光学学报, 2017, 37 (10): 1015001, 网络出版: 2018-09-07   

基于平行面多靶标标定的单目大视场平面测量 下载: 808次

Wide-Area Monocular Plane Measurement Based on Calibration on a Parallel Plane Using Multiple Targets
作者单位
北京航空航天大学机器人研究所, 北京 100191
摘要
针对单目大视场平面测量时,测量平面内不便布置靶标和大尺寸靶标难以制作的问题,提出一种利用布设在平行面上的小尺寸平面靶标进行标定的方法。选定一个平行面为标定平面,将单个小尺寸平面靶标合理放置在标定平面的多个位置拍摄,整合构造出一个大尺寸平面靶标,采用非线性优化的方法进行摄像机内、外参的优化求解。结合平行约束和距离参数得到测量平面与图像平面的单应矩阵,实现大视场平面测量。建立平面测量的精度模型,对测量区域各处精度的分布以及影响测量精度的摄像机内参、安装角度和高度等因素进行理论分析和实验验证。实验结果表明:该方法可有效保证整体测量精度;在上底920 mm、下底1360 mm、高920 mm的梯形视场内标定,距标定平面200 mm的测量平面内的测量误差低于0.6%;测量区域内各处误差的分布趋势与精度模型一致。此方法完全适用于大视场平面测量。
Abstract
Aim

ing at the problem of inconvenient placement of a target in the measuring plane and the difficulty of making a large-scale target in wide-area monocular plane measurement system, a method of calibrating with small-size plane targets laid on a parallel plane is proposed. A parallel plane is selected as a calibration plane, a single small-size plane target is placed reasonably in a plurality of positions on the calibration plane for shooting, and a large-scale plane target is constructed by combining the photos and the nonlinear optimization method is used to complete the optimization of the internal and external parameters of the camera. Combining with the parallel constraint and the distance parameter, the homography matrix between the measuring plane and the image plane is obtained and then the wide-area plane measurement is realized. The precision model of plane measurement is established, and the distribution of precision in the measuring area and the factors influencing measurement precision such as the internal parameters, the installation angle and height of the camera are analyzed theoretically and experimentally. The experimental results show that the proposed method can effectively guarantee the overall measurement precision. In the calibration in a trapezoidal visual field with an upper line of 920 mm, a lower line of 1360 mm and height of 920 mm, the measurement error is lower than 0.6% in the measuring plane away from the calibration plane 200 mm. The distribution of errors in the measuring area is consistent with that of the precision model. This method is fully applicable to the wide-area plane measurement.

杨东升, 毕树生, 蔡月日, 袁畅. 基于平行面多靶标标定的单目大视场平面测量[J]. 光学学报, 2017, 37(10): 1015001. Dongsheng Yang, Shusheng Bi, Yueri Cai, Chang Yuan. Wide-Area Monocular Plane Measurement Based on Calibration on a Parallel Plane Using Multiple Targets[J]. Acta Optica Sinica, 2017, 37(10): 1015001.

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