激光与光电子学进展, 2018, 55 (8): 081501, 网络出版: 2018-08-13  

相机与简单激光间外参标定的一种有效方法 下载: 911次

An Efficient Solution for Extrinsic Calibration of a Vision System with Simple Laser
作者单位
1 中国运载火箭技术研究院研究发展中心, 北京100076
2 西安交通大学电子信息学院, 陕西 西安 710049
摘要
近年来对非合作目标的重建需求越来越高。现有的将激光与相机结合的视觉系统大都是结合相机与激光测距仪,这样的视觉系统不仅应用不方便,而且成本偏高。因此,提出了一种新的视觉系统,采用一个简单的单点激光替换激光测距仪。这种视觉系统也能对目标激光点进行高精度的三维重建,但普通激光相对于激光测距仪的成本要降低很多。并且,提出了一种能够有效标定相机与简单单点激光之间外参的方法,首先获取相机坐标系下激光的方向和坐标,然后通过标定算法求出激光相机系统的外参,之后演示了如何用标定好的激光相机系统进行三维重建获取目标激光点的三维坐标。实验结果表明,用该方法重建出的目标点三维坐标精度较高,其重建精度与基于激光测距仪的视觉系统相当。
Abstract
Increasing demands for accurate reconstruction of the non-cooperative target are arising recent years. The existing methods which combine cameras and laser range finders (LRF) are inconvenient and costly. A new vision system is proposed that the widely used laser range finder is replaced with a simple laser. The combination of a camera and a simple calibrated laser is also highly accurately enough to reconstruct the three-dimensional position of the laser spot, while the cost much less than LRF. Also, a method to calibrate the extrinsic parameters between a camera and a simple laser is proposed. First, the direction and the position of the simple laser under the coordinate system of the camera are attained, and the extrinsic parameters of the camera and laser system are gotten using the calibration algorithm. Then how to use it to reconstruct a laser spot′s three-dimensional position is displayed. The experimental results show that the accuracy of the proposed method is comparable to the state-of-the-art LRF-based methods.

唐庆博, 谭尚真, 陈亚南, 王飞. 相机与简单激光间外参标定的一种有效方法[J]. 激光与光电子学进展, 2018, 55(8): 081501. Tang Qingbo, Tan Shangzhen, Chen Yanan, Wang Fei. An Efficient Solution for Extrinsic Calibration of a Vision System with Simple Laser[J]. Laser & Optoelectronics Progress, 2018, 55(8): 081501.

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