摘要
针对现有的非重叠视场多相机系统标定方法复杂的问题,提出了一种基于空间约束的非重叠视场相机精确标定方法。将多个小靶标分布在各自相机的视场中,拼接成大的标定平面,采用大视场相机对固连靶标进行平面测量,求得标定板之间的位置关系,作为相机之间的关联参数;通过非重叠视场相机分别获取视场区域中的小靶标,依据空间约束条件,构建相机之间的重投影误差函数,采用Levenberg-Marquardt算法进行非线性优化,获取优化后的非重叠视场相机之间的转换矩阵。实验结果表明,所提出的全局标定方法在X轴和Y轴方向上的重投影误差分别为0.33 mm和0.57 mm,具有较高的精度和稳定性,可以实现非重叠视场相机的精确标定。
Aiming at the problem of the complexity of the existing global calibration method for multi-camera system with non-overlapping fields, an accurate calibration method with non-overlapping fields of view(FOV) cameras based on spatial constraints is proposed. Firstly, spliced small targets distributed in the field of respective camera are fixed together to make up a large calibration planar. A large-field camera is used to measure the spliced small targets, and the obtained relationship between the calibration plates is used as the correlated parameter between cameras. Then, small targets in the fields of view are obtained by non-overlapping FOV cameras, the reprojection error functions of cameras can be obtained based on spatial constraints, and the transformation matrix between non-overlapping FOV cameras is nonlinearly optimized by the Levenberg-Marquardt algorithm. The experimental results show that the reprojection errors of the global calibration method are 0.33 mm and 0.57 mm for the X-axes and Y-axes, respectively. It achieves global calibration of non-overlapping FOV cameras with high precision and stability.
作者
马玛双
杨小冈
李传祥
齐乃新
宋平
Ma Mashuang;Yang Xiaogang;Li Chuanxiang;Qi Naixin;Song Ping(Department of Missile Engineering,Rocket Force University of Engineering,Xi′an,Shaanxi 710025,China)
出处
《光学学报》
EI
CAS
CSCD
北大核心
2019年第10期229-237,共9页
Acta Optica Sinica
基金
国家自然科学基金(61773389,61806209)
关键词
机器视觉
非重叠视场
靶标拼接
空间约束
非线性优化
精确标定
machine vision
non-overlapping fields of view
spliced targets
spatial constraint
nonlinear optimization
accurate calibration
