【摘要】：為了提高立體視覺系統(tǒng)在大視場(chǎng)下的測(cè)量精度,基于誤差溯源思想提出了一種構(gòu)建虛擬立體靶標(biāo)的大視場(chǎng)高精度視覺系統(tǒng)標(biāo)定方法,克服了大尺寸高精度標(biāo)定物難以制造等問題。對(duì)影響立體視覺系統(tǒng)測(cè)量精度的主要因素進(jìn)行分析,列出視覺測(cè)量系統(tǒng)的誤差溯源鏈,解析了大視場(chǎng)視覺系統(tǒng)精度瓶頸的原因。借助激光跟蹤儀,運(yùn)用非線性最小二乘單位四元數(shù)算法求解坐標(biāo)系剛體變換,獲取大范圍高精度的空間點(diǎn)陣,構(gòu)建虛擬靶標(biāo)。在相機(jī)畸變模型中考慮了三階徑向畸變和二階切向畸變參數(shù),并使用Levenberg-Marquardt迭代算法進(jìn)行標(biāo)定參數(shù)求解,進(jìn)一步提高系統(tǒng)精度。實(shí)驗(yàn)構(gòu)建了一套測(cè)量空間約為4m×3m×2m的雙目立體視覺系統(tǒng),通過對(duì)某型號(hào)高精度直線導(dǎo)軌進(jìn)行點(diǎn)距測(cè)量,在測(cè)量距離3m處,152組不同長(zhǎng)度的橫向距離測(cè)量的誤差算術(shù)均值為-0.003mm,誤差標(biāo)準(zhǔn)差為0.08mm。測(cè)量精度相較于傳統(tǒng)的平面標(biāo)定法有較大提升。
[Abstract]:In order to improve the measurement accuracy of stereo vision system under large field of view, a calibration method of large field of view and high precision vision system for constructing virtual stereo target is proposed based on the idea of error traceability, which overcomes the problem that it is difficult to manufacture large size and high precision calibration object. The main factors affecting the measurement accuracy of stereo vision system are analyzed, the error traceability chain of visual measurement system is listed, and the reasons for the bottleneck of precision of vision system with large field of view are analyzed. With the help of laser tracker, the nonlinear least square unit quaternion algorithm is used to solve the rigid body transformation of coordinate system, and a large range and high precision spatial lattice is obtained, and the virtual target is constructed. The third-order radial distortion and second-order tangential distortion parameters are considered in the camera distortion model, and the calibration parameters are solved by Levenberg-Marquardt iterative algorithm to further improve the accuracy of the system. A binocular stereo vision system with a measuring space of about 4m 脳 3m 脳 2m is constructed experimentally. by measuring the point distance of a certain type of high precision linear guideway, at the measuring distance of 3m, the arithmetic mean error of 152 groups of transverse distance measurement of different lengths is-0.003mm, and the error standard deviation is 0.08mm. Compared with the traditional plane calibration method, the measurement accuracy is greatly improved.
【作者單位】： 上海大學(xué)機(jī)電工程及自動(dòng)化學(xué)院;
【基金】：國家自然科學(xué)基金面上項(xiàng)目(No.41376169,No.51205243) 國家重點(diǎn)研發(fā)計(jì)劃重點(diǎn)專項(xiàng)課題(No.2016YFC0302402)
【分類號(hào)】：TP391.41

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