In tasks such as precise guidance and obstacle avoidance navigation based on optical compound eyes,the calibration of optical compound eyes plays a crucial role in achieving high accuracy.The classical Zhang's calibration method requires each ommatidium of the optical compound eyes to observe a complete chessboard pattern.However,the complexity of the optical compound eye structure makes it difficult to satisfy this requirement in practical applications.In this paper,a joint internal and external parameters calibration algorithm of optical compound eyes based on a random noise plate calibration pattern is proposed.This algorithm utilizes the local information captured by the ommatidia when photographing the random noise calibration pattern,enabling simple and fast calibration for optical compound eyes with arbitrary configurations and numbers of ommatidia.To improve the robustness of the calibration,a multi-threshold matching mechanism is introduced to address the issue of sparse feature point quantity in ommatidial visual fields leading to matching failures.Moreover,an error model for the joint internal and external parameters calibration of optical compound eyes is presented to evaluate the accuracy of the proposed algorithm.Experimental comparisons with Zhang's calibration method demonstrate the robustness of the proposed algorithm.Furthermore,the high accuracy of the proposed joint calibration algorithm is validated in a physical system of optical compound eyes.
关键词
光学复眼/随机噪声平板/内外参联合标定/平均重投影误差/广义相机模型
Key words
Optical compound eye/Random noise plate/Joint calibration of internal and external parameter/Average reprojection error/Generalized camera model
维普
万方数据