基于射影变换的圆点标定板自动识别研究  

Research on Automatic Detecion of Circular Calibration Plate Based on Projective Transformation

作　　者：付生鹏[1,2] 赵吉宾[1,2] 夏仁波[1,2] 李论[1,2] FU Sheng-peng;ZHAO Ji-bin;XIA Ren-bo;LI Lun(State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China)

机构地区：[1]中国科学院沈阳自动化研究所机器人学国家重点实验室,沈阳110016 [2]中国科学院机器人与智能制造创新研究院,沈阳110169

出　　处：《组合机床与自动化加工技术》2021年第9期117-121,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家重点研发计划项目(2016YFB11005);国家自然科学基金项目(51805527);国家自然科学基金重大研究计划重点项目(91948203)。

摘　　要：快速准确提取标定板的图像信息是进行相机参数标定的前提,提出了一种基于射影变换的圆点标定板全自动识别方法。使用一种包含两种大小标志圆点的标定板对相机进行参数标定,首先,对标定图像进行阈值分割,获得标定板所在区域;其次,提取标定板上的标志圆并进行椭圆拟合,按一定顺序获得5个用于确定标定板方向的大标志圆;最后,利用射影变换原理对所有的圆点进行精确排序,从而获得图像圆心坐标与已知标定板坐标值的一一对应。通过实际实验验证了该识别方法快速、有效、准确率高,能在一定的角度范围内实现标定板的自动识别。Fast and accurate extraction of image information of calibration board is the premise of camera parameter calibration.This paper proposes a method of automatic recognition of calibration plate based on projective transformation.Firstly,the calibration image is segmented by threshold to obtain the region where the calibration board is located.Secondly,the circular mark points on the calibration board are extracted and ellipse fitting is carried out.Finally,five large mark circles are obtained to determine the direction of the calibration board.Finally,all the points are processed by projective transformation to obtain the one-to-one correspondence between the coordinates of the center of the image and the coordinates of the known calibration plate.The experimental results show that the recognition method is fast,effective and accurate,and can realize the automatic identification of calibration board in a certain angle range.

关 键 词：相机标定 标定板识别 摄影变换 亚像素提取 

分 类 号：TH16[机械工程—机械制造及自动化] TG506[金属学及工艺—金属切削加工及机床]