The convergent placement of binocular cameras can lead to defocus blur and perspective deformation of the marked points,introducing positioning deviations and cali-bration errors,especially problematic in large field of view(FOV)environments and conse-quently affecting measurement accuracy.To address this problem,a large FOV convergence binocular stereo vision calibration method based on the weighting of mark points position-ing deviation degree is proposed.Firstly,the defocus blur and perspective deformation of the mark points are calculated by using the position of the target in the camera coordinate system.Secondly,the corresponding weight is set according to the positioning deviation degree of mark points.Finally,the mark points weight coefficients are added to the ob-jective function to guide the optimization of calibration parameters.Experimental results show that the root-mean-square error and standard deviation of distance measurement can reach 0.809 and 0.290,respectively,when the observation value is 505 mm.This method not only effectively improves the calibration accuracy of large field convergence binocular stereo vision,but also exhibits good stability.
关键词
立体视觉/汇聚型双目标定/大视场/定位偏差/加权优化
Key words
stereo vision/convergent binocular calibration/large field of view(FOV)/positional deviation/weighted optimization
维普
万方数据