基于ICP算法的双目标定改进方法研究

双目视觉作为一种非接触三维(3D)测量技术, 其位姿标定结果的好坏将直接影响3D物体测量的精度。基于迭代最近点(ICP)算法获得两组点集之间平移和旋转参数的原理, 提出了一种在传统双目位姿标定结果的基础上补偿双目标定矩阵改善精度的方法。介绍了摄像机模型、双目视觉测量模型和ICP算法的基本思想。用双目摄像机标定的外参数和相同的靶标坐标系获得双目视觉位姿矩阵, 在此提出基于ICP算法获得两组点集的旋转平移矩阵补偿双目位姿矩阵的方法, 以及相应的靶标角点坐标投影误差分析模型。双目摄像机采集9组5×7个角点的靶标标定图像, 应用ICP算法补偿双目位姿矩阵, 并采用误差模型对9组标定结果进行了分析, 双目结构光标定改进实验结果表明, 应用ICP算法补偿双目标定模型能显著地提高双目标定的精度。

Abstract

Binocular vision is a new kind of non-contact three-dimensional (3D) measurement technology, the calibration result will directly affect the precision of the 3D object measurement. Based on the iterative closest point (ICP) algorithm principle to obtain translation and rotation parameters between two point sets, a method is proposed by compensating binocular stereo calibration matrix to improve the precision on the basis of the results of traditional binocular pose calibration. The camera model, binocular vision measurement model and the basic steps of the ICP algorithm are introduced. The external parameters of binocular vision and the same target plane are used for obtaining binocular vision pose matrix, and a method is proposed by using the rotation and translation matrix of the two groups of point set to compensate binocular pose matrix based on ICP algorithm. The analysis model of corresponding target point coordinates projection error is established. Nine sets of calibration images including 5×7 points are collected, and the binocular vision calibration parameters are obtained, and the pose matrix using the ICP algorithm is compensated and nine sets of calibration error by using points coordinates projection error model are analyzed. Experimental results show that the application of ICP algorithm used to compensate the binocular calibration model could significantly improve the accuracy of binocular calibration.

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郭清达, 全燕鸣, 于广平, 武彦林. 基于ICP算法的双目标定改进方法研究[J]. 光学学报, 2016, 36(12): 1215003. Guo Qingda, Quan Yanming, Yu Guangping, Wu Yanlin. Improved Binocular Calibration Based on ICP Algorithm[J]. Acta Optica Sinica, 2016, 36(12): 1215003.

基于ICP算法的双目标定改进方法研究

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