本文關(guān)鍵詞：拋物面鏡攝像機(jī)的配置及標(biāo)定方法研究　出處：《南京財(cái)經(jīng)大學(xué)》2014年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 拋物面鏡攝像機(jī) 中心投影約束 單應(yīng)矩陣 多項(xiàng)式特征值問題

【摘要】：隨著科學(xué)技術(shù)的發(fā)展,人們迫切需要大視場的攝像機(jī)代替有限視場的傳統(tǒng)攝像機(jī)。如今,大視場成像實(shí)現(xiàn)的方法主要有時(shí)性高的一次成像法和多幅圖像后期拼接法。本文所研究的折射反射成像法屬于前者。在研究對(duì)比之后,我們選擇了拋物面鏡作為折射反射成像系統(tǒng)中的反射鏡面。為簡化折射反射視覺系統(tǒng)的成像模型,便于將獲得的圖像通過簡單的數(shù)學(xué)模型變換成透視投影圖像,在配置該系統(tǒng)時(shí),令其滿足單視點(diǎn)中心投影約束以及同軸約束。針對(duì)本文構(gòu)建的單視點(diǎn)拋物面鏡折射反射成像系統(tǒng),提出了在己知攝像機(jī)內(nèi)參數(shù)的條件下標(biāo)定其余參數(shù)的一種算法。本論文著重解決以下兩個(gè)問題：(1)如何將拋物面鏡與普通CCD攝像機(jī)配置成滿足單視點(diǎn)中心投影約束的拋物面鏡全景攝像機(jī)。(2)基于配置好的拋物面鏡攝像機(jī),已知攝像機(jī)內(nèi)參數(shù),如何快速有效的標(biāo)定其鏡面參數(shù)及外參數(shù)。針對(duì)第一個(gè)問題,本文首先通過數(shù)值仿真實(shí)驗(yàn)給出拋物面鏡攝像機(jī)的配置與圖像擬合誤差之間的關(guān)系圖,從而確定最佳參數(shù)配置范圍。接著,研究了利用拋物面鏡攝像機(jī)在不同空間位置所拍攝的平面圖像標(biāo)定拋物面鏡攝像機(jī)的算法。在攝像機(jī)內(nèi)參數(shù)已知情況下,借助平面誘導(dǎo)的單應(yīng)矩陣將標(biāo)定問題轉(zhuǎn)化為多項(xiàng)式特征值問題,從而獲得待標(biāo)定參數(shù)的解析解,避開復(fù)雜的數(shù)值計(jì)算,達(dá)到快速標(biāo)定參數(shù)的目的。最后,對(duì)標(biāo)定算法的有效性和魯棒性分別采用數(shù)值仿真實(shí)驗(yàn)和真實(shí)圖像實(shí)驗(yàn)進(jìn)行驗(yàn)證,并從定性和定量的角度分析了算法的標(biāo)定精度。結(jié)果表明,我們的算法能夠獲得較高的標(biāo)定精度,滿足視覺監(jiān)控、機(jī)器人同步定位與地圖構(gòu)建等實(shí)際應(yīng)用場景的需要。
[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.
【學(xué)位授予單位】：南京財(cái)經(jīng)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類號(hào)】：TP391.41;TN948.41
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本文編號(hào)：1428385