提出了一种基于棋盘格单张图片的畸变校正方法以解决折反射图像畸变严重的问题。首先给出两种等价方法校正折反射图像切向畸变。其次, 针对展开后的径向畸变问题, 分析棋盘格特征点的图像坐标与空间坐标的对应关系, 提出了径向畸变的校正模型。然后, 为提高算法的执行效率, 将两次校正统一为一个校正映射表, 并结合折反射图像的对称性, 对映射表的存储空间进行了优化。最后, 将映射表用于此相机拍摄的其他图片的校正中。通过物理实验验证了校正方法的可行性和正确性, 且对单帧图像的处理时间仅为30 ms, 可广泛应用于安全监控和机器人导航等领域。

A distortion correction methodology based on calibration plate was proposed in order to reduce the distortion of omnidirectional images. Firstly, two equivalent methods for tangential distortion unwrapping correction were discussed. For the problem of radial distortion after unfolding, the calibration board space and image coordinates of the correspondence were analyzed, and the radial distortion correction method was obtained. Next, the two corrections were integrated into one correction map to boost the efficiency of the algorithm, and the storage space was optimized based on the symmetry of the omnidirectional images. Lastly, the feasibility and correctness of the calibration method was verified by experiment. It takes 30 milliseconds to process the single-frame image, which can be widely used in security monitoring and robot navigation.