光电工程, 2014, 41 (3): 35, 网络出版: 2014-04-09   

仿生复眼系统标定及测量方法研究

The Method for the Calibration and Measurement of Bionic Compound-eye System
作者单位
天津大学 精密仪器与光电子工程学院 精密测试技术及仪器国家重点实验室, 天津 300072
摘要
为了实现对近景目标物的三维测量, 研制了一种小型仿生复眼系统。介绍了该复眼系统的结构及其参数设计原则, 并对该系统采用的标定、三维测量等算法进行研究。首先根据复眼成像特点搭建了标定和测量平台, 并分别使用张正友的方法、直接线性变换法、Tsai 式两步法三种摄像机标定方法对复眼的中心子眼进行标定, 通过比较实验结果发现Tsai 式标定方法精度更高, 更适用于本复眼系统的标定。然后针对边缘子眼光轴与图像传感器不垂直问题, 提出了一种新的图像畸变数学模型, 有效的提高了边缘子眼的标定精度。最后建立了多子眼三维探测模型, 并探索了多子眼成像对复眼相机测量精度的影响, 认为三子眼可获得比双子眼更高的精度和稳定性。实验结果表明, 在距离复眼相机150~260 mm 范围内, 该复眼探测系统的三维测量相对误差在2%左右, 在满足仪器小型化的同时能基本实现近景三维测量。
Abstract
In order to realize close-range measurement, a miniaturized bionic compound-eye system was developed and the design principles of the system structure and parameters were introduced. Besides, the calibration and three-dimensional measurement algorithms were investigated. First, the platform for calibration and measurement was built based on imaging characteristics of the compound-eye. Three kinds of camera calibration methods, including Zhang’s method, the direct linear transformation method and Tsai two-step method, were carried out to calibrate the central sub-eye. By comparing the experimental results, it was determined that Tsai two-step method with high precision and accuracy was suitable for the calibration of the compound-eye system presented. Then, to solve the problem that the edge sub-vision axis was not perpendicular to the image sensor, a new distortion model that effectively improved the edge sub-eye calibration accuracy was proposed. Finally, a multiple sub-eye detection model was established, and its impact on the compound-eye camera measurement accuracy were discussed, from which it was determined that three sub-eye condition had better accuracy and stability than the two-eye. Experimental results indicate that the relative error of the compound eye three-dimensional detection system is about 2% when the object distance ranges from 150~260 mm, and this system could achieve the instrument miniaturization and basic close-range measurement.

张雄, 宋乐, 张姗姗, 房丰洲. 仿生复眼系统标定及测量方法研究[J]. 光电工程, 2014, 41(3): 35. ZHANG Xiong, SONG Le, ZHANG Shanshan, FANG Fengzhou. The Method for the Calibration and Measurement of Bionic Compound-eye System[J]. Opto-Electronic Engineering, 2014, 41(3): 35.

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