论文部分内容阅读
为了解决大视场立体视觉传感器标定难题,提出一种基于灵活靶标的立体视觉传感器现场标定方法。该方法根据立体视觉传感器视场范围,灵活摆放多个小平面靶标,并通过刚性连接装置连接;再将灵活靶标在立体视觉传感器视场前自由移动多次(至少两次),以小靶标之间位置关系不变为约束条件,求解两个摄像机之间的转换矩阵;最后通过非线性优化方法得到转化矩阵的最优解,完成立体视觉传感器现场标定。经实验证明,该方法的标定精度优于小靶标,可得到与大靶标接近的标定精度。
In order to solve the problem of stereo vision sensor calibration in large field of view, a field calibration method of stereo vision sensor based on flexible target is proposed. The method flexibly places a plurality of facet targets according to the field of view of the stereoscopic vision sensor and is connected by a rigid connecting device. The flexible target is then moved freely (at least twice) before the field of view of the stereoscopic sensor to a small target And then the transformation matrix between the two cameras is solved. Finally, the optimal solution of the transformation matrix is obtained through the nonlinear optimization method, and the stereo calibration of the sensor is completed. The experimental results show that the calibration accuracy of this method is better than that of the small target, and the calibration accuracy close to the large target can be obtained.