计算机工程 ›› 2013, Vol. 39 ›› Issue (7): 228-232.doi: 10.3969/j.issn.1000-3428.2013.07.051

• 人工智能及识别技术 • 上一篇    下一篇

双目CCD测距系统的高精度标定

姜雨彤,杨进华,刘 钊,张丽娟,姜成昊   

  1. (长春理工大学光电工程学院,长春 130022)
  • 收稿日期:2012-06-26 出版日期:2013-07-15 发布日期:2013-07-12
  • 作者简介:姜雨彤(1987-),女,硕士研究生,主研方向:机器视觉,图像处理;杨进华,教授、博士、博士生导师;刘 钊,硕士研究生;张丽娟,讲师、博士研究生;姜成昊,博士研究生
  • 基金项目:
    吉林省科技发展计划青年科研基金资助项目(201101093);吉林省教育厅“十二五”科学技术研究基金资助项目(2011101)

High Precision Calibration of Binocular CCD Ranging System

JIANG Yu-tong, YANG Jin-hua, LIU Zhao, ZHANG Li-juan, JIANG Cheng-hao   

  1. (College of Photoelectrical Engineering, Changchun University of Science and Technology, Changchun 130022, China)
  • Received:2012-06-26 Online:2013-07-15 Published:2013-07-12

摘要: 为实现高精度的远距离被动测距,提出一种摄像机内、外参数以及双目CCD测距系统的标定方法。基于双目测距模型设计双目测距系统的机械结构,进行左右摄像机的单目标定,利用主点标定方法求出主点坐标,使用两步法线性求解摄像机的焦距、一阶径向畸变系数、旋转矩阵和平移向量,从而对高精度双目测距系统完成基线长、两摄像机光轴夹角和两像面相对位置的系统标定。实验结果表明,摄像机标定精度为0.582 6像素,双目测距系统的标定精度为0.208 mm,取得了较为理想的结果,此外,在300 m以内的目标实际测量精度高于0.28%,满足高精度双目测距的精度要求。

关键词: 双目测距, 测距原理, 摄像机标定, 双目标定, 主点标定, 两步法

Abstract: In order to realize high precision and long-distance passive ranging, a calibration method of CCD camera parameters and binocular ranging system is put forward. A mechanical device of high precision binocular ranging system based on the binocular ranging model is designed. Next about the camera monocular calibration, this paper gets the principal point coordinates and aspect ratio, proposes a new method of principal point calibration, calibrates focal length, first-order radial distortion coefficient, the rotation matrix and translation vector on the basis of two-step method using the linear measure. Baseline of the high precision binocular ranging system, relative position of two image plane and optical axis angle of two camera in calibration system are calibrated. Experimental results show that the precision of camera calibration is 0.582 6 pixel, calibration precision of binocular ranging system is 0.208 mm, it obtains a better result. The actual measurement accuracy of 300 m target is less than 0.28%, and can satisfy the requirements of high precision of binocular CCD ranging system.

Key words: binocular ranging, ranging principle, camera calibration, binocular calibration, principal point calibration, two-stage method

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