基于量子粒子群优化算法的摄像机标定优化方法 
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Optimization Method of Camera Calibration Based on Quantum-Behaved Particle Swarm Optimization Algorithm
上海电力学院能源与机械工程学院, 上海 200090
图 & 表
图 1. 单目摄像机模型
Fig. 1. Model of monocular camera
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图 2. 摄像机采集图片(部分图片)
Fig. 2. Pictures collected by camera
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表 1基于QPSO算法求解摄像机的内参数结果
Table1. Results of camera intrinsic parameter based on QPSO algorithm
| Intrinsicparameter | Number of iterations |
|---|
| 0 | 100 | 200 | 300 | 400 | 500 | 600 |
|---|
| α | 1892.286754 | 1888.95 | 1890.53 | 1891.43 | 1891.60 | 1891.62 | 1891.62 | | β /pixel | 1891.769189 | 1888.81 | 1889.86 | 1890.81 | 1890.81 | 1890.81 | 1890.81 | | γ /pixel | 0 | 0.015593 | 0.013358 | 0.015991 | 0.012230 | 0.015422 | 0.014557 | | u0 /pixel | 814.852 | 813.749 | 813.752 | 813.752 | 813.761 | 813.761 | 813.761 | | v0 /pixel | 639.585 | 638.468 | 638.487 | 638.509 | 638.525 | 638.526 | 638.526 | | k1 | 0 | -0.042473 | -0.074003 | -0.090816 | -0.094464 | -0.0948001 | -0.094804 | | k2 | 0 | -0.195808 | 0.024753 | 0.142105 | 0.161131 | 0.162734 | 0.162750 | | p1 /10-5 | 0 | 65.92 | 17.79 | 7.426 | 16.74 | -18.87 | -18.89 | | p2 /10-5 | 0 | 17.49 | 7.981 | -0.2476 | -5.251 | -5.639 | -5.641 | | f | / | 2.200950 | 0.952022 | 0.664851 | 0.630621 | 0.629836 | 0.629795 |
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表 2可靠性数据验证
Table2. Reliability data verification
| Original cornercoordinates (u, v) | Projection coordinates and errorsobtained by proposal algorithm | Projection coordinates and errors obtainedby Zhang's calibration method[3] |
|---|
| u /pixel | v /pixel | u' /pixel | v' /pixel | | | u' /pixel | v' /pixel | | | | 348.550 | 212.366 | 348.659 | 212.434 | 0.109 | 0.068 | 349.685 | 213.400 | 1.135 | 1.034 | | 429.568 | 213.514 | 429.602 | 213.397 | 0.034 | 0.117 | 430.662 | 214.381 | 1.095 | 0.867 | | 510.629 | 214.410 | 510.656 | 214.419 | 0.027 | 0.009 | 511.730 | 215.406 | 1.101 | 0.996 | | 591.706 | 215.491 | 591.801 | 215.523 | 0.095 | 0.032 | 592.880 | 216.506 | 1.174 | 1.015 | | 672.971 | 216.668 | 672.994 | 216.727 | 0.023 | 0.059 | 674.078 | 217.704 | 1.106 | 1.036 | | 754.194 | 218.135 | 754.180 | 218.044 | 0.014 | 0.091 | 755.269 | 219.015 | 1.075 | 0.880 | | 835.281 | 219.478 | 835.290 | 219.479 | 0.009 | 0.001 | 836.388 | 220.447 | 1.107 | 0.969 |
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王道累, 胡松. 基于量子粒子群优化算法的摄像机标定优化方法[J]. 激光与光电子学进展, 2018, 55(12): 121502. Daolei Wang, Song Hu. Optimization Method of Camera Calibration Based on Quantum-Behaved Particle Swarm Optimization Algorithm[J]. Laser & Optoelectronics Progress, 2018, 55(12): 121502.
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