立体摄像机与电子罗盘位差的标定

Position Difference Calibration of Stereo Cameras and Electronic Compass

利用立体摄像机可以获得三维的视觉信息,可以为机器人导航提供重要的位置信息。本文提出了在普通的立体摄像机视觉测量系统上加入电子罗盘,实时地测量系统自身的姿态,以拓宽系统的用途。同时提出应用线性坐标变换的原理,利用大地坐标系作为媒介,标定立体摄像机与电子罗盘的位置偏差。最后,通过实验检验以上理论,并证明其合理性。就目前掌握的文献来看,未见同类的标定方法。

A stereo camera system can provide an intelligent robot with positioning information. In this paper, an electronic compass is suggested to be added to the normal stereo camera system in order to enlarge its application area. It is also proposed here a procedure of calibrating the position difference of the stereo cameras and the compass. Experiments show that the proposed method is reasonable. Within our knowledge, no similar method has been described in the literature up to the present.