一种提高机器人视觉系统参数标定精度的方法

镜头径向畸变影响着GRB-3044机器人视觉系统精度。根据距离畸变中心越远的点,畸变量越大和过畸变中心的直线不发生形变的特征,提出了一种单独求解畸变中心和畸变系数的径向畸变校正方法。对标定点进行校正后,使用Faugeras的标定方法进行摄像机内外参数的标定。实验表明,文中所提出的算法能有效校正图像径向畸变,相比未加入径向畸变的视觉系统,目标定位的准确度得到明显提高。

A Method for Improving Accuracy of Robot Vision System Parameter Calibration

Because the lens radial distortion affects the precision of the GRB 3044 robot vision system, a radial distortion correction method of solving alone the distortion center and the distortion coefficients is proposed, which is based on the characteristics that the farther the points is away from distortion center so the larger the distortion is and the straight line through the distortion center has no deformation. The interior and exterior parameters of the camera were calibrated by the Faugeras calibration method after the calibration points were corrected. The experimental results show that the proposed algorithm can effectively correct the radial distortion of the image, and compared to the visual system without the radial distortion, the accuracy of the target location is improved obviously.