大视场多视觉传感器测量系统的全局标定方法  

Global Calibration Method for Multi-vision Measurement System under the Conditions of Large Field of View

作　　者：赵玉华[1,2] 袁峰[1] 丁振良[1] 李晶[1] 

机构地区：[1]哈尔滨工业大学自动化测试与控制系,黑龙江哈尔滨150001 [2]哈尔滨理工大学应用科学学院,黑龙江哈尔滨150080

出　　处：《应用基础与工程科学学报》2011年第4期679-688,共10页Journal of Basic Science and Engineering

基　　金：国家自然科学基金(50275040)

摘　　要：研究了姿态测量系统中多视觉传感器在大视场条件下的标定技术.提出了一种基于激光跟踪仪的多视觉测量系统的全局标定法.利用激光跟踪仪在现场构建系统总体坐标系.通过对测量系统中的屏幕扫描拟合基准面作为标定板,然后在其表面设置标定点,并精确测定共面标定点位置.针对一阶径向畸变的摄像机模型,分步标定各参数,且全部采用线性方法求解,避免了非线性优化中的不稳定性.通过坐标反求的方法应用贝塞尔公式计算标准差.实验结果表明,在8000mm×6000mm范围内可以得到0.47mm的测量精度.可以满足多视觉测量系统的总体测量精度要求.Calibration of multiple cameras is a preliminary step toward attitude measurement system based on optical imaging measurement.A new global calibration method using laser tracker is described. The laser tracker is applied for getting two planes fitting using the built-in software by scanning the screens at both sides of measuring operation site.Ground coordinate is established and the coordinates of coplanar calibration points is obtained by the laser tracker.The relationship between the points of object space and the points of image space is described by establishing one term radial-distorted camera model,which provides parameters solution through a linear algorithm according to the step-by-step order instead of traditional nonlinear optimization＇s.Standard deviation is calculated by Bessel formula.By the measurement precision of 0.47mm in the measurement range of 8000mm×6000mm,it is proved that the proposed method is suitable for the attitude measurement system.

关 键 词：多视觉传感器 姿态测量 全局标定 标定精度 

分 类 号：TP412.41[自动化与计算机技术]