10 kV带电作业安全距离检测场景下的位姿组合标定方法

Position and Pose Combination Calibration Method for 10 kV Live Working Safety Distance Detection

针对相机和激光测距仪间的位姿组合标定方法在10 kV带电作业安全距离检测场景下适用性不足,难以满足安全距离测定精度需求的问题,提出一种基于融合高斯拟合和LM算法的双目相机与单点激光测距仪间的位姿组合标定方法。首先,通过高斯拟合法提取双目图像中的光斑中心像素点,进而利用立体视觉算法获取该像素点在相机坐标系下的三维坐标;其次,联立两组像素点中心坐标值与激光测距值求取位姿组合标定初值,并建立以上两个传感器位姿组合参数的约束方程;最后,移动标定板获取多组像素点中心坐标值与对应的激光测距值,利用迭代算法优化双传感器位姿组合标定参数。实测结果表明,将该方法用于标定双目相机与单点激光测距仪系统后,在作业现场15-20 m的测量范围内,该系统的测距相对误差率为2.01%,且误差波动明显减小,满足10 kV带电作业现场的测距精度要求。

In order to solve the problem that the method of position and pose calibration between camera and laser rangefinder is not suitable for 10 kv live working safety distance measurement,it is difficult to meet the requirement of safety distance measurement precision,a method for relative pose calibration between binocular camera and single point laser rangefinder based on fusion of Gauss fitting and LM algorithm is proposed.First,the center pixel of a spot in a binocular image is extracted by Gauss fitting,and then the 3D coordinates of that pixel in camera coordinates are obtained by using a stereo vision algorithm,the initial value of position and pose calibration is obtained by setting up two sets of pixel center coordinates and laser ranging values,and the constraint equations of position and pose combination parameters of the above two sensors are established.Finally,the center coordinates of multiple sets of pixel points and their corresponding laser ranging values are obtained by the mobile calibration board,and an iterative algorithm is used to optimize the calibration parameters for the combined pose of the two sensors.The experimental results show that after using this method to calibrate the binocular camera and single-point laser rangefinder system,within a measurement range of 15-20 m at the worksite,the relative error rate of the system is 2.01%,and the error fluctuation is significantly reduced,meeting the distance accuracy requirements of 10 kV live working sites.