首页 > 论文 > 光学学报 > 39卷 > 10期(pp:1015003--1)

基于空间约束的非重叠视场相机精确标定方法

Accurate Calibration Method for Non-Overlapping Fields of Cameras Based on Spatial Constraints

  • 摘要
  • 论文信息
  • 参考文献
  • 被引情况
  • PDF全文
分享:

摘要

随着工业技术的迅速发展,视觉测量系统以其非接触、易获取、高灵活性和高精度等特性,受到了广泛的应用。在大范围的标定系统中,因单目大视场测量装置的覆盖区域有限,多相机视觉系统正受到越来越多的关注。

Abstract

Aiming at the problem of the complexity of the existing global calibration method for multi-camera system with non-overlapping fields, an accurate calibration method with non-overlapping fields of view (FOV) cameras based on spatial constraints is proposed. Firstly, spliced small targets distributed in the field of respective camera are fixed together to make up a large calibration planar. A large-field camera is used to measure the spliced small targets, and the obtained relationship between the calibration plates is used as the correlated parameter between cameras. Then, small targets in the fields of view are obtained by non-overlapping FOV cameras, the reprojection error functions of cameras can be obtained based on spatial constraints, and the transformation matrix between non-overlapping FOV cameras is nonlinearly optimized by the Levenberg-Marquardt algorithm. The experimental results show that the reprojection errors of the global calibration method are 0.33 mm and 0.57 mm for the X-axes and Y-axes, respectively. It achieves global calibration of non-overlapping FOV cameras with high precision and stability.

Newport宣传-MKS新实验室计划
补充资料

DOI:10.3788/AOS201939.1015003

所属栏目:机器视觉

基金项目:国家自然科学基金;

收稿日期:2019-05-20

修改稿日期:2019-06-24

网络出版日期:2019-10-01

作者单位    点击查看

马玛双:火箭军工程大学导弹工程学院, 陕西 西安 710025
杨小冈:火箭军工程大学导弹工程学院, 陕西 西安 710025
李传祥:火箭军工程大学导弹工程学院, 陕西 西安 710025
齐乃新:火箭军工程大学导弹工程学院, 陕西 西安 710025
宋平:火箭军工程大学导弹工程学院, 陕西 西安 710025

联系人作者:马玛双(mamas008@163.com)

备注:国家自然科学基金;

【1】Xia R B, Hu M B, Zhao J B et al. Global calibration of non-overlapping cameras: state of the art. Optik. 158, 951-961(2018).

【2】Zhao Y H, Yuan F, Ding Z L et al. Global calibration method for multi-vision measurement system under the conditions of large field of view. Journal of Basic Science and Engineering. 19(4), 679-688(2011).
赵玉华, 袁峰, 丁振良 等. 大视场多视觉传感器测量系统的全局标定方法. 应用基础与工程科学学报. 19(4), 679-688(2011).

【3】Xu Z Y, Wang Y and Yang C. Multi-camera global calibration for large-scale measurement based on plane mirror. Optik. 126(23), 4149-4154(2015).

【4】Agrawal A. Extrinsic camera calibration without a direct view using spherical mirror. [C]∥2013 IEEE International Conference on Computer Vision, December 1-8, 2013, Sydney, Australia. New York: IEEE. 2368-2375(2013).

【5】Huang H F, Li N N, Guo H W et al. Calibration of non-overlapping cameras based on a mobile robot. [C]∥2015 5th International Conference on Information Science and Technology (ICIST), April 24-26, 2015, Changsha, China. New York: IEEE. 328-333(2015).

【6】Li S G, Harada T and Zou W H. Estimating relative pose between nonoverlapping cameras by four laser pointers based on general camera model. [C]∥2017 4th IAPR Asian Conference on Pattern Recognition (ACPR), November 26-29, 2017, Nanjing, China. New York: IEEE. 168-172(2017).

【7】Zou W H and Li S G. Calibration of nonoverlapping in-vehicle cameras with laser pointers. IEEE Transactions on Intelligent Transportation Systems. 16(3), 1348-1359(2015).

【8】de Fran?a J A, Stemmer M R et al. . A new robust algorithmic for multi-camera calibration with a 1D object under general motions without prior knowledge of any camera intrinsic parameter. Pattern Recognition. 45(10), 3636-3647(2012).

【9】Quan Y M, Qin Z B, Li W S et al. Multi-camera calibration of one-dimensional calibration objects based on normalization algorithm. Acta Optica Sinica. 39(4), (2019).
全燕鸣, 覃镇波, 李维诗 等. 基于归一化算法的一维标定物多相机标定. 光学学报. 39(4), (2019).

【10】Liu Z, Zhang G J, Wei Z Z et al. A global calibration method for multiple vision sensors based on multiple targets. Measurement Science and Technology. 22(12), (2011).

【11】Huo J, Yang N, Yang M et al. Calibration of camera with wide field-of-view based on spliced small targets. Infrared and Laser Engineering. 42(6), 1474-1479(2013).
霍炬, 杨宁, 杨明 等. 基于小靶标拼接的大视场摄像机标定方法. 红外与激光工程. 42(6), 1474-1479(2013).

【12】Su J D, Qi X H and Duan X S. Plane pose measurement method based on monocular vision and checkerboard target. Acta Optica Sinica. 37(8), (2017).
苏建东, 齐晓慧, 段修生. 基于单目视觉和棋盘靶标的平面姿态测量方法. 光学学报. 37(8), (2017).

【13】Hu M B, Xia R B, Chen S L et al. Global calibration of non-overlapping field of views cameras based on photogrammetry Modular Machine Tool & Automatic Manufacturing Technique. 2018(10), 89-92(0).
胡茂邦, 夏仁波, 陈松林 等. 基于摄影测量的非重叠视场相机全局标定 组合机床与自动化加工技术. 2018(10), 89-92(0).

【14】Xia R B, Hu M B, Zhao J B et al. Global calibration of multi-cameras with non-overlapping fields of view based on photogrammetry and reconfigurable target. Measurement Science and Technology. 29(6), (2018).

【15】Qi N X, Yang X G, Li X F et al. Visual odometry algorithm based on ORB features and LK optical flow. Chinese Journal of Scientific Instrument. 39(12), 216-227(2018).
齐乃新, 杨小冈, 李小峰 等. 基于ORB特征和LK光流的视觉里程计算法. 仪器仪表学报. 39(12), 216-227(2018).

【16】Wu Q H, Chen H, Zhu S S et al. Fast calibration method of large dimension measurement system based on multi-camera array. Acta Optica Sinica. 38(12), (2018).
吴庆华, 陈慧, 朱思斯 等. 一种多相机阵列大尺寸测量系统快速标定方法. 光学学报. 38(12), (2018).

【17】Huo J, Li Y H and Yang M. Multi-camera calibration method based on minimizing the difference of reprojection error vectors. Journal of Systems Engineering and Electronics. 29(4), 844-853(2018).

【18】Yang D S, Bi S S, Cai Y R et al. Wide-area monocular plane measurement based on calibration on a parallel plane using multiple targets. Acta Optica Sinica. 37(10), (2017).
杨东升, 毕树生, 蔡月日 等. 基于平行面多靶标标定的单目大视场平面测量. 光学学报. 37(10), (2017).

引用该论文

Mashuang Ma,Xiaogang Yang,Chuanxiang Li,Naixin Qi,Ping Song. Accurate Calibration Method for Non-Overlapping Fields of Cameras Based on Spatial Constraints[J]. Acta Optica Sinica, 2019, 39(10): 1015003

马玛双,杨小冈,李传祥,齐乃新,宋平. 基于空间约束的非重叠视场相机精确标定方法[J]. 光学学报, 2019, 39(10): 1015003

您的浏览器不支持PDF插件,请使用最新的(Chrome/Fire Fox等)浏览器.或者您还可以点击此处下载该论文PDF