基于共线向量与平面单应性的双目相机标定方法

发布时间：2018-08-12 20:19

【摘要】：现有双目相机标定的方法是通过矩阵变换求得各个相机间的旋转平移关系,再通过优化求得最终参数。非线性优化步骤多,相机内外参数与镜头畸变存在耦合,时间花费较大。提出一种畸变矫正与平面单应性矩阵结合的双目相机标定方法。根据三维空间直线投影到像平面仍然是直线的法则,对于无畸变的图像,直线上任意两点所构成的向量的方向相同时向量夹角应为零。基于此特征求解双目相机的畸变系数,再通过平面单应矩阵构造测量矩阵,然后通过矩阵分解求得相机内、外参的初值,最终通过非线性优化求得双目相机的各个参数。仿真和实验结果证明,该方法稳定性高,精度与传统标定方法的精度相当,且计算时间短,标定效率优于传统标定方法。
[Abstract]:The present calibration method of binocular camera is to obtain the rotation and translation relation of each camera by matrix transformation, and then to obtain the final parameters by optimizing. There are many nonlinear optimization steps, the camera parameters and lens distortion are coupled, and the time is more expensive. This paper presents a calibration method for binocular camera which combines distortion correction with plane monochronicity matrix. According to the principle that a straight line in three dimensional space is still a straight line, for an image without distortion, when the vector of any two points on a line has the same direction, the angle between the vectors should be zero. Based on this feature, the distortion coefficient of binocular camera is solved, then the measurement matrix is constructed by plane monoclinic matrix, then the initial values of camera inner and outer parameters are obtained by matrix decomposition, and the parameters of binocular camera are obtained by nonlinear optimization. The simulation and experimental results show that the proposed method is more stable and accurate than the traditional calibration method, and the calculation time is short, and the calibration efficiency is better than that of the traditional calibration method.
【作者单位】：南京航空航天大学自动化学院;中国科学院光电研究院;中国科学院大学;
【基金】：国家重点研发计划(2016YFB1102600) 国家自然科学基金(1140041297) 科技部重大科学仪器设备开发专项(2016YFF0103702) 基金委国家重大科研仪器研制项目(61527803)
【分类号】：TP391.41

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