双目摄像机快速标定新算法

A new algorithm of quick calibration for binocular camera

针对双目摄像机,提出一种基于投影直线相交和改进OpenCV1.0标定算法相结合的立体视觉标定算法。由于应用OpenCV进行标定时往往会得到比较夸张的结果,所以本文作者提出一种新的算法来提高标定的鲁棒性和实时性。因为提取的角点坐标是在标定时的已知量,精确的角点提取十分重要,所以使用OpenCV1.0中的棋盘角点提取方法来进行角点提取。其次,在传统的双目摄像机标定时都需要分别计算出每个摄像机的内、外参数,而应用投影直线相交的立体视觉标定法将不需要先计算两摄像机的内、外参数。这样将大大减少运算量和运算时间。所进行的实验也很好地验证了算法的有效性。

A new stereo vision calibration algorithm was proposed based on the intersecting linear projection and improved OpenCV1.0 calibration algorithm for binocular vision.Using OpenCV1.0 for calibrating often makes the results more exaggerated.A new calibrating method was proposed to improve the robustness and real-time of calibration.Precise corner extraction is very important as corner coordinate is known quantity during algorithm process.Chessboard corner extraction method in OpenCV1.0 is used for corner extraction.Secondly,internal and external camera parameters of each camera need to be calculated for traditional binocular vision.With the stereo vision calibration based on the intersecting linear projection,internal and external camera parameters are not necessary for calibrating.The proposed method in this paper can reduce the amount of calculation and running time.The effectiveness of this calibration was also verified by the experiment.