野外大视场单相机空间坐标测量系统的快速标定

发布时间：2018-12-18 13:50

【摘要】：针对靶场现场监测范围大,相机焦距不固定,相机空间位置及角度各不相同的情况,为实现对弹落点空间坐标位置的高精度自动测量,提出了一种在野外大视场环境下使用的基于单相机空间坐标测量系统的快速标定方法。首先,在小孔成像模型的基础上,通过GPS测量获得视场内两个标定点及相机在大地坐标系中的坐标;然后读取标定点的像素坐标,根据对角相等及最小二乘法实现焦距与旋转矩阵的分步标定;最后在保证标定精度前提下,略去主点的标定过程,确定相机主点为理想主点位置。实验结果表明,在测试距离1km以外,对视场宽度为200m的区域进行监测时,校验点相对定位误差低于0.25%。该相机标定方法不需要高精度靶标,操作简单,适用于野外大视场环境下单相机空间坐标测量系统的快速标定。
[Abstract]:Aiming at the situation that the range of field monitoring is large, the focal length of camera is not fixed, and the space position and angle of camera are different, in order to realize the high-precision automatic measurement of the space coordinate position of the missile landing point, A fast calibration method based on single camera spatial coordinate measurement system is presented in the field of large field of view. Firstly, on the basis of the small hole imaging model, the coordinates of two standard points in the field of view and the camera in the geodetic coordinate system are obtained by GPS measurement. Then the pixel coordinates of the scalar point are read, and the focal length and rotation matrix are calibrated step by step according to the diagonal equality and least square method. Finally, the camera main point is determined to be the ideal main point position under the premise of guaranteeing the calibration accuracy and omitting the calibration process of the main point. The experimental results show that the relative positioning error of the calibration point is less than 0.25 when monitoring the area with the width of the field of view 200m outside the test distance 1km. The camera calibration method does not need a high precision target and is easy to operate. It is suitable for the rapid calibration of the camera coordinate measurement system in the field of large field of view.
【作者单位】：天津大学精密测试技术及仪器国家重点实验室;天津大学微光机电系统技术教育部重点实验室;
【基金】：国家自然科学基金资助项目(No.51575388)
【分类号】：TP391.41

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