双目立体视觉系统的标定

Calibration of binocular stereo vision system

机器人视觉系统中对相机的标定是机器人实现对环境感知的前提和基础,标定结果的正确与否对于机器人感知空间三维信息非常重要。标定好的视觉系统能够校正图像的畸变,为机器人识别目标及匹配图像提供帮助,改善系统性能。本文是为机器人增加视觉功能,使得机器人能够感知环境的信息,并对空间物体的定位,因此我们使用Matlab标定工具箱进行对相机的标定。

The camera calibration in robot vision system is the premise and foundation of robot's perception of environment.The correctness of the calibration results is very important for robot's perception of three-dimensional space information.The calibrated vision system can correct the image distortion,provide help for the robot to identify the target and match the image,and improve the system performance.This paper is to add vision function to the robot,so that the robot can sense the information of the environment and locate the space object.So we use matlab calibration toolbox to calibrate the camera.