Objective:To solve the problem that the traditional Zhang Zhengyou camera calibration method in the field of greenhouse mobile robots may fall into the local optimal solution,a monocular camera parameter optimization calibration scheme based on improved genetic algorithm was proposed.Methods:Firstly,Zhang Zhengyou's calibration method was ased to obtain the initial internal parameter values,then an improved genetic algorithm was introduced to optimize the initial internal parameter values.Finally,the optimized internal parameter values were substituted into the camera imaging model to obtain the reprojection error.Results:Comparing the reprojection error optimized by the improved algorithm in this article with that obtained by the standard algorithm and Zhang Zhengyou calibration method,this paper demonstrates that the calibrated intrinsic parameters of the monocular camera are more accurate,with improved calibration speed and stability.Conclusion:The average reprojection error of the improved genetic algorithm is lower than that of the standard algorithm and Zhang Zhengyou calibration method,and the main point coordinates of the image are closer to the reference value,which can effectively alleviate premature convergence and stagnation,and improve calibration accuracy.The method proposed has strong practical value in the vision application system of greenhouse mobile robots.
关键词
单目相机标定/改进遗传算法/内参优化/重投影误差
Key words
Monocular camera calibration/Improved genetic algorithm/Internal parameter optimization/Reprojection error
维普
万方数据