摘要
低成本立体摄像机需要高精度的标定和定量的精度评定才能应用于三维重建。推导了同步解算摄像机间的平台参数和摄像机内部参数的自检校光束法平差模型。利用全部标定参数及其协方差矩阵,建立了基于相对定向的立体摄像机标定精度的定量评价理论模型。利用低成本网络摄像机构建立体摄像机系统,对其实施标定和精度定量评定。实验表明,同步标定立体摄像机的内部参数、平台参数可以提高标定的精度和稳健性。考虑参数相关性的定量评价模型,能够更稳健地反映立体摄像机的标定精度。
Aiming at realizing three-dimension reconstruction, both the high-precision calibration of the low-cost stereo-camera system and the assessment of the quantitative accuracy are accomplished. The self-calibration bundle adjustment model that can calculate the platform parameters between cameras and internal parameters of camera is deduced.Based on relative orientation of the stereo-camera,atheoretical model for accuracy evaluation of ration is established by taking advantage of total calibration parameters and its covariance matrix. A stereo-camera system is established by using low-cost web camera. The calibration and accuracy evaluation of ration of the proposed system is carried out.Experimental results show that simultaneous determination of internal parameters and platform parameters of stereo-camera can improve the calibration accuracy and the stability. Quantitative evaluation model of considering parameters relativity can reflect the calibration accuracy for the stereo-camera system robustly.
出处
《激光与光电子学进展》
CSCD
北大核心
2016年第2期147-153,共7页
Laser & Optoelectronics Progress
基金
国家自然科学基金(41371425)
辽宁省自然科学基金(2013010251-401
2013020048)
关键词
机器视觉
摄像机标定
误差传播
多目视觉
三维重建
machine vision
camera calibration
error propagation
multi-vision
3D reconstruction
