一种多相机阵列大尺寸测量系统快速标定方法

Fast Calibration Method of Large Dimension Measurement System Based on Multi-Camera Array

多相机阵列中的相机位姿关系标定是大尺寸测量系统中非常重要的一个环节。建立了标定模型,采用圆点阵列平面靶标,通过线性平移,使靶标分别位于不同相机的视野范围内,获得了同一靶标特征点在不同相机坐标系下的坐标;根据所得坐标,求解靶标坐标系与相机坐标系之间的位姿关系;根据靶标的线性平移约束,进而求解两两相机之间的位姿关系。经实验验证,对于安装距离约为2300mm的相机,标定误差小于0.002mm。其标定过程简单、速度快,可以适用工业大尺寸测量中的现场标定。

The calibration of multi-camera pose relationship is a very important step in the large dimension measurement system. A calibration model is established and a planar target with a filling circle array is adopted. By means of linear translation, the target is located within fields of view of different cameras at the same time, the coordinate value of the same target feature point in each camera coordinate system can be extracted. Based on the coordinate values, the position-pose relationship between the target coordinate system and the camera coordinate system can be calculated. Moreover, according to the linear transition of target, the position-pose relationship between two cameras is thus solved. It is verified by experiment that, as for the cameras with an installation distance of about 2300 mm, the calibration error is less than 0.002 mm. The whole calibration procedure is simple and fast, which can be applied to the on-site calibration by a large dimension measurement system in industry.