【摘要】：針對自由雙目立體視覺中由于攝像機(jī)旋轉(zhuǎn)導(dǎo)致的攝像機(jī)外參數(shù)變化的問題,提出一種基于旋轉(zhuǎn)軸標(biāo)定的動態(tài)外參數(shù)獲取方法。在多個(gè)不同位置,立體標(biāo)定得到多組旋轉(zhuǎn)平移矩陣,利用最小二乘法求解旋轉(zhuǎn)軸參數(shù);結(jié)合初始位置左右攝像機(jī)的內(nèi)、外參數(shù)及旋轉(zhuǎn)角度,實(shí)時(shí)獲取左右攝像機(jī)的外參數(shù)。利用所提方法獲取動態(tài)外參數(shù),并對棋盤角點(diǎn)進(jìn)行三維重建,平均誤差為0.241 mm,標(biāo)準(zhǔn)差為0.156 mm;與基于多平面標(biāo)靶的標(biāo)定方法相比,精度高且操作簡單。所提方法無需實(shí)時(shí)標(biāo)定,可完成攝像機(jī)旋轉(zhuǎn)情況下動態(tài)外參數(shù)的獲取。
[Abstract]:A dynamic external parameter acquisition method based on rotating axis is proposed to solve the problem of camera external parameter change caused by camera rotation in free binocular stereo vision. In many different positions, the rotation translation matrix is obtained by stereo calibration, and the rotation axis parameters are solved by the least square method, and the external parameters of the left and right camera are obtained in real time by combining the internal and external parameters and the rotation angle of the camera at the initial position. The proposed method is used to obtain the dynamic external parameters and reconstruct the corner points of the chessboard with an average error of 0.241 mm, standard deviation of 0.156 mm;. Compared with the calibration method based on multi-plane target, the proposed method has high accuracy and simple operation. The proposed method does not need real time calibration and can obtain dynamic external parameters under camera rotation.
【作者單位】： 天津大學(xué)精密儀器與光電子工程學(xué)院;光電信息技術(shù)教育部重點(diǎn)實(shí)驗(yàn)室;中國民航大學(xué)電子信息與自動化學(xué)院;
【基金】：國家自然科學(xué)基金資助項(xiàng)目(61535008)~~
【分類號】：TN948.41
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本文編號：2403330