面向水下双目视觉的改进张氏标定方法及实验

Improved Zhang′s Calibration Method and Experiments for Underwater Binocular Stereo-Vision

为了提高水下摄像机标定精度,建立了综合考虑径向畸变和切向畸变的水下摄像机非线性数学模型,以张氏标定方法为基础,并结合Jean-Yves Bouguet灭点标定方法提出了一种改进张氏标定方法,为验证所提改进张氏标定方法的可靠性,与张氏标定方法进行了水下标定对比实验。实验结果表明,该方法精确可靠,较张氏标定方法具有参数求取精度更高、重投影平均误差更小等优势,所求取的结果与实际情况更接近。

An improved Zhang＇ s calibration method is proposed, combined with Jean-Yves Bouguet vanishing point calibration method, aiming at improving the accuracy of underwater camera calibration and the establishment of nonlinear mathematical model which has a comprehensive consideration of radial distortion and tangential distortion on cameras underwater. In order to verify the feasibility and robustness of the improved method, underwater calibration experiments are carried out compared with Zhang＇s calibration method. The experimental results show that both of the two methods have strong robustness, however, compared with Zhang＇s calibration method, the improved one can achieve higher accuracy with smaller reprojection average error and the calibration results are closer to the actual results.