一种基于立体模板的双目视觉传感器现场标定方法

给出了一种基于立体标定模板的双目视觉摄像机内、外部参数现场标定方法.该方法采用理想小孔模型忽略摄像机镜头的非线性畸变,把透视变换矩阵中的元素作为未知数,在已知一组三维空间特征点坐标及其对应的图像点坐标时,利用线性算法求解出透视变换矩阵中的各个元素,进而得到所需的参数.最后采用立体标定模板对该标定算法进行了实验验证,用标定完成的立体视觉传感器对已知长度进行测量,相对精度达到了0.02%,取得了较为理想的结果.结果表明:该方法由于无需迭代,因此计算速度快,在测量现场只需摆放一次标定模板即可完成标定,可高精度地实现摄像机内、外部参数的现场标定.

Stereo vision sensor field calibration method based on volume template

A volume template-based method is proposed for the field calibration of the intrinsic and extrinsic parameters of stereo vision sensor, which adopts an ideal pin-hole model that ignores the nonlinear distortion of the cameras. Taking the transform matrix elements as unknown, when the group of 3-D target points coordinates and their image coordinates are known, they can be used in a linear algorithm to work out the unknown elements and the parameters needed. In the end, a volume calibration template is used to calibrate a stereo vision sensor, which measures a known length. The relative precision is up to 0.02%. Experimental results show that method needs no iteration and has a high operation speed, which needs to put the template only once for the field calibration, cameras' intrinsic and extrinsic parameters could be calibrated with high precision.