光学学报, 2017, 37 (2): 0215002, 网络出版: 2017-02-13   

用于大视场三维探测的人工复眼系统几何标定 下载: 517次

Geometric Calibration of Artificial Compound Eye System for Large Field of View Three-Dimensional Detection
作者单位
中国科学技术大学精密机械与精密仪器系, 安徽 合肥 230027
摘要
为了实现人工复眼系统的三维探测,针对人工复眼视场大、成像过程复杂等问题,提出一种基于双柱面法和反向传播(BP)神经网络的整体几何标定方法。该方法利用BP神经网络对任意复杂非线性关系的强大映射能力,分别在前后两个柱面上对复眼上的每个子眼进行隐式标定,建立图像像素坐标与柱面上二维坐标的映射关系。三维测量时一个图像上的点映射为前后柱面上的两个点,连接这两个点得到一条空间直线,通过最小二乘法求解多条空间直线的交点即可求得三维目标点的坐标。实验结果表明:在人工复眼60°×30°的视场范围的横向测量误差在1 mrad以内,纵向相对误差在0.6%左右。与传统的基于小孔模型的标定方法相比,该方法无须考虑复眼子眼的成像模型及其参数求解,而且由于整体标定过程是在同一世界坐标系下进行的,也不必精确知道各个子眼间的位置和朝向关系。此方法完全适用于人工复眼系统的几何标定,能够满足其大视场、高精度的标定要求。
Abstract
In order to achieve three-dimensional detection of artificial compound eye system and solve such problems as large field of view and complex imaging process, a global geometric calibration method based on two-cylinder and back-propagation (BP) neural network is proposed. In this method, the powerful mapping ability for arbitrary complex nonlinear relationship of BP neural network is used to take implicit calibration on two cylinders respectively, which set up the mapping relationship between the two-dimensional image coordinates and the cylindrical coordinates. In the three-dimensional measurement, the points on an image are mapped to two points on both the front and the back cylinders. Linking the two points we get a space line, and the intersections of multiple spatial lines are solved by the least square method. The coordinates in the three-dimensional target are then obtained. The experimental results show that the angle error of the artificial compound eye system is within 1 mrad at the field of view of 60°×30°, and the relative radial error is about 0.6%. Compared with traditional calibration methods based on pore model, this method does not need to consider compound eye imaging model and its parameters. Since the whole calibration process is conducted in the same world coordinates, the direction and location relationships between each eye need not to be accurately known. This method is fully applicable to geometric calibration of artificial compound eye systems, and it can meet the requirements of wide field and high precision calibration.

简慧杰, 何建争, 王克逸. 用于大视场三维探测的人工复眼系统几何标定[J]. 光学学报, 2017, 37(2): 0215002. Jian Huijie, He Jianzheng, Wang Keyi. Geometric Calibration of Artificial Compound Eye System for Large Field of View Three-Dimensional Detection[J]. Acta Optica Sinica, 2017, 37(2): 0215002.

本文已被 2 篇论文引用
被引统计数据来源于中国光学期刊网
引用该论文: TXT   |   EndNote

相关论文

加载中...

关于本站 Cookie 的使用提示

中国光学期刊网使用基于 cookie 的技术来更好地为您提供各项服务,点击此处了解我们的隐私策略。 如您需继续使用本网站,请您授权我们使用本地 cookie 来保存部分信息。
全站搜索
您最值得信赖的光电行业旗舰网络服务平台!