In order to solve the problem that the method of position and pose calibration between camera and laser rangefinder is not suitable for 10 kv live working safety distance measurement,it is difficult to meet the requirement of safety distance measurement precision,a method for relative pose calibration between binocular camera and single point laser rangefinder based on fusion of Gauss fitting and LM algorithm is proposed.First,the center pixel of a spot in a binocular image is extracted by Gauss fitting,and then the 3D coordinates of that pixel in camera coordi-nates are obtained by using a stereo vision algorithm,the initial value of position and pose calibration is obtained by setting up two sets of pixel center coordinates and laser ranging values,and the constraint equations of position and pose combination parameters of the above two sensors are established.Finally,the center coordinates of multiple sets of pixel points and their corresponding laser ranging values are obtained by the mobile calibration board,and an itera-tive algorithm is used to optimize the calibration parameters for the combined pose of the two sensors.The experi-mental results show that after using this method to calibrate the binocular camera and single-point laser rangefinder system,within a measurement range of 15-20 m at the worksite,the relative error rate of the system is 2.01％,and the error fluctuation is significantly reduced,meeting the distance accuracy requirements of 10 kV live working sites.
关键词
位姿组合标定/双目相机/单点激光测距仪/参数优化
Key words
position and pose combination calibration/binocular camera/single laser rangefinder/parameter optimi-zation
维普
万方数据