| 自由双目立体视觉摄像机动态外参数的获取 |
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| 引用本文： | 李肖,葛宝臻,罗其俊,李云鹏,田庆国.自由双目立体视觉摄像机动态外参数的获取[J].计算机应用,2017,37(10):2888-2894. |
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| 作者姓名： | 李肖 葛宝臻 罗其俊 李云鹏 田庆国 |
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| 作者单位： | 1. 天津大学 精密仪器与光电子工程学院, 天津 300072;2. 光电信息技术教育部重点实验室, 天津 300072;3. 中国民航大学 电子信息与自动化学院, 天津, 300300 |
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| 基金项目： | 国家自然科学基金资助项目（61535008）。 |
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| 摘 要： | 针对自由双目立体视觉中由于摄像机旋转导致的摄像机外参数变化的问题，提出一种基于旋转轴标定的动态外参数获取方法。在多个不同位置，立体标定得到多组旋转平移矩阵，利用最小二乘法求解旋转轴参数；结合初始位置左右摄像机的内、外参数及旋转角度，实时获取左右摄像机的外参数。利用所提方法获取动态外参数，并对棋盘角点进行三维重建，平均误差为0.241mm，标准差为0.156mm；与基于多平面标靶的标定方法相比，精度高且操作简单。所提方法无需实时标定，可完成摄像机旋转情况下动态外参数的获取。
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| 关 键 词： | 机器视觉 自由双目立体视觉 动态外参数 旋转轴标定 三维重建 |
| 收稿时间： | 2017-04-07 |
| 修稿时间： | 2017-06-03 |
Acquisition of camera dynamic extrinsic parameters in free binocular stereo vision system |
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| LI Xiao,GE Baozhen,LUO Qijun,LI Yunpeng,TIAN Qingguo.Acquisition of camera dynamic extrinsic parameters in free binocular stereo vision system[J].journal of Computer Applications,2017,37(10):2888-2894. |
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| Authors: | LI Xiao GE Baozhen LUO Qijun LI Yunpeng TIAN Qingguo |
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| Affiliation: | 1. School of Precision Instrument and Opto-Electronics Engineering, Tianjin University, Tianjin 300072, China;2. Key Laboratory of Opto-Electronics Information Technology of Ministry of Education, Tianjin 300072, China;3. College of Electronic Information and Automation, Civil Aviation University of China, Tianjin 300300, China |
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| Abstract: | Aiming to solve the change of the extrinsic parameters between the two cameras in free binocular stereo vision system caused by the rotation of the cameras, a method for acquiring the dynamic extrinsic parameters based on calibration of rotation axis was proposed. Multiple rotation and translation matrixes were obtained by the calibration at different positions, then the parameters of rotation axis could be calculated by using least square method. Combined with the intrinsic and extrinsic parameters at initial position and rotation angle, the dynamic extrinsic parameters between the two cameras could be calculated in real time. The chessboard corners were reconstructed with the dynamic extrinsic parameters calculated by the proposed method, the result showed that the average error was 0.241mm and the standard deviation was 0.156mm. Compared with the calibration method based on multiple-plane calibration target, the proposed method is easier to implement and has higher precision, where dynamic extrinsic parameters can be acquired without real-time calibration. |
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| Keywords: | machine vision free binocular stereo vision dynamic extrinsic parameter calibration of rotation axis 3D reconstruction |
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