基于2.5D标定扇的线阵相机内参数标定方法  

Internal parameter calibration method of line-scan camera based on 2.5D calibration fan

作　　者：张旭 毛庆洲 时春霖 胡庆武[1,2] 金光 周昊 谢亦[3] Zhang Xu;Mao Qingzhou;Shi Chunlin;Hu Qingwu;Jin Guang;Zhou Hao;Xie Yi(School of Remote Sensing and Information Engineering,Wuhan University,Wuhan 430079,China;Hubei Luojia Labortory,Wuhan 430079,China;Troops 61206,Beijing 100042,China;Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences,Changchun 130033,China)

机构地区：[1]武汉大学遥感信息工程学院,湖北武汉430079 [2]湖北珞珈实验室,湖北武汉430079 [3]中国人民解放军61206部队,北京100042 [4]中国科学院长春光学精密机械与物理研究所,吉林长春130033

出　　处：《红外与激光工程》2024年第4期172-182,共11页Infrared and Laser Engineering

基　　金：国家重点研发计划项目(2023YFC3009400,2023YFB2603702)。

摘　　要：针对工业生产线上或集成设备中线阵相机内参数定期检校困难且成本高的问题,提出一种基于2.5D标定扇的线阵相机内参数标定方法。设计了一款特定的2.5D标定扇,构建包含镜头畸变的线阵相机内参数标定模型,顾及了标靶相对相机的两个姿态角,通过方程线性变换法解算模型参数初值,利用改进的Levenberg-Marquardt(L-M)算法加速优化相机参数的求解过程,给出了详细的解算步骤和数据处理过程,并通过仿真和实测数据验证了方法的可行性。结果表明:该线阵相机标定方法简单灵活,可得到大量分布规律的特征点对,参数标定精度不受相机移动精度和特定移动方向的限制;在扇骨面与靶面间夹角小于10°时,可以获得高精度、高一致性的相机内参数,特征点重投影误差的最大值优于0.28 pixel,平均RMSE为0.11 pixel,标准差仅0.01 pixel。Objective Aiming at the difficulty and high cost of regular calibration of line-scan camera internal parameters in industrial production lines or integrated equipment,a calibration method of line-scan camera internal parameters based on 2.5D calibration fan is proposed.The appropriate calibration object is designed,and the internal parameter calibration model of the linear array camera is established.The linear transformation theory is used to calculate the initial value of the model parameters,and the improved Levenberg-Marquardt(L-M)algorithm is used to optimize the camera parameters.The experimental results show that the internal parameters of the linear array camera calibrated by this method have high accuracy and good consistency.The maximum reprojection error is less than 0.28 pixel,and the average RMSE is 0.112 pixel.Methods A specific 2.5D calibration fan was designed.The internal parameter calibration model of line-scan camera including lens distortion is constructed,which takes into account the two attitude angles of the target relative to the camera.The initial value of the model parameters is solved by the equation linear transformation method,and the improved L-M algorithm is used to accelerate the optimization of the camera parameters.The detailed calculation steps and data processing process are given,and the feasibility of the method is verified according to the simulation and measured data.Results and Discussions The theoretical analysis and experimental results show that the linear array camera calibration method is simple and flexible,and a large number of feature point pairs with regular distribution can be obtained.The parameter calibration accuracy is not limited by the camera movement accuracy and specific direction.In addition,when the angle between the fan-bone surface and the target surface is less than 10°,highprecision and high-consistency camera internal parameters can be obtained.The maximum value of the feature point reprojection error is better than 0.28 pixel,the average RMSE is

关 键 词：线阵相机 内参数 标定 重投影 非线性方程 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]