煤仓煤位测量用摄像机参数标定方法  

Calibration method of camera parameters for coal level measurement in coal bin

作　　者：江静[1,2] 朱元忠[3] 

机构地区：[1]中国矿业大学(北京)机电与信息工程学院,北京100083 [2]华北科技学院机电工程学院,河北燕郊065201 [3]北京工业职业技术学院电气与信息工程学院,北京100042

出　　处：《工矿自动化》2015年第7期83-87,共5页Journal Of Mine Automation

基　　金：国家自然科学基金重点资助项目(51134024);国家高技术研究发展计划(863计划)资助项目(2012AA062203)

摘　　要：针对煤仓煤位光电测量装置中的摄像机内外参数标定问题,提出了一种基于二维平面方格的摄像机参数标定方法。该方法采用黑白二值划分标定板图案,以黑白方格的交点为标定角点,同时考虑摄像机在不同视角的成像姿态,以获得尽可能丰富的位置信息;根据角度特征的旋转不变性,采用Harris算法提取角点,并采用非线性最优化方法进行参数标定。在神华神东煤炭集团大柳塔煤矿地面煤仓进行了工业性试验,结果表明,该方法能够获得较好的煤仓煤位深度标定结果,误差在许可范围内,满足煤仓煤位深度估计的应用需要。A calibration method of camera parameters based on planar grid was proposed to deal with the problem of intrinsic and extrinsic parameters calibration for photoelectric measuring device in coal bin.Two values of black and white are used to divide pattern on the calibration plate,and the intersection points of black and white values are taken as calibration points.Imaging postures with different perspectives are considered to obtain position information as many as possible.According to rotation invariance of angle feature,Harris algorithm is used to extract angular points,and nonlinear optimization method is adopted to calibrate parameters.The industrial tests are taken in coal bin of Daliuta coal mine of Shendong Coal Group.The test results show that the method can achieve better calibration results of coal level,and error is accepted,which meets needs of depth estimation of coal level in coal bin.

关 键 词：煤仓煤位检测 摄像机参数 参数标定 平面黑白格 HARRIS算法 

分 类 号：TD679[矿业工程—矿山机电]