多自由度双目立体视觉系统可以解决传统双目立体视觉视场区域小的问题。避免双目摄像机每转动一个角度都需要重新标定外参数, 提出了一种基于转轴参数的标定方法。只需标定出初始位置时双目摄像机的内外参数, 使摄像机绕转轴旋转, 根据单应性原理测量摄像机与标定模板的位姿关系, 确定转轴方向矢量与轴上点坐标。最终利用Rodrigues旋转矩阵确定旋转已知角度后双目摄像机的外参数, 实现多自由度双目系统的标定。实验结果表明, 提出的方法能准确测量转轴参数, 完成多自由度双目立体视觉系统的快速标定, 提高系统的工作效率。

Multiple Degrees of Freedom (MDOF) binocular stereo vision system can solve the problem of small view field for binocular stereo vision. In order to avoid calibrating the external parameters of binocular cameras again after rotating an angle, a new calibration method based on axis parameters is proposed. The parameters of the binocular camera can be calibrated firstly, and then the direction vector of axis and axial coordinates can be solved according to the principle of homography. Finally, the Rodrigues rotation matrix is used to determine the external parameters of the binocular cameras after rotating any angle, so as to realize the calibration of the MDOF binocular system. Experimental results show that the proposed method can quickly and accurately measure the axis parameters and improve the work efficiency of the MDOF binocular vision system.