五自由度立体视觉平台中摄像机的标定  

Camera Calibration of Five Freedoms Stereo Vision System

作　　者：杜欣[1] 赵晓光[1] 徐德[1] 谭民[1] 

机构地区：[1]中科院自动化所复杂系统与智能科学重点实验室,北京100080

出　　处：《计算机工程与应用》2004年第20期8-10,66,共4页Computer Engineering and Applications

基　　金：国家863高技术研究生发展计划资助项目(编号:2002AA421170)

摘　　要：文章从立体视觉与机器人控制集成的角度出发,建立了一个主动立体视觉跟踪和定位系统,用于柔性装配线中装配零件的运动跟踪和装配工位的精确定位。该系统采用基于平面正方形的摄像机标定方法,该方法要求摄像机在三个(或三个以上)不同的位置摄取一个标准的正方形的图像,经过图像处理找到正方形的四个顶点在图像上的坐标,通过计算就可以线性求解摄像机全部内外参数。该方法简单易懂,非常适合于摄像机内外参数频繁标定的场合,计算速度快、所需设备简单、实用性好。文章的最后,给出了使用文中提出方法进行标定的实验结果,说明了该方法的有效性。From the view of combination of stereo vision and robot control,an active stereo vision for tracking and lo-cation system is built to work on flex line.A technique for camera calibration based on plane square is proposed.It only requires the camera to observe a square at three(or more)different unknown orientations.After the image processing the four corners can be found,the intrinsic and extrinsic parameters can be calculated.The proposed technique is easy to understand and can be used at the situation that camera calibration is often needed.The speed of calculation is fast.The method is accurate without special reference objects.At the last of the paper,the results of computer simulations prove that the method is correct.

关 键 词：立体视觉 摄像机标定 摄像机内外参数 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]