光学学报, 2016, 36 (11): 1115002, 网络出版: 2016-11-08
基于合作目标姿态测量的新型摄像机校准方法
Novel Camera Calibration Method Based on Cooperative Target Pose Measurement
机器视觉 摄像机标定 正交隐消点 合作目标 machine vision camera calibration orthogonal vanishing point cooperative target
摘要
针对在姿态测量中摄像机成像的复杂畸变问题,提出了一种新型的摄像机校准方法。该方法不需要高精度的标定参照物,只需要利用标定靶标间的相互约束关系建立摄像机内参数与靶标特征的约束方程,从而线性求解摄像机内参数。通过非线性优化方法优化摄像机内参数,完成摄像机的标定。仿真和实验结果表明,所提出的算法对图像噪声不敏感。测量精度和可靠性都得到有效的改善,精度可达0.03 pixel,说明该算法在合作目标的姿态测量中具有方法易于实现、测量精度高、可靠的优点。
Abstract
In order to solve the distortion problem of camera imaging process in pose measurement, a novel camera calibration method is proposed. The method does not need high precision calibration reference, and only utilizes the mutual constraint relationship among the calibration targets to establish the constraint equation between camera intrinsic parameters and target characteristics, subsequently camera intrinsic parameters are solved linearly. Optimization of camera intrinsic parameters is made by nonlinear optimization method, thus, the camera calibration is accomplished. Simulation and experimental results show that the proposed algorithm is not sensitive to image noise. The measurement accuracy and reliability are effectively improved, and the precision can reach 0.03 pixel, which indicates that the algorithm has advantages of easy implementation, high measurement precision and reliable in the attitude measurement of the cooperative object.
王艳, 袁峰. 基于合作目标姿态测量的新型摄像机校准方法[J]. 光学学报, 2016, 36(11): 1115002. Wang Yan, Yuan Feng. Novel Camera Calibration Method Based on Cooperative Target Pose Measurement[J]. Acta Optica Sinica, 2016, 36(11): 1115002.