针对等距投影鱼眼成像模型，本文提出通过标定场方法对月球车避障像机进行自标定光束法平差，对月球车双目视觉避障像机的内参数、相对外参数进行标定。采用标定得到的参数，对摄影测量标志进行三维坐标恢复，得到标志在避障像机坐标系下的三维坐标。将该三维坐标与已知的三维坐标进行比较，利用比较的偏差结果评定避障像机的标定精度。实验结果表明，该方法完全满足避障像机标定精度要求。

Referring to equidistant projection fisheye imaging model, self-calibration bundle adjustment for lunar rover hazard avoidance cameras are carried out by using the methods of calibration fields. The interior parameters and relative of exterior parameters of hazard avoidance cameras are calibrated. Using the obtained calibration parameters, the three-dimensional coordinates of the photogrammetry targets are recovered to get the three-dimensional coordinates of the targets hazard avoidance cameras coordinate system. Compare this three-dimensional coordinates with the known three-dimensional coordinates, and assess the calibration accuracy of hazard avoidance cameras by the comparative bias results. The experiment demonstrates the effectiveness of the calibration parameter models and the calibration method for the lunar rover hazard avoidance cameras.