机器人立体视觉中摄像机的标定

The Robot Stereovision Camera Calibration

针对机器人立体视觉标定问题,提出一种介于传统标定法和自标定法之间的摄像机标定方法。与传统方法相比,将内参数、畸变参数与外参数分别标定。首先根据张氏平面标定法求出内参数;其次在考虑透镜径向畸变的基础上求出畸变参数;最后重点探讨在摄像机带有运动的情况下外参数的标定方法,避免了在原有标定环境下摄像机运动时需要重新标定的问题。实验依据传统标定的模板原理,结合双目立体视觉模型,验证了该种分离标定方法的可行性。

Aiming at the problem of the robot stereovision calibration,this paper offers a method of camera calibration which is between the traditional calibration and the self-calibration.To compare with traditional methods,set the internal parameters、distortion parameters and external parameters calibrated respectively.First of all,working out the internal parameters by Zhang Z.Y plane calibration method;secondly,calculating the distortion parameters based on the radial distortion lens;finally,discussing the calibration methods of external parameters in the case of the camera is moving,to avoid the problem of recalibration when the camera is moving in original calibration environment.The experiment according to the template principle of traditional calibration,combined with binocular stereovision model,verifies the feasibility of this separation calibration method.