摘要
提出一种新的激光与CCD的外部标定方法。用一个标定立方作为标定物。首先确定标定立方三条棱在图像坐标系中直线方程,然后将发射到这三条棱上激光点转换到图像坐标系中,这三个特征点的坐标应满足三条棱的直线方程,最后根据这个约束条件求解出CCD与激光坐标系的旋转矩阵R和平移向量T,只需改变标定立方三次位置便可求得。实验证明,该方法简单易行,且有较高的精度。
A new extrinsic calibration method for CCD and Laser Range Finder was presented.Used a cue as a calibration pattern. Firstly,the linear equations of the cus＇s three edges were calculated in image coordinate,and then the three laser points on the cus＇s three edges were transform in image coordinate,they were satisfied with linear equations.Lastly,according to the above constraint condition,rotation matrix R and translation vector T between CCD and Laser Range Finder were calculated,just changed the position of the cue three times.Experimental results showed that preseted method was feasible and accurate.
出处
《微计算机信息》
2009年第34期213-215,共3页
Control & Automation
基金
项目名称:红外成像制导中基于光流场的运动目标检测的研究
基金颁发部门:航空科学基金委(2008ZC56)
关键词
激光测距仪
CCD
外部标定
Laser ranger finder
CCD
Extrinsic calibration
