月球车鱼眼相机的标定方法研究  

A Calibration Method for Fish-Eye Camera of Lunar Rover

作　　者：王保丰[1,2] 毛晓艳[3] 唐歌实[2] 

机构地区：[1]中国科学院遥感应用研究所,北京100101 [2]北京航天飞行控制中心,北京100094 [3]北京控制工程研究所,北京100190

出　　处：《宇航学报》2011年第4期933-939,共7页Journal of Astronautics

摘　　要：提出了一种两步法来高精度地标定月球车中鱼眼相机的方法。第一步,采用球面投影方程来表示鱼眼相机的成像模型,并建立球面投影与透视投影间的转换关系。利用直线在球面投影中的像为椭圆弧这一性质,求得球面投影中像主点坐标和球半径。第二步,用求得的上述参数将球面投影图像转化为透视投影图像,并进行相机内参数的标定。用新标定得到的像主点坐标和球半径代替上次结果,再次进行投影转换和内参数标定,按此进行迭代计算,直至标定结果收敛于设定阈值。最后,本文还通过了一组实验验证了该方法的正确性。A two-step method is proposed in the paper for calibrating fish-eye camera of Lunar Rover accurately.First,the spherical projection equation is used as the fish-eye camera projection model,and the relation between spherical projection and perspective projection is modeled.Then using the property that the spherical projection of a line is ellipse arc,the coordinates of principal point of photograph and spherical radius are calculated.Second,by calculated parameters,spherical projection is transformed to perspective projection.And intrinsic parameters of fish-eye camera are calibrated.New calculated parameters are used to supersede old ones to calibrate iteratively the intrinsic parameters.The process stops until the calibrated result is converged to a design value.An experiment is carried out to validate the method in the paper.

关 键 词：鱼眼镜头 立体视觉 相机标定 内参数 

分 类 号：V526[航空宇航科学与技术—人机与环境工程]