超大范围视觉测量双相机联合标定和定向方法  

Joint Calibration and Orientation Method of Dual-Camera System for Wide-Range Visual Measurement

作　　者：王智 董明利[1,2] 孙鹏[1,2] 刘其林 燕必希[1,2] 王君[1,2] Wang Zhi;Dong Mingli;Sun Peng;Liu Qilin;Yan Bixi;Wang Jun(Beijing Key Laboratory of Measurement and Control of Mechanical and Electrical System,Ministry of Education,Beijing Information Science&Technology University,Beijing 100192,China;School of Instrument Science and OptoElectronics Engineering,Beijing Information Science&Technology University,Beijing 100192,China)

机构地区：[1]北京信息科技大学光电测试技术及仪器教育部重点实验室,北京100192 [2]北京信息科技大学仪器科学与光电工程学院,北京100192

出　　处：《激光与光电子学进展》2022年第14期207-215,共9页Laser & Optoelectronics Progress

基　　金：国家自然科学基金(51475046);北京市教委科技计划重点项目(KZ201711232029)。

摘　　要：针对超大范围相机标定和定向的难题,提出了一种双相机联合标定与定向的方法。采用无人机携带长度尺构建大型空间虚拟标定场的方式,两台相机同时采集长度尺两端标志点图像;并利用长度尺空间长度作为约束,建立自标定光束平差模型,解算两相机各自的内方位参数和畸变系数及相机之间的相对外方位参数;最后利用重建长度尺的长度进行误差和精度评估。在40 m×10 m×14 m的超大范围下,所提方法重建长度尺时的平均长度误差为0.193 mm,均方根误差为2.316 mm,相对精密度优于1/20000。实验结果表明,所提方法可在超大范围下方便准确地标定双相机系统的全部参数,具有操作简便、成本低、精度高的优点,具有很强的适用性,为超大范围大尺寸结构视觉测量提供了方法参考和数据依据。Aiming at the issues of camera calibration and orientation in large spatial volumes,a novel joint calibration and orientation method for dual cameras is proposed.In this method,an unmanned aerial vehicle carries a scale ruler to create a spatial virtual calibration field,while two cameras simultaneously take photos of marker points at both ends of the scale ruler.Then,the spatial length of the scale ruler is used as constraint;the self-calibrated bundle adjustment model is developed to calculate the internal azimuth parameters and distortion coefficients of the two cameras and the external azimuth parameters between both cameras.The length of the rebuilt scale ruler is then used to assess the error and accuracy.To validate the proposed method,calibration tests were performed in an outdoor environment with the spatial dimensions of 40 m×10 m×14 m.The results demonstrate that after calibrating the dual cameras using the proposed method,the average length error of the proposed method for reconstructing the scale ruler is 0.193 mm,the root mean square error is 2.316 mm,and the relative accuracy is better than 1/20000.The proposed method can easily and correctly calibrate all the dual-camera system’s parameters in a large measurement volume.Furthermore,the proposed method is simple,costeffective,highly accurate,and has a broad applicability.Moreover,it serves as a reference method and database for the visual assessment of extremely large scale objects.

关 键 词：视觉测量 超大范围 无人机 基准长度尺 光束平差 相对定向 

分 类 号：TH721[机械工程—仪器科学与技术] TH741[机械工程—精密仪器及机械]