基于标定板的多目全局视觉地图构建方法  

Multi-ocular global visual map constructing method based on calibration plate

作　　者：袁裕发 梁家海 王青青 YUAN Yufa;LIANG Jiahai;WANG Qingqing(School of Computer and Electronic Information,Guangxi University,Nanning 530004,China;School of Electronic and Information Engineering,Beibu Gulf University,Qinzhou 535011,China)

机构地区：[1]广西大学计算机与电子信息学院,广西南宁530004 [2]北部湾大学电子与信息工程学院,广西钦州535011

出　　处：《传感器与微系统》2023年第4期63-66,共4页Transducer and Microsystem Technologies

摘　　要：针对在空旷、平整的地面上以非垂直俯瞰方式获取到的图像,使用传统的图像拼接方法无法完成图像拼接以及自动构建全局视觉地图的问题,提出一种基于标定板的多目全局视觉地图构建方法。首先,通过提取标定板的4个角点坐标,将图像自适应透视变换到正投影视图;然后,利用标定板的特征,完成图像配准和拼接;最后,依据标定板的信息自动构建多目全局视觉地图。实验结果表明:该方法对于非垂直俯瞰图拼接是有效的,拼接速度优于传统的图像拼接算法,全局视觉地图误差小于0.48%。Aiming at the problem that the traditional image mosaic method can not complete the image mosaic and construct the global visual map automatically when the images are acquired from the non-vertical overlooking way on the open and flat ground,a multi-ocular global visual map construction method based on calibration plate is proposed.Firstly,by extracting the four corner coordinates of the calibration board,the image adaptive transmission is transformed into the orthographic projection view.Then,the features of the calibration board are used to complete the image registration and splicing.Finally,the multi-view global vision map is automatically constructed according to the information of the calibration board.Experimental results show that the method is effective for non-vertical aerial view mosaic,the mosaic speed is prior to the traditional image mosaic algorithm,and the global visual map error is less than 0.48%.

关 键 词：图像拼接 标定板 透视变换 多目视觉 视觉地图 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]