考虑一阶径向畸变的摄像机参数标定

针对GRB-400机器人视觉系统,建立完整的摄像机一阶径向畸变模型。首先用GRB系统的Matrox图像采集卡采集标定点坐标,然后利用径向排列约束方法 （简称RAC）建立线性方程组求解摄像机的径向畸变参数。基于此畸变参数实现图像校正,以提高对目标物体的定位精度,从而提高机器人视觉系统对摄像机标定参数变化的鲁棒性。实验结果表明：该方法有较高的标定精度。

Calibration of Camera Parameters with One Order Radial Distortion

For the GRB--400 robot vision system, a nonlinear camera model of one order radial distortion is set up. First, the coordinates of the calibrated image are collected with Matrox of the GRB system, and then distortion parameters of camera are worked out by the established linear equation based on radial a- lignment constraint （referred to as the RAC）. The image is corrected by using distortion parameters, so as to improve the location accuracy of target object. At the same time, the robustness of robot vision systems is improved when camera calibration parameters change. The experimental results show that this method has higher precision in the calibration.