基于全景相机的3D坐标测量方法

3Dcoordinate measurement method based on panoramic camera

全景相机通过一次成像获取其周围3600场景,是一种大视场快速图像采集装置。研究了应用双鱼眼全景相机获取三维空间点的方法,研究了单鱼眼镜头成像模型,双鱼眼全景相机成像模型及图像变换原理。研究了鱼眼镜头成像畸变等校模型参数的标定方法,实现了对鱼眼畸变图像的矫正。提出了由全景图像数据解算任意方向等效鱼眼镜头成像数据的数学模型。最后应用平行光轴双目立体视觉技术,获得了被测场景的3D坐标数据。研究结果表明,应用这种方法在4m×3m×3m的测量范围内精度可达13mm。

A panoramic camera is a large field of view fast image acquisition device which uses the once imaging technique to obtain a 360 degree scene around it.In this paper,the single fisheye lens imaging model,the double fisheye panoramic camera model and the image transformation principle are studied respectively.The method of calibration of the parameters of fisheye lens imaging distortion is studied,and the correction of fish image distortion is realized.We stdudy the method of obtaining three-dimensional space points by the double fisheye panoramic camera.Moreover,the mathematical model of the equivalent fisheye lens imaging data in either direction is proposed by the panoramic image data.Finally,the 3 Dcoordinate data of the measured scenes are obtained by using the parallel axis binocular stereo vision technology.The results show that the accuracy of this method can reach 13 mm within the measurement range of 4 m×3 m×3 m.