MiroSot机器人足球视觉系统图象畸变的几何校正  

Geometric correction to image distortion in vision system of MiroSot robot soccer

作　　者：吴佩杰[1] 张奇志[1] 

机构地区：[1]北京信息科技大学自动化学院,北京100192

出　　处：《北京机械工业学院学报》2009年第1期49-52,共4页Journal of Beijing Institute of Machinery

基　　金：北京市教委人才强教项目资助(PXM2008_014215_055942)

摘　　要：针对MiroSot足球机器人视觉系统中的图像畸变,采用了一种新的几何畸变数学模型几何校正方法。考虑摄像头不在场地中央正上方及摄像头偏转后的情形,对镜头几何畸变数学模型进行了修正。通过取场地特征点坐标构成方程组,解出模型中的待定系数。采用牛顿迭代法实现全场坐标的校正运算,并在VC6.0上实现了新的几何校正算法,结果表明场地图像畸变得到了有效的校正。Based on a valid model about image distortion of camera, the remedy method for image distortion in the vision system of MiroSot robot soccer is analyzed in this paper. Given both displacement error and deflection error existing in the setting of camera, the model of image distortion is improved. The unconvinced coefficients in the new model are sought by evaluating roots of the linear equations built upon coordinate samples of character points. The coordinates of all points in the field are transformed by using Newton-Raphson method. In the end, the remedy method is realized by using VC6.0 and proved a feasible one by its result.

关 键 词：机器人足球 视觉系统 图象畸变 几何校正 

分 类 号：TP242.62[自动化与计算机技术—检测技术与自动化装置]