抛物面镜摄像机的配置及标定方法研究

发布时间：2018-01-15 12:27

  本文关键词：抛物面镜摄像机的配置及标定方法研究　出处：《南京财经大学》2014年硕士论文　论文类型：学位论文

  更多相关文章： 抛物面镜摄像机 中心投影约束 单应矩阵 多项式特征值问题

【摘要】：随着科学技术的发展,人们迫切需要大视场的摄像机代替有限视场的传统摄像机。如今,大视场成像实现的方法主要有时性高的一次成像法和多幅图像后期拼接法。本文所研究的折射反射成像法属于前者。在研究对比之后,我们选择了抛物面镜作为折射反射成像系统中的反射镜面。为简化折射反射视觉系统的成像模型,便于将获得的图像通过简单的数学模型变换成透视投影图像,在配置该系统时,令其满足单视点中心投影约束以及同轴约束。针对本文构建的单视点抛物面镜折射反射成像系统,提出了在己知摄像机内参数的条件下标定其余参数的一种算法。本论文着重解决以下两个问题：(1)如何将抛物面镜与普通CCD摄像机配置成满足单视点中心投影约束的抛物面镜全景摄像机。(2)基于配置好的抛物面镜摄像机,已知摄像机内参数,如何快速有效的标定其镜面参数及外参数。针对第一个问题,本文首先通过数值仿真实验给出抛物面镜摄像机的配置与图像拟合误差之间的关系图,从而确定最佳参数配置范围。接着,研究了利用抛物面镜摄像机在不同空间位置所拍摄的平面图像标定抛物面镜摄像机的算法。在摄像机内参数已知情况下,借助平面诱导的单应矩阵将标定问题转化为多项式特征值问题,从而获得待标定参数的解析解,避开复杂的数值计算,达到快速标定参数的目的。最后,对标定算法的有效性和鲁棒性分别采用数值仿真实验和真实图像实验进行验证,并从定性和定量的角度分析了算法的标定精度。结果表明,我们的算法能够获得较高的标定精度,满足视觉监控、机器人同步定位与地图构建等实际应用场景的需要。
[Abstract]:With the development of science and technology, it is urgent for people to replace traditional cameras with limited field of view with large-field cameras. The realization methods of large field of view imaging are mainly the primary imaging method with high performance and the multiple image post-splicing method. The refraction reflection imaging method studied in this paper belongs to the former. In order to simplify the imaging model of refraction reflection vision system, we choose parabolic mirror as the reflection mirror in refraction imaging system. It is convenient to transform the obtained image into perspective projection image by simple mathematical model. When the system is configured, it can satisfy the single point of view central projection constraint and coaxial constraint. A single view parabolic mirror refraction imaging system is constructed in this paper. This paper presents an algorithm for calibrating the other parameters under the condition of known camera parameters. This paper focuses on solving the following two problems: 1). How to configure parabolic mirror and ordinary CCD camera into parabolic mirror panoramic camera. Given the camera parameters, how to quickly and effectively calibrate their mirror parameters and external parameters. In this paper, the relationship between the configuration of parabolic mirror camera and the image fitting error is given through the numerical simulation experiment, and the optimal parameter configuration range is determined. The algorithm of calibrating parabolic mirror camera by using parabolic mirror camera in different space position is studied in this paper. The calibration problem is transformed into polynomial eigenvalue problem by the plane induced homography matrix, and the analytical solution of the parameters to be calibrated is obtained, which avoids the complicated numerical calculation and achieves the purpose of fast calibration parameters. The validity and robustness of the calibration algorithm are verified by numerical simulation experiment and real image experiment respectively. The calibration accuracy of the algorithm is analyzed qualitatively and quantitatively. Our algorithm can achieve high calibration accuracy and meet the needs of vision monitoring, robot synchronous location and map construction.
【学位授予单位】：南京财经大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TP391.41;TN948.41
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本文编号：1428385