摘要
主要分析了基于TOF测量技术的深度相机的深度误差产生的原理,针对ARGUS-A5型号深度相机产生的各类误差建立相对应的误差补偿模型,消去其误差影响。首先,利用黑白棋盘格标定法及Matlab摄像机标定工具箱标定了深度相机的内参矩阵以及畸变系数,消除了光心偏移误差、畸变误差;其次,基于针孔成像模型建立了平面误差补偿模型,消除了成像平面像素点的深度高估误差;最后,在不同深度下采集一个标准平面的数据,与真实深度数据进行线性拟合,建立深度信息误差查找表。结果表明,补偿后深度信息误差下降率为95.38%,最大误差率减少9.66%,补偿时间在20 ms内。
The principle generating depth error of TOF(time-of-flight)depth-sensing cameras based on TOF measurement technology is mainly analyzed,and the corresponding error compensation model for various errors generated by TOF depth-sensing camera(ARGUS-A5)is established to eliminate the error effects.The black-and-white checkerboard calibration method and the Matlab camera calibration toolbox are used to calibrate the internal parameter matrix and distortion coefficient of the TOF depth-sensing camera to eliminate the optical center offset error and distortion error.A plane error compensation model is established on the basis of the pinhole imaging model to eliminate the depth overestimation error of pixels on the imaging plane.Finally,some standard plane data are collected at different depths and make them linear fitted with the data collected from real depth to establish a depth information error lookup table.The results show that the error of depth information after compensation declines to 95.38%,the maximum error rate is reduced by 9.66%,and the compensation time is within 20 ms.
作者
李震
颜少华
刘岳
郭玉姗
洪添胜
吕石磊
LI Zhen;YAN Shaohua;LIU Yue;GUO Yushan;HONG Tiansheng;LÜShilei(College of Electronic Engineering,South China Agricultural University,Guangzhou 510642,China;College of Engineering,South China Agricultural University,Guangzhou 510642,China;National Citrus Industry Technology System Mechanization Research Lab,Guangzhou 510642,China;Guangdong Mountain Orchard Machinery Innovation Engineering Technology Research Center,Guangzhou 510642,China)
出处
《现代电子技术》
2021年第7期50-55,共6页
Modern Electronics Technique
基金
国家自然科学基金项目(31971797)
国家现代农业柑橘产业技术体系专项资金(CARS-26)
广州市科技计划项目(201803020037)
广东省重点领域研发计划项目(2019B020223001)。
关键词
TOF深度相机
深度误差
数据校正
误差补偿
线性拟合
深度信息
TOF depth-sensing camera
depth error
data correction
error compensation
linear fitting
depth information