基于方向性靶标和多约束优化的双目相机标定  

Binocular Camera Calibration Based on Directional Target and Multi-Constraint Optimization

作　　者：杨霈 殷玉龙 卢荣胜[2] 朱华炳[1] Yang Pei;Yin Yulong;Lu Rongsheng;Zhu Huabing(School of Mechanical Engineering,Hefei University of Technology,Hefei,Anhui 230009,China;School of Instrument Science and Opto-Electronics Engineering,Hefei University of Technology,Hefei,Anhui 230009,China)

机构地区：[1]合肥工业大学机械工程学院,安徽合肥230009 [2]合肥工业大学仪器科学与光电工程学院,安徽合肥230009

出　　处：《光学学报》2022年第8期187-198,共12页Acta Optica Sinica

基　　金：中央高校基本科研业务费专项资金(JZ2020HGQB0226)。

摘　　要：提出了一种基于方向性靶标和多约束优化的双目相机标定方法。新型方向性平面靶标能够判断靶标的旋转方向,并对每个标定角点进行编码,以保证双目相机在拍摄到局部靶标的情况下依然能够完成同名点匹配,进而完成双目相机标定。根据方向性靶标建立双目相机标定模型,引入用于描述平面靶标姿态的天顶角和方位角,通过天顶角和方位角筛选出在不同位置上的靶标姿态均具有明显差异的图像作为标定图像,这提高了双目标定结果的稳定性;结合靶标的三维几何信息,建立了多维度约束的双目参数优化模型,提高了双目标定结果的精度。实验结果表明,与传统的张氏标定方法相比,所提出的标定方法能够有效提高所获得的标定结果的稳定性和精度;通过对标准量块进行多次测量,进一步验证了所提方法的有效性。A new binocular camera calibration method based on a directional target and multi-constraint optimization is proposed.The novel directional planar target is equipped for determining the target rotation direction and assigning a code number to each calibration corner to ensure the matching of homonymous corners even in the case that the target is partially occluded and thereby achieve binocular camera calibration.After building a model of binocular camera calibration with a directional target,we introduce zenith and azimuth angles to describe the orientation of the planar target and select images in which the target has markedly different orientations at different positions as calibration images,so as to raise the stability of the binocular calibration results.To improve the accuracy of the binocular calibration results,we make full use of the 3 D geometric information on the target and propose a multi-dimensional constraint optimization model for binocular parameters.The experimental results show that our method can effectively improve the stability and accuracy of the calibration results compared with Zhang’s calibration method.Multiple measurements of standard gauge blocks further verify the effectiveness of the proposed method.

关 键 词：机器视觉 双目相机标定 方向性平面靶标 平面靶标姿态 多约束优化 

分 类 号：TP399[自动化与计算机技术—计算机应用技术]