基于散焦图像的大视场立体视觉标定方法

doi:10.3969/j.issn.0255-8297.2019.06.004

应用科学学报 ›› 2019, Vol. 37 ›› Issue (6): 795-805.doi: 10.3969/j.issn.0255-8297.2019.06.004

基于散焦图像的大视场立体视觉标定方法

余淑真¹, 欧巧凤¹, 熊邦书¹, 陈垚锋²

1. 南昌航空大学图像处理与模式识别江西省重点实验室, 南昌 330063;
2. 中国直升机设计研究所直升机旋翼动力学重点实验室, 江西景德镇 333000

收稿日期:2018-08-02 修回日期:2019-03-13 出版日期:2019-11-30 发布日期:2019-12-06
通信作者: 熊邦书,教授,研究方向:模式识别、智能信号处理、图像处理,E-mail:xiongbs@126.com E-mail:xiongbs@126.com
基金资助:
国家自然科学基金（No.61866027，No.61462063，No.61602233）；江西省重点研发计划项目基金（No.20171BBE50013）；江西省研究生创新专项资金（No.YC2017-S329）资助

A Calibration Method Based on Defocused Image for Stereo Vision Sensor with Large FOV

YU Shuzhen¹, OU Qiaofeng¹, XIONG Bangshu¹, CHEN Yaofeng²

1. Key Laboratory of Image Processing and Pattern Recognition of Jiangxi Province, Nanchang Hangkong University, Nanchang 330063, China;
2. Science and Technology on Rotorcraft Aeromechanics Laboratory, China Helicopter Research and Development Institude, Jingdezhen 333000, Jiangxi Province, China

Received:2018-08-02 Revised:2019-03-13 Online:2019-11-30 Published:2019-12-06

摘要/Abstract

摘要： 针对传统大视场立体视觉标定方法存在操作不便、精度不高、稳定性差的问题，提出基于散焦图像的大视场立体视觉标定方法.首先，在立体视觉系统和大视场测量位置之间选定一个位置作为小视场散焦位置，利用在此位置处采集的靶标图像，实现摄像机内参标定；其次，利用大视场测量位置处采集的靶标图像，实现立体视觉外参标定；最后，通过实验室标定实验和直升机桨叶运动参数测量实验进行了验证.结果表明，该方法操作方便、精度高、稳定性好，在4.6 m×2.3 m的视场范围内，测量靶标上特征点间距为505.00 mm的两个点，平均误差为0.647 mm，均方根误差为0.780 mm，能够满足直升机桨叶运动参数测量的现场标定以及测量精度要求.

关键词: 立体视觉, 视觉测量, 视觉标定, 大视场, 散焦图像

Abstract: A calibration method based on defocused image is proposed for stereo vision sensor with large field of view (FOV) to simplify operation process and gain accurate and steady camera calibration. First, a defocusing position is selected between the stereo vision system and the measurement position. The intrinsic parameters of cameras are obtained by using the template images at the defocusing position. Second, the external parameters of the stereo vision are obtained by using the template images at the measurement position. Finally, a laboratory calibration experiment and an experiment of measuring the helicopter blade motion parameters are conducted to verify the proposed method. Experimental results show that the method features in simple operation, high accuracy and reliability. In a field of 4.6 mm×2.3 mm, the mean error and the RMS error of a 505.00 mm distance between two feature points on the target are 0.647 mm and 0.780 mm respectively. Therefore this method can meet the requirements of onsite calibration with high-precision for the measurement of helicopter blade motion parameters.

Key words: stereo vision, vision measurement, vision calibration, large field of view, defocused image

中图分类号:

TP391.41

余淑真, 欧巧凤, 熊邦书, 陈垚锋. 基于散焦图像的大视场立体视觉标定方法[J]. 应用科学学报, 2019, 37(6): 795-805.

YU Shuzhen, OU Qiaofeng, XIONG Bangshu, CHEN Yaofeng. A Calibration Method Based on Defocused Image for Stereo Vision Sensor with Large FOV[J]. Journal of Applied Sciences, 2019, 37(6): 795-805.

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基于散焦图像的大视场立体视觉标定方法

A Calibration Method Based on Defocused Image for Stereo Vision Sensor with Large FOV

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