三维空间中线结构光与相机快速标定方法

Fast Calibration Method of Multiple Line Structured Light and the Camera

针对结构光立体视觉系统快速标定问题,本文提出了一种多线结构光单目视觉测量系统的快速标定方法,该方法可以同时完成多个线结构光的标定,不必每一个线结构光单独标定,从而实现相机与线结构光的快速标定。具体为相机内参采用张氏标定法提前标好,外参标定采用设计的三维阵列立柱靶标配合实现。在已知三维阵列立柱靶标各立柱端面中心点对应物像坐标后,可得到二者间的旋转和平移矩阵;在线结构光投射到对应不同高度立柱端面上后,根据以上物像关系可得到端面光条坐标,利用该坐标可拟合出激光平面方程,进而可建立起各激光面与相机之间的变换关系,完成系统标定。

In order to realize fast calibration of the line structured light in the stereo vision, a calibration method for multiple line structured light of monocular vision measurement was proposed. In this method, the internal camera parameters were determined based on Zhenyou Zhang＇s camera calibration. And the extrinsic camera parameters can be got by using the three-dimensional arraycolumn target. The rotation matrix and the translation matrix were got when the center points of the upright columns of the three-dimensional array target and the pixel coordinates were known; after the line structured light projects on the head face of the upright columns, the relation between the object and the image can be got, and then the plane equation can be fitted. After that, the relation between the line structured light and the camera would begot, then the calibration was finished. Experimental results indicate that itsrelative error is about 0.57%.