立体视觉传感器的一种灵活靶标新标定方法  

Novel Calibration Method for Stereo Vision Sensor Using Flexible Target

作　　者：刘震[1] 尚砚娜[1] 

机构地区：[1]北京航空航天大学"精密光机电一体化技术"教育部重点实验室,北京100191

出　　处：《光学学报》2013年第3期198-204,共7页Acta Optica Sinica

基　　金：国家自然科学基金(51175027);北京市自然科学基金(3132029)资助课题

摘　　要：为了解决大视场立体视觉传感器标定难题,提出一种基于灵活靶标的立体视觉传感器现场标定方法。该方法根据立体视觉传感器视场范围,灵活摆放多个小平面靶标,并通过刚性连接装置连接;再将灵活靶标在立体视觉传感器视场前自由移动多次(至少两次),以小靶标之间位置关系不变为约束条件,求解两个摄像机之间的转换矩阵;最后通过非线性优化方法得到转化矩阵的最优解,完成立体视觉传感器现场标定。经实验证明,该方法的标定精度优于小靶标,可得到与大靶标接近的标定精度。In order to solve the calibration problem of the stereo vision sensor with large field-of-view （FOV）, a novel calibration method using flexible target is proposed. According to the stereo vision sensors＇ FOV, several small planar targets are combined by the rigid connection device. The flexible target is moved in front of the stereo vision sensor several times （at least two times） without restriction, and the transformation matrix between the two cameras is solved according to the invariance of the relative positions between small planar targets. The transformation matrix is optimized using the nonlinear optimization method. Experimental result shows that the accuracy of the proposed method is higher than that of a small target, and close to that of a large target.

关 键 词：机器视觉 立体视觉 灵活靶标 大视场 现场标定 

分 类 号：TP212.6[自动化与计算机技术—检测技术与自动化装置]