摘要
为实现双目视觉标定,研究了摄像机成像模型,选用针孔成像模型建立摄像机坐标系与图像坐标系之间联系,通过透视变换法求解双目相机的内外矩阵参数,进而确定两个相机的位置关系,完成双目立体视觉系统的标定.最后通过实验验证标定方法的准确性,对比计算结果与实测结果,三维坐标中,X方向的误差在0.700mm以内,Y方向在0.500mm以内,Z方向小于0.600mm.标定结果准确,为后续目标识别检测等机器视觉定位技术提供有效支撑.
Abstract
Camera imaging model is established to realize binocular vision calibration.Interrelation is established be-tween camera coordinate system and image coordinate system by using Pinhole imaging model.The inner and outer ma-trix parameters of binocular camera are solved by perspective transformation algorithm,and then the position relationship between the two cameras is determined to complete the calibration of binocular stereo vision system.Finally,the accuracy of the calibration method is verified by experiments.the calculated results with the measured results in three-dimensional coordinates shows that the error in the X direction is within 0.700mm,the Y direction is within 0.500mm and the Z di-rection is less than 0.600mm.The calibration results are accurate.It provides effective support for machine vision positio-ning such as target recognition and detection technology.
基金项目
陕西工业职业技术学院校级科研项目(2022YKYB-007)
维普
万方数据