二维旋转平台下的相机参数标定

顾国华; 王佳节; 陈钱; 钱惟贤

doi:10.3788/OPE.20172507.1890

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二维旋转平台下的相机参数标定

信息科学 | 更新时间：2020-07-07

- 二维旋转平台下的相机参数标定
- Camera parameter calibration based on two-dimensional rotating platform
- 光学精密工程 2017年25卷第7期页码：1890-1899
- 作者机构：
  
  南京理工大学电子工程与光电技术学院, 江苏南京 210094
- 作者简介：
  
  [ "顾国华(1966-), 男, 江苏无锡人, 博士, 研究员, 博士生导师, 分别于1989、1996、2001年获南京理工大学学士、硕士和博士学位, 主要研究光电成像理论与技术、图像识别处理及应用技术。E-mail:gghnjust@163.com" ]
  [ "王佳节(1993-), 男, 安徽芜湖人, 硕士研究生, 2015年于南京理工大学电子工程与光电技术学院获得学士学位, 现为南京理工大学电子工程与光电技术学院在读硕士生, 主要从事图像处理方面的研究。E-mail:njustwangjiajie@foxmail.com" ]
- 基金信息：
  
  国家自然科学基金面上项目(61675099);国家自然科学基金资助项目(61271332);江苏省基础研究计划青年基金资助项目(BK20130769)
- DOI：10.3788/OPE.20172507.1890
  中图分类号： TP394.1
- 收稿日期：2017-01-12，
  
  录用日期：2017-3-20，
  
  纸质出版日期：2017-07-25
- 稿件说明：
移动端阅览
顾国华, 王佳节, 陈钱, 等. 二维旋转平台下的相机参数标定[J]. 光学精密工程, 2017,25(7):1890-1899.

Guo-hua GU, Jia-jie WANG, Qian CHEN, et al. Camera parameter calibration based on two-dimensional rotating platform[J]. Optics and precision engineering, 2017, 25(7): 1890-1899.
顾国华, 王佳节, 陈钱, 等. 二维旋转平台下的相机参数标定[J]. 光学精密工程, 2017,25(7):1890-1899. DOI： 10.3788/OPE.20172507.1890.

Guo-hua GU, Jia-jie WANG, Qian CHEN, et al. Camera parameter calibration based on two-dimensional rotating platform[J]. Optics and precision engineering, 2017, 25(7): 1890-1899. DOI： 10.3788/OPE.20172507.1890.

摘要

针对可旋转相机的参数标定问题，提出了一种基于二维旋转平台的相机成像模型。首先，通过一对坐标系的变换与逆变换，将相机的旋转平移变换关系转换为二维旋转平台纯旋转关系；然后，借助旋转平台读数以及相机到旋转平台的固定变换关系，实现相机内参的精确标定以及任意位置间相机外参的相互转换；最后，利用标定出的相机与旋转平台间变换矩阵实现不同位置相机参数的转换。相比于传统固定相机的标定方法，本文提出的方法标定获得的相机内参具有更好的收敛性，而且能够标定出相机到旋转平台的变换矩阵，从而实现相机坐标系变换参数的精确计算。实验结果表明，在标定模板图像数量相同时，与常用的张氏标定法相比，本文提出的方法标定获得的相机内参具有更快的收敛速度。棋盘格角点重投影坐标与实际拍摄图像中棋盘格角点坐标相对比，平均误差约为0.12 pixel，表明该方法具有较高精度。

Abstract

A camera imaging model based on two-dimensional rotating platform was proposed in order to solve the problem of parameter calibration for rotatable camera. Firstly

through the transformation and inverse transformation of coordinate systems

the rotation translation transformation of the camera was converted to the pure rotation motion of the two-dimensional rotating platform; Then

taking advantages of the readings of the rotating platform and the fixed transformation between camera and rotating platform

accurate calibration for internal parameters of the camera and mutual transformation for the extrinsic parameters at optional position of the camera were realized; Finally

taking advantages of calibrated transformation matrix between the camera and the rotating platform

the transformation of camera parameters at different positions were realized. Comparing with the traditional calibration method for the fixed camera

internal parameters of the camera obtained from the calibration method proposed have better convergence

and the transformation matrix from the camera to the rotating platform could be calibrated in order to realize accurate calculation for transformation parameters on the coordinate system of the camera. The experimental result shows that when the quantity of calibrated template images are identical

comparing with the common Zhang's calibration

internal parameters of the camera obtained from the calibration method proposed have faster convergence rate. Comparing with x-comers coordinate in actual shooting images

the average error of the x-comers re-projection coordinate is about 0.12 pixel

which shows the method has higher accuracy.

关键词

Keywords

references

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