摘要
提出了一种对井下移动机器人双目立体视觉系统的相机的标定方法,它是以一正方体为标定块,利用其棱边在相机成像面所形成的三个互相垂直的消隐点,来确定相机的内外参数,以便为井下巷道场景的三维重建做准备。试验表明,本文的标定方法是能够满足井下移动机器人双目立体视觉应用的要求。
Based on the vanishing point,this paper proposes a new method of camera calibration.We consider a cube as calibrated objects,and through solving the vanishing point between two images,we can determine the camera internal parameters and the baseline of the two cameras.The tests showed that this calibration method is able to meet the coal mine mobile robot based on binocular stereo vision applications.
出处
《中国煤炭》
北大核心
2011年第11期59-63,共5页
China Coal
关键词
双目立体视觉
摄像机模型
摄像机标定
消隐点
重投影
binocular stereo vision
camera model
camera calibration
vanishing point
reprojection
