摘要
文章根据摄像机光学镜头的成像原理,推导了应用于视觉巡线机器人中的摄像头图像校正变换公式,给出了一种只需测量拍摄面与地面的夹角、拍摄高度、图像底边实际长度和图像纵向实际长度四个关键参数即可进行图像校正的方法,而无需在现场布置标定点。实验表明此算法用于校正视觉巡线机器人获取的路面图像时能准确还原拍摄路面应有的形状,得到了预期的结果。
This paper discusses the imaging principle of the optical lens,and derived camera image perspective correction formula which is used in visual line-tracking robot.This formula only requires four key parameters to complete the image correction without any calibration points.These parameters include lens and ground plane angle,lens height,the actual length of the image bottom and the actual length of the image vertical.Experimental results show that the formula can get the correct results when used for image correction in visual line-tracking robot.It achieved the expected results.
出处
《计算机与数字工程》
2012年第6期104-108,共5页
Computer & Digital Engineering
关键词
巡线机器人
图像校正
透视校正
line-tracking robot
image correction
perspective correction
