大视场双目立体视觉柔性标定

倪章松; 顾艺; 柳庆林; 陈然; 李中伟

doi:10.3788/OPE.20172507.1882

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大视场双目立体视觉柔性标定

信息科学 | 更新时间：2020-07-07

- 大视场双目立体视觉柔性标定
- Flexible calibration method for binocular stereo vision in large field of view
- 光学精密工程 2017年25卷第7期页码：1882-1889
- 作者机构：
  
  1.西北工业大学, 陕西西安 710072
  2.中国空气动力研究与发展中心, 四川绵阳 621000
  3.华中科技大学, 材料科学与工程学院, 湖北武汉 430074
- 作者简介：
  
  [ "倪章松(1973-), 男, 安徽太湖人, 高级工程师, 1997年于西南科技大学获得学士学位, 2006年于国防科学技术大学获得工程硕士学位, 主要从事低速风洞试验技术研究。E-mail:nzs2000@sina.com" ]
- 基金信息：
  
  气动力专用设备配套项目(201453);湖北省科技重大专项(2013AEA003)
- DOI：10.3788/OPE.20172507.1882
  中图分类号： TP391.41
- 收稿日期：2016-11-04，
  
  录用日期：2017-1-7，
  
  纸质出版日期：2017-07-25
- 稿件说明：
移动端阅览
倪章松, 顾艺, 柳庆林, 等. 大视场双目立体视觉柔性标定[J]. 光学精密工程, 2017,25(7):1882-1889.

Zhang-song NI, Yi GU, Qing-lin LIU, et al. Flexible calibration method for binocular stereo vision in large field of view[J]. Optics and precision engineering, 2017, 25(7): 1882-1889.
倪章松, 顾艺, 柳庆林, 等. 大视场双目立体视觉柔性标定[J]. 光学精密工程, 2017,25(7):1882-1889. DOI： 10.3788/OPE.20172507.1882.

Zhang-song NI, Yi GU, Qing-lin LIU, et al. Flexible calibration method for binocular stereo vision in large field of view[J]. Optics and precision engineering, 2017, 25(7): 1882-1889. DOI： 10.3788/OPE.20172507.1882.

摘要

为了实现双目立体视觉系统大范围高精度三维测量，提出了一种大视场双目立体视觉系统柔性标定方法，该方法将系统中各相机内部参数标定与相机间的姿态标定进行分离，标定内部参数时，只需要令标靶相对于相机任意摆放至少三个姿态，对标靶上的编码标志点进行识别，根据标靶上编码标志点信息，建立各姿态下视图的对应关系，粗略计算标志点的初始三维坐标；建立多姿态下逆向投影误差最小的目标函数，采用非线性最小二乘优化获取精确的相机内部参数和标志点三维坐标；最后，建立基于双相机逆向投影误差最小的目标函数，优化得到精确的相机间姿态的外部参数。实验结果表明：当测量空间为1 200 mm×1 000 mm×1 000 mm时，立体视觉系统的测量精度优于0.1 mm，满足大范围双目立体视觉系统的高精度测量需求。

Abstract

In order to achieve high-precision three-dimensional measurement for binocular stereo vision system of large scale

a flexible calibration method in large field of view was proposed

which divided the calibration method into calibrating internal parameters and external parameters. To calibrate the internal parameters

the target was required to pose at least three posture corresponding to cameras

coded target on the target should be identified

according to the information of coded mark points on the target

a corresponding relationship among bottom views under all postures was established

initial three-dimensional coordinate of code targets were roughly calculated. The objective function of minimum reverse projection error under multi-pose was established

nonlinear least squares was used to obtain accurate intrinsic parameter of camera and three-dimensional coordinate of coded mark target. Finally

based on dual-camera

the objective function of minimizing reverse projection error was established

and the accurate extrinsic parameters of pose among cameras were optimized. The experimental result shows:the measurement space is 1 200 mm×1 000 mm×1 000 mm

measurement accuracy of the binocular stereo vision system is superior to 0.1 mm

which meet the requirements of high-precision measurement for binocular stereo visual system in wide vision field.

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