Stereo vision sensor field calibration method based on volume template

CHEN Gang; CHE Ren-Sheng; YE Dong; HUANG Qing-Cheng

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Stereo vision sensor field calibration method based on volume template

更新时间：2020-08-12

- Stereo vision sensor field calibration method based on volume template
- Optics and Precision Engineering Vol. 12, Issue 6, Pages: 626-631(2004)
- 作者机构：
  
  哈尔滨工业大学, 自动化测试与控制系, 黑龙江, 哈尔滨, 150001
- 作者简介：
- 基金信息：
- DOI：
  CLC： TP212.14
- Received：22 September 2004，
  
  Revised：18 October 2004，
  
  Published Online：15 December 2004，
  
  Published：15 December 2004
- 稿件说明：
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陈刚, 车仁生, 叶东, 黄庆成. 一种基于立体模板的双目视觉传感器现场标定方法[J]. 光学精密工程, 2004,(6): 626-631

CHEN Gang, CHE Ren-sheng, YE Dong, HUANG Qing-cheng. Stereo vision sensor field calibration method based on volume template[J]. Editorial Office of Optics and Precision Engineering, 2004,(6): 626-631
陈刚, 车仁生, 叶东, 黄庆成. 一种基于立体模板的双目视觉传感器现场标定方法[J]. 光学精密工程, 2004,(6): 626-631 DOI：

CHEN Gang, CHE Ren-sheng, YE Dong, HUANG Qing-cheng. Stereo vision sensor field calibration method based on volume template[J]. Editorial Office of Optics and Precision Engineering, 2004,(6): 626-631 DOI：

摘要

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.

Abstract

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.

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Keywords

references

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