| 基于针孔模型的双目视觉标定误差仿真分析 |
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| 引用本文： | 张鹏炜,张智诠,胡磊,栾胜. 基于针孔模型的双目视觉标定误差仿真分析[J]. 电光与控制, 2009, 16(12): 65-69 |
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| 作者姓名： | 张鹏炜 张智诠 胡磊 栾胜 |
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| 作者单位： | 装甲兵工程学院控制工程系,北京,100072;北京航空航天大学机器人研究所,北京,100191 |
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| 基金项目： | 国家十一五科技支撑计划，北京市科技计划 |
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| 摘 要： | 为了直观反映双目视觉系统各参数标定误差对系统定位精度的影响,基于针孔摄像机成像模型和概率统计理论,运用蒙特卡罗法对轴线平行结构的系统定位误差进行仿真分析.针对视觉定位模型求解空间点表达式复杂的问题,为便于仿真,根据成像模型参数的相互独立性,提出了一种单参数分析定位误差的方法.利用该方法进行的仿真结果及其实验验证表明:内参数中,主点(u0,v0)的标定误差对系统X、Y方向定位精度影响大,焦距fu的标定误差对系统Z方向定位精度影响大;外参数中,旋转角β和基线t1对X、Y、Z3个方向定位精度的影响都较大.该结论对双目视觉系统设计及参数标定具有一定的参考价值.
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| 关 键 词： | 双目视觉 针孔相机模型 蒙特卡罗法 标定误差分析 |
| 收稿时间： | 2008-11-28 |
Calibration Error Simulating Analysis of Binocular Vision Based on Pinhole Camera Model |
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| ZHANG Pengwei,ZHANG Zhiquan,HU Lei,LUAN Sheng. Calibration Error Simulating Analysis of Binocular Vision Based on Pinhole Camera Model[J]. Electronics Optics & Control, 2009, 16(12): 65-69 |
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| Authors: | ZHANG Pengwei ZHANG Zhiquan HU Lei LUAN Sheng |
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| Affiliation: | ZHANG Pengwei 1,ZHANG Zhiquan 1,HU Lei 2,LUAN Sheng 2(1.Department of Control Engineering,Institute of Armored Force Engineering,Beijing 100072,China,2.Robotics Institute,Beijing University of Aeronautics , Astronautics,Beijing 100191,China) |
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| Abstract: | The calibrated parameters that caused errors in parallel-axes binocular stereoscopic measurement system were studied.Based on the pinhole camera model and the theory of probability and statistics,the Monte-Carlo method was used in simulating and analyzing the errors.In the view of complex algebraic expression of 3D point from the positioning model of binocular vision,according to the independence of imaging-model-parameters,a method of single-parameter analysis positioning errors was proposed to facilitate ... |
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| Keywords: | binocular vision pinhole camera model Monte-Carlo method calibration error analysis |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
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