摘要
针对空间机器人视觉伺服地面验证实验过程中相机无法获取真实图像问题,本文研究了相机成像的数学模型,搭建了基于Open GL的模拟双目建模平台。该平台能够提高视觉算法的研究效率,并能排除实验条件下各种未知的不确定性因素。利用模拟棋盘图像进行相机标定并与预先设定相机的内外参数矩阵对比,验证了该平台的正确性。
In order to verify the visual servo control system focused on non-cooperative satellites,we analyze a mathematical model in detail and construct a simulated binocular camera platform based on Open GL. This approach is aimed at improving the efficiency of visual algorithm. Besides,it can also remove the uncertain factors in experiment. Camera calibration is performed with the synthetic checkboard images,and the results are then compared with the known intrinsic and extrinsic parameter matrices. After that,the correctness of the platform is verified.
出处
《哈尔滨工程大学学报》
EI
CAS
CSCD
北大核心
2017年第6期939-944,共6页
Journal of Harbin Engineering University
基金
国家重点基础研究发展计划(2013CB733105)
