基于共面参照物的多立体视觉传感器标定方法  

A calibration method based on coplanar reference objectfor multi stereo vision sensors

作　　者：王颖[1] 张广军[2] 王建林[1] 

机构地区：[1]北京化工大学信息科学与技术学院,北京100029 [2]北京航空航天大学仪器科学与光电工程学院,北京100083

出　　处：《光电子．激光》2008年第6期754-757,共4页Journal of Optoelectronics·Laser

基　　金：国家杰出青年科学基金资助项目(50125518);北京化工大青年教师自然科学研究基金资助项目(QN0729)

摘　　要：提出了基于共面标定参照物结合双电子经纬仪标定多个立体视觉传感器的方法,该方法允许共面标定参照物在测量空间内自由移动,以经纬仪坐标系为中介,利用双电子经纬仪测量不同位置共面参照物上不共线的标定特征点在经纬仪坐标系下的精确的三维坐标,建立共面参照物上所有特征点和经纬仪坐标系的转换关系,构建三维标定特征点,在现场对多个视觉传感器进行标定,保证了测量状态与标定状态完全一致。该标定方法降低了标定设备的成本,简化了标定过程,提高了立体视觉传感器的标定精度。实验结果表明,该方法切实可行。A novel calibration method based on coplanar reference objects and bino-theodolites to calibrate all the primitive parameters of multi stereo vision sensors is proposed. Without restriction to the moving of the coplanar reference object in the effective view field of the measurement system,the bino-theodolites coordinates of the non-collinear feature points lying on the coplanar object can be obtained,the conversation relation between the bino-theodolites coordinates and the coplanar coordinate can be computed. Then the 3D feature points based on coplanar reference object are set. It is guaranteed that the calibration state is identical to the work state. The proposed approach greatly reduces the cost of the calibration equipment and simplifies the calibrating procedure. The expefinental result shows that this method is practical in the vision inspection applications by experiments.

关 键 词：立体视觉 标定 共面参照物 电子经纬仪 视觉检测 

分 类 号：TP212.14[自动化与计算机技术—检测技术与自动化装置]