多相机式仿生曲面复眼的标定与目标定位

Calibration and Target Position of Bionic Curved Compound Eye Composed of Multiple Cameras

根据仿生曲面复眼具有众多子眼、多通道成像的特性,对多相机式仿生曲面复眼标定与目标定位方法展开研究,结合非平行双目视角下三角测量与相机坐标系映射的方法,提出一种仿生曲面复眼目标定位方法。根据复眼定位对子眼间具有较大重叠视场的要求,用Unity3D仿真软件设计了总视场角超过180°的17眼仿生曲面复眼,并制备了实物样机。通过张正友标定法,完成复眼系统中17个子眼的单目标定和38对相邻子眼间的标定,在此基础上,根据复眼相邻子眼间有较大重叠视场的性质,提出了一种不相邻子眼的外参标定方法,实现复眼坐标系的统一。搭建实验平台,结合RANSAC优化后的ORB特征匹配方法,用复眼样机对处于不同位置无人机模型进行三维定位实验,并对定位结果展开误差分析。实验结果表明,该复眼标定及目标定位方法应用于所制作的样机,能实现较高精度大视场目标定位。

According to the characteristics of the bionic curved compound eye with many sub-eyes and multi-channel imaging,the method of multi-camera bionic curved compound eye calibration and target positioning is carried out.Combining the method of triangulation and camera coordinate system mapping under non-parallel binocular perspective,a method of bionic curved surface compound eye target positioning method is proposed.According to the requirement of compound eye positioning to have a large overlapping field of view between sub-eyes,a 17-eye bionic curved compound eye with a total field of view over 180°is designed with Unity3D simulation software,and a physical prototype is prepared.Through the ZHANG Zhengyou calibration method,the single target calibration of 17 sub-eyes in the compound eye system and the calibration between 38 pairs of adjacent sub-eyes are completed.On this basis,based on the large overlapping field of view between adjacent sub-eyes of the compound eye,the external parameter calibration method of non-adjacent sub-eyes is proposed to realize the unification of the compound eye coordinate system.Through the establishment of an experimental platform,combined with the ORB feature matching method optimized by RANSAC,a compound-eye prototype is used to perform three-dimensional positioning experiments on the unmanned aerial vehicle models at different positions,and then the error analysis of the positioning results is carried out.The experiments prove that the proposed compound eye calibration and target positioning method is applied to the prototype,which can achieve high precision and large field of view target positioning.