摘要
针对GRB-400机器人视觉系统,建立完整的摄像机一阶径向畸变模型。首先用GRB系统的Matrox图像采集卡采集标定点坐标,然后利用径向排列约束方法 (简称RAC)建立线性方程组求解摄像机的径向畸变参数。基于此畸变参数实现图像校正,以提高对目标物体的定位精度,从而提高机器人视觉系统对摄像机标定参数变化的鲁棒性。实验结果表明:该方法有较高的标定精度。
For the GRB--400 robot vision system, a nonlinear camera model of one order radial distortion is set up. First, the coordinates of the calibrated image are collected with Matrox of the GRB system, and then distortion parameters of camera are worked out by the established linear equation based on radial a- lignment constraint (referred to as the RAC). The image is corrected by using distortion parameters, so as to improve the location accuracy of target object. At the same time, the robustness of robot vision systems is improved when camera calibration parameters change. The experimental results show that this method has higher precision in the calibration.
出处
《常州大学学报(自然科学版)》
CAS
2012年第2期49-53,共5页
Journal of Changzhou University:Natural Science Edition
基金
常州市科技计划项目资助(CJ20110023)
关键词
摄像机标定
径向畸变
径向约束
交比不变性
定位精度
camera calibration
radial distortion
radial alignment constraint
cross ratio invariability
location accuracy