed. The mathematical model of a single camera stereo vision sensor is established, the intrinsic and extrinsic parameters are calibrated, and the corresponding experiment has been done. The experimental results show that the measuring method is convenient and effective; it also has the advantages of simple structure, convenient adjustment, and is especially suitable for short-distance measurement with high precision. 相似文献
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Yu Zhao 《Journal of Modern Optics》2013,60(18):1529-1537
This paper proposes a method of self-calibration of a binocular vision system based on a one-dimensional (1D) target. This method only needs a 1D target with two feature points and the distance between the two points is unknown. During the process of computation, the distance value can be set an arbitrary value which is near the actual distance value. Using the method proposed in this paper, we can get the parameters of the binocular vision system including internal parameters of the two cameras and the external parameters (but there exists a non-zero scale factor in the translation vector which is connected to the initial distance value we set), the distortion parameters of cameras and the three-dimensional coordinates of the two points in different positions. In this paper, we determine theoretically that the initial distance value will not influence the results, and also the results of numerical simulation and experiment example are shown to demonstrate the method. Most importantly, this method is insensitive to the initial distance value, and it is the biggest advantage. In a practical application, we can use a 1D target with unknown distance to calibrate the binocular system conveniently; also we can use this method to calibrate the camera in a large field of view with a small 1D target. 相似文献
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Guanwu Jiang Minzhou Luo Keqiang Bai 《International journal of imaging systems and technology》2019,29(2):180-190
Percutaneous image-guided interventions are increasing in number in clinical practice because they are minimally invasive. Needle positioning placement is crucial and highly dependent on the physician's skills and experience, it is often the longest part of the intervention. Medical robotics and computer-assisted surgery are hotspots in the field of robotics and medicine, changing the essence of traditional surgery using a combination of robotic, image processing, and computer technologies. The present paper aimed to study the auxiliary puncture procedure using a robot based on optical positioning technology that can be used to mark points in puncturing operation. Binocular camera is used for image acquisition, and Zhang's calibration method is used to establish the binocular camera model. In addition, the circular markers are identified by the least square method detection circle, and the coordinate information of the markers in three-dimensional space is solved by using the visual depth information of binocular phases. This paper studies the verification of the three-dimensional bone model of the human body, which lays a foundation for the application of the assistant puncture robot. 相似文献
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针对大视场星敏感器的在轨标定问题,提出了一种基于矢量观测的检校新模型。将3个罗德里格参数代替欧拉角,作为外方位参数与畸变参数、内方位参数一起求解,简化了运算。采用仿真星图分析了模型的性能,结果表明,该模型较采用欧拉角的传统标定模型精度更高,在星点位置噪声方差为0.05 pixels的情况下,仍能准确解算出星敏感器参数,其星内角距的统计偏差为0.483″,x、y方向的残差绝对均值分别为0.019 pixels、0.016 pixels,且算法的参数设置简单,无需计算初值。将检校模型应用于ZY-3号卫星星敏感器的检校,结果表明模型可以有效提高检校的精度。建议在实际应用中采用精度更高的星点中心计算算法。 相似文献
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Xinzhuang Cui Junjie Lou Jiong Zhang Maoping Ran 《International Journal of Pavement Engineering》2017,18(5):459-471
A new measuring method of mean texture depth of asphalt pavement is proposed based on the technology of multi-line laser and binocular vision. The developed method is incorporated with the profile method and the digital image technology. A three-dimensional mathematical model is established based on the triangulation measuring principle in order to implement the three-dimensional reconstruction of asphalt surface profile. Image processing technology helps locate the exact coordinates of each point on the model. In addition, the techniques of multi-line laser pairing and epipolar restriction are introduced for the image matching between multi-line laser and binocular vision. Through the model and the spatial equations obtained, the values of the mean profile depth of asphalt pavement can be figured out. According to the profile method, an integrated calculation procedure of texture depth is established. A set of sand patch field tests are implemented to verify the reliability of the developed method. 相似文献
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标定机器臂的运动学参数可以有效提高机械臂的绝对定位精度。针对一般平面约束标定方法往往通过手动示教获取测量数据,效率低,提出一种基于视觉辅助定位约束平面的机械臂运动学参数辨识方法。为了弥补双目视觉视场范围狭小的弊端,在约束平面上粘贴3个靶点,以此将对平面的定位等效成对靶点的定位。应用双目视觉系统提取靶点中心并进行立体匹配,得到靶点在机械臂基坐标系下的三维位置信息;同时构建靶点坐标系,以此规划出按一定规律分布的约束点;为了进一步提高标定精度,建立双平面约束误差模型,通过两垂直平面上任意非共线的3个点得到一系列法向量,每一对法向量的数量积为0,即增加了约束方程;利用机械臂对相互垂直的两约束平面自动进行接触式测量,通过改进的最小二乘法辨识出真实的运动学参数误差。实验结果表明,基于双平面约束误差模型,修正运动学参数后,机械臂绝对位置精度由1.234 mm提高到了0.453 mm。该方法实现了数据的自动化测量,大大提高了标定效率,为机械臂批量标定提供了参考,具有工程意义。 相似文献