摘要
在基于单目视觉的农业轮式移动机器人自主导航系统中,CCD摄像机标定是农业轮式移动机器人正确和安全导航的前提和关键。摄像机标定确立了地面某点的三维空间坐标与计算机图像二维坐标之间的对应关系,机器人根据该关系计算出车体位姿值自主导航。因此,根据CCD摄像机针孔成像模型,利用大地坐标系中平面模板上已知的各点坐标,建立与计算机图像空间中各对应像素值之间的关系方程组,在M atlab环境下拟合出摄像机各内外参数。实验结果表明:该方法可以正确完成CCD摄像机标定。
One camera is used in the autonomous navigation system of agricultural wheeled mobile robot, and CCD camera calibration is the key and precondition of the agricuhual wheeled mobile robot＇ s correct and safe navigation. After camera calibration, the relationship between the point＇ s three dimensional road coordinate and its two dimensional coordinate in computer image is established, then based on this relationship, the robot pose is calculated,which promised the robot＇ s autonomous navigation. Therefore, according to the pin-hole perspective model of CCD camera, the relational equations between the known points＇ road coordinte in a plane board and the corresponding pixels in computer image are set up, then by using Matlab, both the internal and the external parameters of CCD camera are obtained. The experimental results show that the method of CCD camera calibration is available.
出处
《传感器与微系统》
CSCD
北大核心
2009年第2期107-109,共3页
Transducer and Microsystem Technologies
