针对立体视觉系统中快速高精度标定等问题，提出一种基于实心圆靶标的立体视觉系统标定方法。使用Canny-Zernike组合算法实现圆心坐标的亚像素定位，并给出基于三角形标记的圆心排序方法。为减少计算复杂度，分别对左右摄像机内外参数进行Levenberg-Marquardt (LM)优化，使得优化变量数目减半，并获得外参数近似解。以实心圆靶标对角线上两实心圆的距离作为约束条件，对摄像机外参数进行LM优化，获得外参数最优解。编译基于实心圆靶标的立体视觉系统标定软件，并进行实验研究。结果表明，该标定方法具有较高的精度，能实现自动化标定，具有工程应用性。

Aim at the problem of rapid and high precise calibration in stereovision system, a calibration method for stereovision system based on solid circle target is proposed. The Canny-Zernike combination algorithm is used to locate the sub-pixel coordinates of circle center, and a sorting method for circle center based on a triangle target is given in detail. To reduce the computational complexity, the Levenberg-Marquardt (LM) algorithm is utilized to separately optimize the left and right camera for decreasing the number of optimal variables by half. The distance between two circle centers on diagonal direction of calibration board is regarded as the constraint, and the external parameters of cameras are optimized with LM algorithm. The calibration software for stereovision system based on solid circle target is complied, and the testing is performed in lab. Result shows that the proposed method has high precise, can achieve the automatic calibration and apply to engineering.