基于地面移动机器人的相机标定实验设计  

Experimental design of camera calibration based on ground mobile robot

作　　者：李志敏 林雅洁[1] 张砦[1] 王友仁[1] 曾庆喜 LI Zhimin;LIN Yajie;ZHANG Zhai;WANG Youren;ZENG Qingxi(College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China)

机构地区：[1]南京航空航天大学自动化学院,江苏南京211106

出　　处：《实验技术与管理》2020年第12期89-93,共5页Experimental Technology and Management

基　　金：江苏省研究生教育教学改革研究与实践课题(JGLX18_005);南京航空航天大学研究生教育教学改革研究项目(2019YJXGG08);南京航空航天大学2019年度“实验技术研究与开发”项目(2018050300051855)。

摘　　要：为满足仪器科学与技术专业的实验教学要求,结合相机模型和地面机器人的运动特性,该文设计了基于移动小车的相机标定实验。首先,利用针孔相机原理和无人车平面运动特性构建了单目相机的标定模型;然后,基于EAI移动机器人和机器人操作系统采集图片和里程计数据;最后,利用MATLAB的相机标定工具箱和数值计算功能求解标定参数。实验结果表明,该方法能够有效标定相机参数和安装误差。该实验融合了机器视觉、导航定位、机器人控制等多方面综合知识,具有良好的开放性和广泛的应用性,有利于培养学生的工程实践和创新能力。In order to meet the experimental teaching requirements of the instrument science and technology specialty,a camera calibration experiment based on mobile car is designed based on the camera model and the motion characteristics of ground robot.Firstly,the calibration model of monocular camera is constructed by using the principle of pinhole camera and the plane motion characteristics of unmanned vehicles.Then,based on the EAI mobile robot and robot operating system,pictures and odometer data are collected.Finally,MATLAB’s camera calibration toolbox and numerical calculation function are used to solve the calibration parameters.The experimental results show that the proposed method can effectively calibrate the parameters and the installation errors of the camera.The experiment combines machine vision,navigation and positioning,robot control and other comprehensive knowledge,which has good openness and wide application.It is helpful to cultivate students’engineering practice and innovation ability.

关 键 词：相机标定 地面移动机器人 机器人操作系统 MATLAB 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]