基于转轴参数的多自由度双目视觉系统标定  

Calibration of multiple degrees of freedom binocular stereo vision system based on axis parameters

作　　者：赵显庭 王晋疆 王陈光 ZHAO Xianting;WANG Jinjiang;WANG Chenguang(Key Laboratory of Opto-Electronics Information Technology Ministry of Education, College of Precision Instruments and Opto-Electronics Engineering, Tianjin University, Tianjin 300072, Chin)

机构地区：[1]天津大学精密仪器与光电子工程学院光电信息技术教育部重点实验室

出　　处：《光学技术》2018年第2期140-146,共7页Optical Technique

基　　金：国家自然科学基金重点项目(61535008)

摘　　要：多自由度双目立体视觉系统可以解决传统双目立体视觉视场区域小的问题。避免双目摄像机每转动一个角度都需要重新标定外参数,提出了一种基于转轴参数的标定方法。只需标定出初始位置时双目摄像机的内外参数,使摄像机绕转轴旋转,根据单应性原理测量摄像机与标定模板的位姿关系,确定转轴方向矢量与轴上点坐标。最终利用Rodrigues旋转矩阵确定旋转已知角度后双目摄像机的外参数,实现多自由度双目系统的标定。实验结果表明,提出的方法能准确测量转轴参数,完成多自由度双目立体视觉系统的快速标定,提高系统的工作效率。Multiple Degrees of Freedom（MDOF）binocular stereo vision system can solve the problem of small view field for binocular stereo vision.In order to avoid calibrating the external parameters of binocular cameras again after rotating an angle,a new calibration method based on axis parameters is proposed.The parameters of the binocular camera can be calibrated firstly,and then the direction vector of axis and axial coordinates can be solved according to the principle of homography.Finally,the Rodrigues rotation matrix is used to determine the external parameters of the binocular cameras after rotating any angle,so as to realize the calibration of the MDOF binocular system.Experimental results show that the proposed method can quickly and accurately measure the axis parameters and improve the work efficiency of the MDOF binocular vision system.

关 键 词：光学测量 摄像机标定 转轴参数 Rodrigues变换 三维重建 

分 类 号：TP394.1[自动化与计算机技术—计算机应用技术]