P4P法相机姿态标定精度分析  

Analysis of Attitude Calibration Precision of P4P Camera

作　　者：朱帆 于芳苏[2] 吴易明[2] 郝冲[1,2] Zhu Fan;Yu Fangsu;Wu Yiming;Hao Chong(University of Chinese Academy of Sciences,Beijing 100049,China;Research Laboratory of Optical Orientation and Measurement Technology,Xi＇an Institute of Optics and Precision Mechanics,Chinese Academy of Sciences,Xi＇an,Shaanxi 710119,China)

机构地区：[1]中国科学院大学,北京100049 [2]中国科学院西安光学精密机械研究所光学定向与测量技术研究室,陕西西安710119

出　　处：《光学学报》2018年第11期233-241,共9页Acta Optica Sinica

基　　金：国家重点研发计划项目(2016YFB1102500)

摘　　要：为便于在相机标定系统设计前,对标定误差进行预估,分析影响标定误差的因素,指导相机标定系统工程设计,针对P4P相机标定算法,提出新的算法模型。解决原算法中方位角、俯仰角及横滚角各姿态角相互耦合的问题,使姿态角求解仅与相机内参和特征点图像坐标相关。在此基础上,建立误差分析模型,从理论上分析图像定位误差、畸变、主点误差、焦距误差、特征点位置误差对姿态角标定的影响,并进行仿真和实验。实验结果表明,标定精度仿真结果和实验值一致,误差分析模型准确有效。该模型能够指导标定系统工程设计,具有较高的工程应用价值。In order to estimate the calibration error, analyze the factors affecting the calibration error, and guide the camera calibration system engineering design before the calibration system design, we propose a new algorithm model for the P4P camera calibration algorithm. This model solves the problem that the azimuth, pitch angle and roll angle are coupled to each other, and makes the attitude angle solution only related to the camera internal parameters and the image coordinates of feature points. On this basis, the model of error analysis is built which can theoretically analyze the influence of image position errors, aberration, principal point, focal length, and locations of feature points on calibration of attitude angles. The simulation and experiment are carried out. The conclusion hints that the data of simulation and experiment of calibration accuracy are consistent and the error analysis model is accurate and valid. The model can guide the design of calibration system and has great engineering application value.

关 键 词：机器视觉 摄影测量 单目视觉 相机标定 

分 类 号：TB144[一般工业技术] TB922[一般工业技术—计量学]