GPS双目摄像机标定及空间坐标重建

为减轻双目摄像机标定过程中对高精度靶标的依赖,实现摄像机参数的精确标定,并对空间坐标进行高精度重建,提出一种GPS双目摄像机标定及空间坐标重建方法,采用GPS代替2D或3D靶标进行双目摄像机标定。将GPS的位置在视场中任意移动,由被标摄像机拍摄多组含有GPS的图像,利用空间三维坐标与图像二维坐标间的映射关系,结合摄像机成像模型和双目摄像机标定原理,标定出双目摄像机参数,并对空间坐标进行精确重建。通过空间重建坐标与GPS实际测量值之间的相对距离误差,对重建精度进行检验。实验证明,该方法能够克服双目摄像机标定过程中对高精度靶标的依赖,空间重建坐标具有较高的精度,相对距离误差从1.56%减小到0.52%。

GPS-based binocular camera calibration and space coordinate reconstruction

To alleviate the dependence of binocular camera on high-accuracy target during calibration,achieve precise calibration of camera parameters and implement high-accuracy reconstruction of space coordinates,a GPS-based method for binocular camera calibration and space coordinate reconstruction is introduced,in which GPS instead of 2D or 3D targets is used to carry out the camera calibration.Through arbitrarily moving the GPS at the shooting site,multiple images with GPS are shot by calibrated camera;based on the mapping relation between spatial 3D coordinates and 2D image coordinates,the binocular camera parameters are calibrated and precise reconstruction of space coordinates is carried out by combining camera imaging model with calibration theory of binocular camera;finally,the reconstruction accuracy is tested in accordance with relative distance error between the space reconstruction coordinates and actual measurement values.The reconstruction results of proposed method are compared with the true data obtained by the GPS,and the results indicate that the method can help binocular camera to overcome the dependence on high-accuracy targets and equip the space reconstruction coordinates with relatively high accuracy,with a relative distance error decreased from 1.56％ to 0.52％.