无重叠视场多相机组安装关系的灵活标定

王刚; 尚洋; 关棒磊; 于起峰

doi:doi:10.3788/cjl201744.0604004

中国激光, 2017, 44 (6): 0604004, 网络出版: 2017-06-08

无重叠视场多相机组安装关系的灵活标定下载： 720次

Flexible Calibration of Setting Relation of a Multi-Camera Rig for Non-Overlapping Views

论文大纲

王刚 ^1,2,*尚洋 ^1,2关棒磊 ^1,2于起峰 ^1,2

作者单位

¹ 国防科学技术大学航天科学与工程学院, 湖南长沙 410073

² 图像测量与视觉导航湖南省重点实验室, 湖南长沙 410073

测量外参数标定手眼标定无重叠视场 measurement extrinsic parameter calibration hand-eye calibration non-overlapping views

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摘要

在多相机组合测量应用场景中, 各相机之间常常存在没有重叠视场的特殊情况, 该条件下多相机组安装关系的标定极具挑战性。针对传统基于全站仪的标定方法过于繁琐的缺点, 基于机器人领域里手眼标定与多相机组安装关系标定的等价关系, 给出了求解多相机组安装关系的基础方程, 推导了利用四元数描述旋转矩阵下基础方程的解算步骤, 提出了一种基于手眼标定的无重叠视场多相机组标定方法。实验结果表明, 与传统标定方法相比, 该方法在不降低测量精度的前提下, 无需其他测量传感器的辅助, 极大减少了人工作业量, 操作更加简单灵活, 工作效率更高。

Abstract

In many measurement applications by using a multi-camera rig, there are some special conditions like non-overlapping views between cameras. Thus, setting relation calibration of a multi-camera rig under these conditions is very challenging. The traditional calibration method based on all station is pretty cumbersome. The basic equation to solve the setting relation of multi-camera rig is presented on the basis of the equivalence relation between hand-eye calibration in the robotics and setting relation calibration of the multi-camera rig. The process of solution for the basic equation by using quaternions to represent rotation matrix is derived. And a novel calibration method of non-overlapping multi-camera rig based on hand-eye calibration is proposed. The experiment results show that the measurement accuracy of the proposed method is the same as that of the traditional calibration method. The proposed method greatly reduces the manual task, and it has features of easy and flexible operation and higher efficiency without the help of other measuring sensors.

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王刚, 尚洋, 关棒磊, 于起峰. 无重叠视场多相机组安装关系的灵活标定[J]. 中国激光, 2017, 44(6): 0604004. Wang Gang, Shang Yang, Guan Banglei, Yu Qifeng. Flexible Calibration of Setting Relation of a Multi-Camera Rig for Non-Overlapping Views[J]. Chinese Journal of Lasers, 2017, 44(6): 0604004.

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