基于无人机航迹大视场摄像机标定算法研究

Research on Camera Calibration Algorithms in Large Field of View Based on UAV Track

摄像机拍摄或测量大视场下远距离海上目标时,需要标定外部参数,传统标定方法受标定板规格限制,效果有限,针对该问题提出了一种采用无人机航迹作为标定参考线的方法,通过摄像机拍摄不同角度的无人机飞行图像,结合无人机自身位置拟合出的世界坐标系原点,可求得摄像机相对于世界坐标系的平移矩阵,计算空间直线的位置关系得到旋转矩阵,完成标定。研究表明,相对于传统方法,该方法不受标定板规格以及测量场地限制,能够快速稳定标定多台摄像机外部参数,弥补了传统标定方法的不足。

Camera calibration is necessary for the optical measurement in the long-distance maritime object with the large field of view.The traditional calibration method is limited by the size of calibration plate.In order to solve this problem,advance a new method that using UAV flight trajectory as the calibration reference line.By shooting UAV flight images from different angles and measuring the world coordinate system from the UAV’s position,the translation matrix of the camera relative to the world coordinate system can be obtained,and by calculating the position relationship of the spatial straight line the rotation matrix can be also obtained.As a result,compared with the traditional method,this method is not limited by the size of calibration plate and measurement site,also can quickly and stably calibrate the external parameters of multiple cameras,which makes up the shortcomings of the traditional calibration method.