基于仿生曲面复眼相机的目标定位技术  

Target Localization Technology Based on Biomimetic Curved Compound Eye Camera

作　　者：朱帅民 郭文阁[1] 刘韬 张远杰 许黄蓉 武登山[2] 周晓军 鱼卫星[2,3] ZHU Shuaimin;GUO Wenge;LIU Tao;ZHANG Yuanjie;XU Huangrong;WU Dengshan;ZHOU Xiaojun;YU Weixing(College of Science,Xi'an Shiyou University,Xi'an 710065,China;Key Laboratory of Spectral Imaging Technology of Chinese Academy of Sciences,Xi'an Institute of Optics and Precision Mechanics,Chinese Academy of Sciences,Xi'an 710072,China;College of Optoelectronics,University of Chinese Academy of Sciences,Beijing 100049,China)

机构地区：[1]西安石油大学理学院,西安710065 [2]中国科学院西安光学精密机械研究所中国科学院光谱成像技术重点实验室,西安710072 [3]中国科学院大学光电学院,北京100049

出　　处：《光子学报》2023年第9期189-199,共11页Acta Photonica Sinica

基　　金：国家自然科学基金(Nos.61975231,61475156),西安石油大学研究生联合培养基地项目,西安石油大学创新与实践能力培养项目(No.YCS21213246)。

摘　　要：开展了基于仿生曲面复眼相机的空间目标定位实验研究。采用CALibration Tag标定板结合MATLAB标定工具箱对自研仿生复眼相机进行内外参数的标定。针对目标的三维定位,从曲面复眼相机成像原理出发并利用相机定标参数,确定目标点在复眼相机中各子眼坐标系下坐标的线性关系并建立线性方程组,通过最小二乘法进行求解以获得目标点的准确空间定位。设计了光斑定位实验,实验结果表明,在至少4 m的工作距离内,仿生曲面复眼相机的定位误差可以控制在2%以内,该目标定位方法应用于仿生曲面复眼相机能实现较高精度的目标定位。在此基础上,采用尺度不变特征转变算法实现了两个子眼所拍摄子图像的特征点粗匹配,结合随机抽取一致算法去除错误匹配点,进而由特征点在子眼像素坐标系中的二维坐标反演出其在空间坐标系中的三维坐标,最后通过对所有点进行点云拼接获得完整的重构点云。实验结果表明,对距离相机约0.6 m处的边长为5.5 cm的正方体可以实现较好的三维立体重构。Using a vision system to locate a target is a necessary step for its three-dimensional detection of the target.The traditional single-aperture imaging system can only obtain the geometric image information of the target.A compound eye vision system has the advantages of large field of view,large depth of field,multi-channel imaging,and can obtain the depth information of the target and be sensitive to fast moving targets.At present,a common visual positioning method is to use the binocular vision system to locate the target based on the parallax between two cameras.However,because the binocular vision system has only one set of constraints,and the baseline is fixed,the binocular vision system has low positioning accuracy in the long distance,while the compound vision system has more constraints because of the number of sub-eyes.In the long distance,the positioning accuracy is higher than the binocular vision system.It has aroused a wide attention of researchers.This paper uses the bionic curved compound eye camera developed in the laboratory to carry out the research of 3D positioning and 3D reconstruction.The compound eye vision system consists of a curved compound eye,an optical relay image conversion subsystem and a highdefinition image sensor.In this paper,CAL Tag calibration board and MATLAB stereo calibration toolbox is used to calibrate the internal parameter matrix of the compound eye camera and the rotation matrix and translation vector between the sub-eye and the world coordinate system.Based on the principle of binocular vision positioning,a mathematical model for multi eye positioning is established on a compound eye vision system developed in the laboratory,and positioning experiments are conducted.The experimental system includes a laser rangefinder,black cardboard,and a compound eye vision system.The laser spot is used as a positioning target.Because the shape of the sub-eye is circular,the hough circle transformation algorithm is used to detect the sub-eye of the compound eye system,and the sub-ey

关 键 词：多通道成像 相机标定 图像处理 三维定位 三维重构 

分 类 号：O439[机械工程—光学工程]