一种新的基于球面模型的鱼眼镜头标定方法

提出了一种新的基于二维靶标的球面模型鱼眼镜头标定方法。根据球面成像模型中圆弧上的点与图像坐标系像点之间的约束关系，利用平面靶上的一根直线上的点，初步估计出摄像头的内部参数。利用平面靶上棋盘格角点在世界坐标系上的坐标点与其在球面坐标系下坐标的映射关系，求出相应的外部参数的初始值。以这些角点在图像中的实际坐标与重投影后坐标之间的均方差为优化参数，进行非线性优化，求出内部参数，畸变系数和外部参数的精确解。通过实验验证，该方法能够快速的估计鱼眼镜头的内、外部参数的初始值，具有较高的精度，能够满足实际应用的需求。

Abstract

A new calibration method based on the spherical model for fisheye lens using two- dimensionally calibration target is presented. According to the relationship between the point on arc and the image points for the spherical model, the internal parameters by the points in a straight line on the plane target are preliminary estimate. And the corresponding external parameters by the mapping between the world points and the points in arc on the sphere are calculated. The rooy- mean- square error of the image points and the reprojection points are taken as the optimization parameter and the exact solution of the internal parameters, the distortion coefficients and the external parameters are solved by the nonlinear optimization algorithm. The experiment presents that the proposed method can quickly estimate the initial values of the internal and external parameters for the fisheye lens with high-precision and meet the practical applications.

参考文献

[1] 王永仲. 鱼眼镜头光学[M]. 北京: 科学出版社, 2006: 5~15.

Wang Yongzhong. Fisheye Lens Optics[M]. Beijing: Science Press, 2006: 5~15.

[2] 贾云得, 吕宏静, 徐岸, 等, 一种鱼眼镜头成像立体视觉系统的标定方法[J]. 计算机学报, 2000, 23(11): 1215-1219.

Jia Yunde, Lü Hongjing, Xu An, et al.. Fish-eye lens camera calibration for stereo rision system[J]. Chinese Journal of Computers. 2000, 23(11): 1215-1219.

[3] 张伟. 鱼眼图像校正算法研究[D]. 南京: 南京邮电大学, 2011: 1-5.

Zhang Wei. Research on Fish-Eye Image Correction Algorithm[D]. Nanjing: Nanjing University of Posts and Telecommunications, 2011: 1-5.

[4] 张琨, 王翠荣. 基于圆分割的鱼眼镜头图像畸变校正算法[J]. 东北大学学报, 2011, 32(9): 1240-1243.

Zhang Kun, Wang Cuirong. Coreection algorithm of fish-eye lens image distortion based on the circle segmentation[J]. Journal of Northeastern University Natural Science, 2011, 32(9): 1240-1243.

[5] 孙雪. 基于全方位视觉的移动机器人陆标定位技术研究[D]. 天津: 河北工业大学, 2009: 1-9.

Sun Xue. Researth on Mobile Robot Landmark Fix Technology based on Omin-Directional Vision[D]. Tianjin: Hebei University of Technology, 2009: 1-9.

[6] C B Burchardt, K Voss. A new algorithm to correct fish-eye and strong wide-angle-lens distortion from single images[C]. Image Processing, Thessaloniki, IEEE, 2001: 225-228.

[7] 刘旭坤. 大畸变图像校正关键技术的研究[D]. 天津: 河北工业大学, 2008: 1-12.

Liu Xukun. Study on the Key Technologies of Serious Image Distortion Rectification[D]. Tianjin: Hebei University of Technology, 2008: 1-12.

[8] M Julien, A Sebastien, R Yassine. 3D reconstruction of urban environments based on fisheye stereo vision[C]. 8th International Conference on Signal Image Technology and Internet Based Systems, 2012: 36-41.

[9] 苏新康, 满家巨, 成媛媛. 鱼眼图像到透视投影图像的还原和简单漫游[J]. 湘潭大学自然科学学报, 2007, 29(2): 119-122.

Su Xinkang, Man Jiaju, Cheng Yuanyuan. A method transforming fisheye image to perspective image and simple navigation[J]. Natural Science Journal of Xiangtan University, 2007, 29(2): 119-122.

[10] 张宝龙, 李丹, 张少敬, 等. 非球面鱼眼镜头设计及畸变校正算法研究[J]. 光学学报. 2014, 34(12): 1222001.

Zhang Baolong, Li Dan, Zhang Shaojing, et al.. Design of aspheric fisheye lens and study of distortion correction algorithms[J]. Acta Optica Sinica, 2014, 34(12): 1222001.

[11] 祝海江, 徐晓波, 周靖林. 基于球面透视投影旋转矩阵的鱼眼图像匹配[J]. 光学学报, 2013, 33(2): 0215001.

Zhu Haijiang, Xu Xiaobo, Zhou Jinglin. Fisheye image matching based on rotation matrix under spherical perspective projection[J]. Acta Optica Sinica, 2013, 33(2): 0215001.

[12] 英向华, 胡占义. 一种基于球面透视投影约束的鱼眼镜头矫正方法[J]. 计算机学报, 2003, 26(12): 1702-1707.

Ying Xianghua, Hu Zhanyi. Fisheye lense distortion correction using spherical perspective projection constraint[J]. Chinese Journal of Computers, 2003, 26(12): 1702-1707.

[13] C Mei. Laser-Augmented Omnidirectional Vision for 3D Localisation and Mapping[D]. Paris: Ecole Nationale Superieure des Mines de Paris, 2007: 10-22.

[14] 伏燕军, 杨坤涛, 邹文栋, 等. 基于Levenberg-Marquardt算法的图像拼接[J]. 激光杂志, 2007, 28(5): 46-48.

Fu Yanjun, Yang Kuntao, Zou Wendong, et al.. image mosaic based on Levenberg-Marquardt algorithm[J]. Laser Journal, 2007, 28(5): 46-48.

[15] 张鸿燕, 耿征. Levenberg-Marquardt算法的一种新解释[J]. 计算机工程与应用, 2009, 45(19): 5-8.

Zhang Hongyan, Geng Zheng. Novel interpretation for Levenberg-Marquardt algorithm[J]. Computer Engineering and Applications, 2009, 45(19): 5-8.

吴泽俊, 吴庆阳, 张佰春. 一种新的基于球面模型的鱼眼镜头标定方法[J]. 中国激光, 2015, 42(5): 0508006. Wu Zejun, Wu Qingyang, Zhang Baichun. A New Calibration Method for Fisheye Lens Based on Spherical Model[J]. Chinese Journal of Lasers, 2015, 42(5): 0508006.

一种新的基于球面模型的鱼眼镜头标定方法

关于本站 Cookie 的使用提示

全站搜索

一种新的基于球面模型的鱼眼镜头标定方法

相关论文

相关资讯

关于本站 Cookie 的使用提示

全站搜索