基于新型双目机构的立体视觉系统标定  

Calibration of Stereo Vision System Based on a New Binocular Device

作　　者：于舒春[1] 朱延河[1] 闫继宏[1] 赵杰[1] 

机构地区：[1]哈尔滨工业大学机器人研究所,黑龙江哈尔滨150080

出　　处：《机器人》2007年第4期353-356,362,共5页Robot

基　　金：国家863计划资助项目(2001AA422250)

摘　　要：为了获得更大的摄像机视野和更高的系统鲁棒性,研制了一种新型的双目机构;并以此机构为核心搭建了立体视觉系统,之后对整个系统进行了标定.为有效地消除图像的畸变,提出了一种显—隐式畸变校正方法;此方法可以同时校正图像的径向和切向畸变,用最小二乘法即可求解.提出了一种简单而精确的分步旋转法来校准左右图像的极线.实验结果表明,经过显—隐式畸变校正方法和分步旋转法处理的立体图对,可以满足立体匹配的要求.In order to obtain larger camera visual field and higher system robustness, a new binocular device is developed. A stereo vision system based on this binocular device is built and calibrated. In order to eliminate image distortion, an explicit-implicit distortion correction method is presented, which can correct radial and tangential image distortions and can be solved with least square method. A compact and precise step-rotation method is used to rectify the epipolar lines. Experimental results show that the stereo image pairs processed by explicit-implicit distortion correction method and step-rotation method can meet the requirements of stereo matching.

关 键 词：立体视觉 畸变校正 极线校准 双目机构 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]