基于平行直线的三自由度云台摄像机标定  

Calibration method based on parallel lines for three degree of freedom PTZ camera

作　　者：伍显胜[1] 徐荣华[2] 高雪峰[2] 钱东海[1] 

机构地区：[1]上海大学精密机械工程系,上海200072 [2]浙江中烟工业有限责任公司宁波卷烟厂,浙江宁波315040

出　　处：《计算机工程与设计》2015年第10期2801-2806,共6页Computer Engineering and Design

摘　　要：针对卷烟厂中机器人烟包解包系统的三自由度云台摄像机,提出一种基于平行直线的摄像机自标定方法。根据三自由度云台建立相应的摄像机成像模型,确定需要标定的摄像机内外参数;利用烟包上平行直线在图像中对应的坐标,求出需要的消失点的图像坐标,结合几何关系以及相关的成像原理计算摄像机的内外参数。该方法利用烟包上表面的平行直线实现摄像机的标定,不需要制作特定的标靶,能进行实时标定。For the three degree of freedom（DOF）pan-tilt-zoom（PTZ）camera of the cigarette package unpacking system in cigarette factory,a self-calibrating method of camera based on parallel lines was proposed.Some intrinsic and extrinsic parameters of the camera needed to calibrate were made clear after establishing a corresponding camera imaging model according to the 3 DOF PTZ.The image coordinates of vanishing points were obtained using the image coordinates of parallel lines on the cigarette package.The intrinsic and extrinsic parameters of the camera were calculated by combining these image coordinates with the geometric relations as well as the correlative imaging principle.The method proposed utilizes the parallel lines which are on the surface of cigarette packages to achieve the camera calibration,so that there is no need to make a specific calibration target.

关 键 词：摄像机标定 平行直线 三自由度云台 烟包解包 消失点 

分 类 号：TP391.4[自动化与计算机技术—计算机应用技术]