Zhao Yu, Li Xiaofeng, Li Weimin
Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, 96#, JinZhai Road, P.O. Box 230026, Hefei, Anhui Province, China.
Appl Opt. 2012 Jun 1;51(16):3338-45. doi: 10.1364/AO.51.003338.
This paper proposes an adjustment method for binocular vision measurement to calibrate a camera's internal and external parameters based on a one dimensional (1D) target in the field of view. A 1D target with two feature points lying randomly in the field of view is used to get the images of the feature points. The distance between the two feature points is known. The internal and external parameters can be acquired by solving equations combining the photograph measurement collinear equations and the feature points' distance equations. To solve these equations, we use linearization of nonlinear equations and the adjustment method. During the process, we deal with the equations as measurement equations and the internal/external parameters and the 3D target points as the unknown parameters to calculate them. According to field experiment results, in about a 600 mm×600 mm field of view, the relative error of the distance of two points is less than two ten-thousandths, obtained by using the calculated results of the binocular vision system. The calibration process is simple, convenient, and suitable for calibrating a camera on the spot.
本文提出了一种双目视觉测量的调整方法，用于基于视场中的一维（1D）目标来校准相机的内外部参数。使用一个在视场中随机分布有两个特征点的一维目标来获取特征点的图像。这两个特征点之间的距离是已知的。通过联立摄影测量共线方程和特征点距离方程求解，可以获取内外部参数。为求解这些方程，我们采用非线性方程线性化和调整方法。在此过程中，我们将这些方程视为测量方程，将内/外部参数和三维目标点视为未知参数进行计算。根据现场实验结果，在大约600 mm×600 mm的视场中，利用双目视觉系统的计算结果得到的两点距离相对误差小于万分之二。校准过程简单、方便，适用于现场校准相机。
