全景立体球视觉装置的镜头位置校准方法研究

全景立体球视觉装置使用机械结构将多路图像采集系统进行封装定位,能同时完成全景拼接和三维重建的功能。但缺少一种有效的校准方法,来消除由加工制造和封装结构安装所产生的微小误差,这种误差多表现为各镜头光轴不平行、所成角度不准确等,且此误差不易测量。通过分析系统封装结构和相机成像模型,采用一种激光聚焦光斑检测微调的方法,利用采集图像中激光光斑的位置作为依据,对装置中四个鱼眼镜头进行水平及角度的位置校准,这样即可使得各光轴在同一平面,且所成角度精确为90°。全景立体球视觉装置的镜头位置校准是其功能应用的重要技术前提。

Research on lens position calibration of panoramic stereo sphere vision device

Panoramic stereo sphere vision device can encapsulate and locate multi-channel image acquisition system through the mechanical structure, and it can realize panoramic stitching and three-dimensional reconstruction simultaneously. But there isn''t an effective calibration method to eliminate the slight errors generated by the encapsulation structure installation and manufacturing. This error is mainly caused by the unparallel optical axis and the inaccurate angle of the lenses, and it can be measured difficultly. Through analyzing the encapsulation structure and imaging model of the system, a fine-tuning method of focused laser spot detection is proposed. Basis on the location of laser spots in the image, the optical axes are made perpendicular in the same plane by the calibration of four fish-eye lens. The calibration of panoramic stereo sphere vision device is an important technical precondition for the application.