Calibration of binocular camera with non-common field of view

Qin-wen LI; Shou-jun NI; Zhi-qian WANG; Jian-rong LI; Cheng-wu SHEN; Wen-chang YANG; Yu-sheng LIU

doi:10.37188/OPE.20202812.2737

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Calibration of binocular camera with non-common field of view

Information Sciences | 更新时间：2021-01-04

- Calibration of binocular camera with non-common field of view
- Optics and Precision Engineering Vol. 28, Issue 12, Pages: 2737-2744(2020)
- 作者机构：
  
  1.中国科学院长春光学精密机械与物理研究所，吉林长春 130033
  2.中国科学院大学，北京100049
  3.北京航天发射技术研究所，北京100076
- 作者简介：
- 基金信息：
- DOI：10.37188/OPE.20202812.2737
  CLC： TP391.9
- Received：08 April 2020，
  
  Revised：01 June 2020，
  
  Published：15 December 2020
- 稿件说明：
移动端阅览
李勤文,倪首军,王志乾等.非公共视场双目相机位姿标定[J].光学精密工程,2020,28(12):2737-2744.

LI Qin-wen,NI Shou-jun,WANG Zhi-qian,et al.Calibration of binocular camera with non-common field of view[J].Optics and Precision Engineering,2020,28(12):2737-2744.
李勤文,倪首军,王志乾等.非公共视场双目相机位姿标定[J].光学精密工程,2020,28(12):2737-2744. DOI： 10.37188/OPE.20202812.2737.

LI Qin-wen,NI Shou-jun,WANG Zhi-qian,et al.Calibration of binocular camera with non-common field of view[J].Optics and Precision Engineering,2020,28(12):2737-2744. DOI： 10.37188/OPE.20202812.2737.

摘要

针对现有双目位姿测量系统中仅有两个目标点，无法利用额外标定物对两个无公共视场相机进行标定的问题，提出一种无需改变系统结构，可以直接利用现有设备的双目相机位姿标定方法。首先固定两相机坐标系与公共目标坐标系的位置关系，通过多次移动标定物的方式得到多组坐标数据；然后，利用一种基于直接线性变换方法的改进算法对每个相机坐标系到公共目标坐标系的转换关系进行优化求解；最后，利用优化后的相机坐标系到公共目标坐标系的转换关系求得两个无公共视场相机坐标系之间的转换关系。利用两个相机坐标系之间的转换关系求得两目标点距离，并作为标定精度的评价指标。实验结果表明：当目标点处在各自相机视场范围内，相机与目标点之间的测量距离为700~1 300 mm时，利用本文方法求得的目标点距离的均方差<0.2 mm，满足实际应用需求。

Abstract

For the existing binocular position and attitude measurement system with only two target points， it is impossible to use additional calibration objects to calibrate the two cameras without a common field of view. In this study， a calibration method for a binocular camera without changing the system structure and instead directly using the existing equipment was proposed. First， the relative position between the two camera coordinate systems and the common coordinate system was fixed， and multiple sets of coordinate data were acquired by moving the calibrator several times. An improved algorithm based on a direct linear transformation （DLT） method was used to optimize the relative transformation from each camera coordinate system to the common coordinate system. Finally， the relative conversion between the two camera coordinate systems was obtained using the optimized relative conversion from each camera coordinate system to the common coordinate system. The distance between the two target points could be obtained using the relative conversion between the two camera coordinate systems， and this distance was selected as the evaluation index of the calibration accuracy. The experimental results show that the mean square error of the distance between the target points obtained using this method is less than 0.2 mm， which meets the practical application requirements.

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references

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