摘要
分析了立体测量中的相机微小晃动,包括相机平移、旋转晃动及其复合形式对测量误差的影响,并提出一种基于摄像测量原理的相机晃动修正方法,利用场景中的控制点,通过位姿估计解算相机的位置姿态,进而修正测量误差。仿真结果表明,在微小晃动下,相机平移、旋转晃动幅度的增加分别使测量误差呈线性、二次曲线增长;近距离测量时,合理布置4个控制点,物方重投影误差小于1 mm,并且随着控制点数的增加,误差逐渐降到0.55 mm以下。仿真实验验证了该方法的可靠性,其可应用于不稳定平台立体测量中,并降低相机晃动对测量精度的影响。
The measurement error influenced by the camera tiny shaking including translation, rotation and the combination in the stereo measurement are analyzed. The correction method of camera shaking based on the theory of photogrammetry is proposed, using control points in scene and the measurement error by calculating the camera pose with corrected pose estimation. Simulation results show that, with the tiny shaking, the camera translation makes the measurement errors increase linearly, while the rotation makes the errors grow quadratically. The reprojection error in the object space is less than 1 mm with short distance measurement and proper arrangement of four control points, and it gradually falls below 0.55 mm with the increase of control points number. Simulation experiment verifies the reliability of the correction method, and this method can be used in stereo measurement on an unstable platform to reduce the effect of camera shake.
出处
《激光与光电子学进展》
CSCD
北大核心
2016年第10期206-213,共8页
Laser & Optoelectronics Progress
基金
国家自然科学基金(11272347
11072263
11472302)
关键词
机器视觉
相机晃动影响
位姿估计
测量误差修正
machine vision
influence of camera shaking
pose estimation
measurement error correction
