基于精确控制点的立体像机校准技术.pdf

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1、第14卷第5期光学精密工程Vol.14No.52006年10月OpticsandPrecisionEngineeringOct.2006ArticleID1004-924X(2006)05-0903-08基于精确控制点的立体像机校准技术陈华!叶东!车仁生!陈刚"哈尔滨工业大学自动化测试与控制系!黑龙江哈尔滨150001#摘要!给出了将改进的两步法与精确控制点相结合来精确校准立体像机的新技术像机镜头畸变模型考虑了径向畸变和切向畸变利用红外发光二极管随三坐标测量机测头移动以确定间距来形成立体校准模板上的精确控制点校准程序包括先使用位于图像中心的控制点

2、来线性求取部分校准参数然后再使用所有控制点来迭代优化所有参数实验中使用非线性优化参数来反推控制点的空间位置发现精度比线性求解参数提高了0.11mm结果表明此技术可以满足像机精确校准和测量的要求.关键词!像机校准!像机模型!镜头畸变!优化!控制点中图分类号!TP391文献标识码!AStereOcameracalibratiOnbasedOnaccuratecOntrOlpOintsC~EN~uaYEDongC~ERen-shengC~ENGang(DePtartmentofAutomaticTestingandControl~arbinInstit

3、uteofTechnologS~arbin150001China)Abstract:Thispaperpresentsahigh-precisionstereocameracalibrationtechniCuecombinedtheimprovedtWo-stepmeth-odWithaccuratecontrolpointsinWhichthelensdistortionofacameraismodeledbyacombinationofradialdistortionandtangentialdistortion.Accuratecontr

4、olpointsonavirtualstereocalibrationpatternareformedbyaninfraredLEDmovedWiththeprobeofCMMoveracertaindistance.TheproposedcalibrationprocedureinvolvesdirectlinearsolutionsformostofthecalibrationparametersWiththecontrolpointsnearthecenterofimagesfolloWedbysomeiterationandoptimiz

5、ationsolutionsforallparametersWithallcontrolpoints.TheaccuracyofreconstructingcontrolpointsWithnonlin-earoptimizationsolutionsisimprovedby0.11mmascomparedWithlinearsolutions.EXperimentalresultsshoWthattheproposedtechniCuecanfulfilthegoalsofhigh-precisioncalibrationandmeasurem

6、entofcameras.KeyWOrds:cameracalibrationcameramodellensdistortionoptimizationcontrolpointsnatesofapointarederivedgiventhespatialpo-lIntroductionsitionofthepointWithrespecttothecamera.TheeXtrinsicparametersofthecameracharac-CameracalibrationisessentialWhenmetricterizetheestimat

7、ionofthegeometricalrelationinformationisreCuired.TheintrinsicparametersbetWeenthecameraandthesceneorbetWeenofthecameradeterminehoWtheimagecoordi-differentcameras.Receiveddate:2005-11-16Reviseddate:2006-07-27.FOundatiOnitem:SupportedbyNationalNaturalScienceFoundationofChina(No

8、.50275040).904OpticsandPrecisionEngineeringVol.14MuchWorkofcameracal