三维空间中线结构光与相机快速标定方法

发布时间：2018-03-25 08:44

本文选题：三维阵列立柱靶标　切入点：线结构光　出处：《红外技术》2017年01期

【摘要】：针对结构光立体视觉系统快速标定问题,本文提出了一种多线结构光单目视觉测量系统的快速标定方法,该方法可以同时完成多个线结构光的标定,不必每一个线结构光单独标定,从而实现相机与线结构光的快速标定。具体为相机内参采用张氏标定法提前标好,外参标定采用设计的三维阵列立柱靶标配合实现。在已知三维阵列立柱靶标各立柱端面中心点对应物像坐标后,可得到二者间的旋转和平移矩阵;在线结构光投射到对应不同高度立柱端面上后,根据以上物像关系可得到端面光条坐标,利用该坐标可拟合出激光平面方程,进而可建立起各激光面与相机之间的变换关系,完成系统标定。
[Abstract]:Aiming at the problem of fast calibration of structured light stereo vision system, this paper presents a fast calibration method for multi-line structured light monocular vision measurement system. This method can achieve the calibration of multiple lines of structured light at the same time. It is not necessary to calibrate each line structure light separately, so that the camera and the line structure light can be calibrated quickly. In particular, the camera inner parameters are calibrated in advance by the Zhang's calibration method. The calibration of external parameters is realized by using the designed three-dimensional array column target. After the corresponding image coordinates of the center points of each column end surface of the three-dimensional array column target are known, the rotation and translation matrix between them can be obtained. After the on-line structured light is projected onto the end face of the column corresponding to different heights, the coordinate of the light strip of the end face can be obtained according to the above image relationship. The laser plane equation can be fitted by using the coordinate, and the transformation relationship between each laser plane and the camera can be established. Complete system calibration.
【作者单位】：天津大学微光机电系统技术教育部重点实验室;
【分类号】：TP391.41

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