基于HALCON的全景摄像机标定及应用研究

现有全景摄像机标定算法中，场景的先验知识在很多情况下难以准确获取。提出了一种基于HALCON的双曲面折反射全景摄像机标定算法。通过摄像机或者标定板的相互移动来获取不同位置的标定板图像；通过HALCON预处理后提取角点坐标；通过最小二乘法求解标定点投影方程的展开系数得到相机的内外参数。该算法中摄像机只需满足单视点要求，不需要场景的先验知识，也不需要特殊的装置和设备。实验结果表明能够获得较高的标定精度，并且在足球机器人边线距离的测量中得到了准确的结果。

Application study of omnidirectional camera calibration based on HALCON

The scene of prior knowledge in many cases is difficult to obtain accurately in current omnidirectional camera calibration algorithm. This paper presents a calibration algorithm of hyperboloid reflection omnidirectional camera based on HALCON. Firstly, algorithm captures the calibration pattern images in different positions by moving the camera or the calibration pattern；then extracts the coordinate of the calibration points after being preprocessed by HALCON；Finally, obtains its internal and external parameters through the expansion coefficient which are solved by the calibration points projection equation of least squares methods. This method, which doesn’t need a special device and equipment, or other priori knowledges of the scene, only needs to meet the requirements of the single viewpoint. The experimental result shows that it can achieve a high calibration precision, and accurate results are obtained in the process of soccer robot’s sideline distance measurement.