双目系统摄像机自标定技术研究

发布时间：2018-01-14 18:28

本文关键词：双目系统摄像机自标定技术研究　出处：《苏州大学》2013年硕士论文　论文类型：学位论文

【摘要】：双目立体视觉技术是模拟人类利用双目线索感知周围场景的原理，通过感知设备实现对三维信息的理解和识别。摄像机标定技术是双目立体视觉的关键技术之一，它是三维信息获取的一个重要环节，其标定精度和速度会直接影响后续三维测量。本文重点对双目系统摄像机的自标定技术进行研究。主要介绍了双目系统摄像机自标定的理论基础，归纳了现有的摄像机标定方法，在此基础上提出了一种适用于双目系统的摄像机自标定方法。本文主要工作有以下几个方面： 1.分析了摄像机投影模型、双目立体视觉模型以及双目立体视觉测量原理，介绍了目前常用的几种摄像机标定方法，总结了摄像机自标定方法的优点。 2.介绍了摄像机标定中的角点检测算法。针对本文方法标定模板中的X型角点，采用了一种基于Harris算法的亚像素级角点检测方法，把角点检测精度提高到亚像素级，使检测到的角点更接近于实际位置。 3.在双目立体视觉系统中，，摄像机自标定不仅要标定两个摄像机的内外参数还要标定两个摄像机之间的结构参数，本文把基于消失点的摄像机自标定方法应用于双目系统标定，在实际标定中只需要从不同角度拍摄四组以上含有两组正交平行直线的图片对，且不需要直线的尺寸、位置信息，实验表明该方法算法简单、易于实现。
[Abstract]:Binocular stereo vision technology is simulated by using the principle of human binocular cue perception around the scene, through the understanding and recognition of the three-dimensional information sensing device. The camera calibration technology is the key technology of binocular stereo vision, it is an important part of 3D information acquisition, the calibration precision and speed will directly affect the subsequent measurement.
This paper focuses on the self calibration technology of binocular system camera. It mainly introduces the theoretical basis of self calibration of binocular system, and summarizes the existing camera calibration methods. Based on that, a camera self calibration method suitable for binocular system is proposed.
The main work of this paper has the following aspects:
1., the camera projection model, binocular stereo vision model and binocular stereo vision measurement principle are analyzed. Several commonly used camera calibration methods are introduced, and the advantages of camera self calibration method are summarized.
The 2. introduces the calibration of camera corner detection algorithm. The calibration method of X type template in the corner, with a detection method of sub-pixel algorithm based on Harris corner, the corner detection precision to sub-pixel level corner detection to make more close to the actual position.
3. in the binocular stereo vision system, camera self calibration and calibration parameters not only to the two cameras and calibration of the structural parameters between the two cameras, the camera calibration based on vanishing point method is applied to the binocular system calibration, the actual calibration would be taken from different angles of more than four groups containing two orthogonal group the picture on the parallel line, and does not need the line size, location information, experiments show that this method is simple and easy to implement.

【学位授予单位】：苏州大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：TB853.1;TP391.41

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