摘要
全景相机因其能提供广阔视野和丰富的环境信息,多适用于空间舱外机器人的视觉引导与定位。为给全景视觉定位提供高精度的系统结构参数,提出了一种多镜头组合式全景相机结构参数标定方法。用高精度摄影测量系统完成对所建标定场的测量,通过标志点在世界坐标系下坐标及其像面坐标,确定四台相机的绝对位姿;然后以世界坐标系原点与各相机的位置关系建立约束,求解基准相机与其他三台相机之间的位姿转换关系,即为系统结构参数。实验结果表明,全景相机中所有相机标志点像面反投影误差的标准差为0.8275μm(1/9 Pixel),全景相机所有结构参数的相对位置标定误差为1.03 mm,相对角度标定误差为0.03 rad。本方法可以满足空间舱外机器人的全景视觉定位对于系统结构参数高精度的需求。
Panoramic cameras,with their broad field of view and rich environmental information,are often employed for visual guidance and positioning of extravehicular space robots.To provide high-precision structural parameters for panoramic vision positioning,this paper proposes a calibration method for the structural parameters of a multilens combined panoramic camera system.High-precision photogrammetric measurements of a constructed calibration field are taken,and by utilizing the coordinates of markers in the world coordinate system and their corresponding image plane coordinates,the absolute poses of four cameras are determined.Subsequently,constraints are established based on the relationship between the origin of the world coordinate system and the positions of each camera,to solve for the pose transformation relationships between the reference camera and the other three cameras,which represent the system’s structural parameters.Experimental results show that the standard deviation of the image plane re-projection error of markers for all cameras in the panoramic camera system is 0.8275μm(1/9 Pixel),with a relative positioning error for all structural parameters of 1.03 mm,and a relative angle calibration error of 0.03 rad.This method can meet the high-precision requirements of structural parameters for the panoramic vision positioning of extravehicular space robots.
作者
刘宇龙
王君
刘其林
孙鹏
燕必希
LIU Yulong;WANG Jun;LIU Qilin;SUN Peng;YAN Bixi(School of Instrument Science and Opto-Electronics Engineering,Beijing Information Science and Technology University,Beijing 100192,China;School of Opto-Electronic Engineering,Changchun University of Science and Technology,Changchun 130022,China)
出处
《激光杂志》
CAS
北大核心
2024年第11期31-36,共6页
Laser Journal
基金
国家自然科学基金(No.51475046)
北京市自然科学基金(No.KZ201711232029)。
关键词
摄影测量
全景相机
共线方程
结构参数
photogrammetry
panoramic camera
collinearity equation
structural parameters
