针对十参数标定模型的导航避障相机影像精确校正  

Accurate image correction of navigation cameras and hazard avoidance cameras for ten-parameter calibration model

作　　者：王强[1] 刘阳 刘思齐 胡迪 崔希民[2] 范生宏 WANG Qiang;LIU Yang;LIU Siqi;HU Di;CUI Ximin;FAN Shenghong(Faculty of Geography,Tianjin Normal University,Tianjin 300387,China;School of Geoscience and Surveying Engineering,China University of Mining and Technology(Beijing),Beijing 100083,China;Beijing Prodetec Technology Co.,Ltd.,Beijing 100083,China)

机构地区：[1]天津师范大学地理学部,天津300387 [2]中国矿业大学(北京)地球科学与测绘工程学院,北京100083 [3]北京普达迪泰科技有限公司,北京100083

出　　处：《测绘通报》2024年第10期98-102,119,共6页Bulletin of Surveying and Mapping

基　　金：国家自然科学基金(42001412)。

摘　　要：十参数标定模型是近景摄影测量中一种经典的内参标定模型。在影像畸变校正中,如果利用此模型采用直接重采样方式会产生空洞条纹,而常规的间接重采样方式虽无空洞产生,但在畸变较大的非中心区域同样无法得到较好的校正效果。针对此问题,本文提出了一种针对十参数标定模型的影像牛顿迭代精确校正算法。首先利用十参数标定模型将像点理想值和实际值进行重组,构建以像点实际值为待求量的非线性方程组;然后采用牛顿迭代法对影像中畸变部分进行局部线性逼近求解;最后采用间接重采样方法实现精确校正的目的。以移动机器人导航和避障相机作为研究对象,试验结果表明,牛顿迭代法校正可以得到高精度的优质去畸变影像,对避障相机的处理效果尤为显著。本文算法适用于移动机器人导航避障相机影像的畸变精确去除,为后续立体匹配环节生成优质的双目核线影像提供了可靠数据源。The ten-parameter calibration model is a classical internal parameter calibration model in near-field photogrammetry.Using this model in image distortion correction,if direct resampling is used,it will produce hollow streaks,while the conventional indirect resampling method does not produce hollows,but it also fails to get better correction effect in the non-central region with large distortion.In order to address this problem,this paper proposes an image Newton iterative accurate correction algorithm for the ten-parameter calibration model.Firstly,the ten-parameter calibration model is used to reorganize the ideal value and actual value of the image point,and construct a system of nonlinear equations with the actual value of the image point as the quantity to be solved;then Newton iteration is used to solve the local linear approximation of the aberrant part of the image;and finally,indirect resampling is used to realize the purpose of accurate correction.Taking the navigation and obstacle avoidance camera of mobile robot as the research object,the experimental results show that the Newton's iterative method of correction can obtain high-precision and high-quality de-distorted images,and the processing effect on the obstacle avoidance camera is especially significant.The algorithm proposed in this paper is suitable for the accurate removal of aberrations from robot's navigation cameras and hazard avoidance cameras,and provides a reliable data source for the generation of high-quality binocular kernel line images for the subsequent stereo matching process.

关 键 词：畸变校正 十参数标定模型 牛顿迭代法 导航避障相机 

分 类 号：P237[天文地球—摄影测量与遥感]