球形靶标中心成像点的高精度定位

刘书桂; 宋宣晓; 韩振华

doi:10.3788/OPE.20162408.1861

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球形靶标中心成像点的高精度定位

现代应用光学 | 更新时间：2020-07-07

- 球形靶标中心成像点的高精度定位
- High-precision positioning of projected point of spherical target center
- Editorial Office of Optics and Precision Engineeri 2016年24卷第8期页码：1861-1870
- 作者机构：
  
  天津大学精密测试技术及仪器国家重点实验室, 天津 300072
- 作者简介：
  
  刘书桂(1954-)，男，湖南华容人，教授，博士生导师，1982年于陕西机械学院获得学士学位，1988年于日本东京工业大学获得博士学位，主要从事智能坐标测量、自动测量与控制、传感与信息处理等方面的研究。E-mail：sgliu@tju.edu.cn E-mail：sgliu@tju.edu.cn
  [ "宋宣晓(1992-)，男，河南新乡人，硕士研究生，2014年于长春理工大学获得学士学位，主要从事机器视觉、大尺寸坐标测量方面的研究。E-mail：songxuanxiao@tju.edu.cn" ]
- 基金信息：
  
  天津市自然科学基金重点项目(No.13JCZDJC34500);国防科工局技术基础渠道科研项目(No.JSJL2014206B001)
- DOI：10.3788/OPE.20162408.1861
  中图分类号： TP391;TP242.6
- 收稿日期：2016-04-27，
  
  录用日期：2016-6-14，
  
  纸质出版日期：2016-08-25
- 稿件说明：
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刘书桂, 宋宣晓, 韩振华. 球形靶标中心成像点的高精度定位[J]. Editorial Office of Optics and Precision Engineeri, 2016,24(8):1861-1870.

Shu-gui LIU, Xuan-xiao SONG, Zhen-hua HAN. High-precision positioning of projected point of spherical target center[J]. Optics and precision engineering, 2016, 24(8): 1861-1870.
刘书桂, 宋宣晓, 韩振华. 球形靶标中心成像点的高精度定位[J]. Editorial Office of Optics and Precision Engineeri, 2016,24(8):1861-1870. DOI： 10.3788/OPE.20162408.1861.

Shu-gui LIU, Xuan-xiao SONG, Zhen-hua HAN. High-precision positioning of projected point of spherical target center[J]. Optics and precision engineering, 2016, 24(8): 1861-1870. DOI： 10.3788/OPE.20162408.1861.

摘要

为提高球形靶标中心在像平面上成像点的定位精度，研究了球形靶标成像理论及球心成像点定位方法。建立了空间球在摄像机系统下的投影模型，结合空间解析几何理论，证明了球形靶标的透视投影特性。推导出了球心成像点坐标的精确表达式，并结合测量实际给提出了球心成像点的高精度定位方法。利用仿真实验建立了球心投影畸变误差模型并分析了相关影响因素。最后，结合陶瓷标准球进行了视觉系统位姿参数标定实验。结果表明，该定位方法求得的空间球球心重投影误差比传统的球心成像坐标定位方法产生的重投影误差平均减少了36%，位姿参数稳定性相对提高了40%。得到的结果验证了该球形靶标中心成像点定位方法精度高，鲁棒性强，可应用于基于球形靶标的视觉标定或测量中。

Abstract

To improve the positioning precision of the projected point for a spherical target center

the imaging theory of spherical target and positioning method of the spherical target center were investigated. By establishing the imaging model of spherical target and combining spatial analytic geometry theory

the perspective projection properties of spherical target were verified and an exact expression for the position of projection point of sphere center was deduced. Finally

by combining with an actual measurement

the precision positioning method for the projected point of spherical target center was given. Furthermore

an error model for projected spherical central distortion was established on the basis of the simulation experiment

and corresponding effect factors were analyzed. With the use of a ceramic standard ball

calibration experiments of the pose parameters of a vision system were implemented. It shows that the re-projected error of the spherical target center from the proposed method has less 36% averagely than that of the traditional method

and the stability of the pose parameters is increased by 40% relatively. These results verify that the proposed positioning method for the projected point of spherical target center has high precision and robustness

and it can be widely used in visual calibration or measurement based on spherical targets.

关键词

Keywords

references

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