一种大视场汇聚型双目立体视觉标定方法

doi:10.3969/j.issn.0255-8297.2024.02.008

摘要/Abstract

摘要： 双目摄像机汇聚型摆放易导致标记点出现散焦模糊和透视形变，使标记点定位出现偏差，在大视场环境下会引发不可忽视的标定误差，进而影响测量精度。为解决上述问题，提出了一种基于标记点定位偏差度加权的大视场汇聚型双目立体视觉标定方法。首先，利用靶标在摄像机坐标系下的位姿，计算标记点散焦模糊量和透视形变度；其次，根据标记点定位偏差度设置相应权重；最后，将标记点权重系数加入目标函数，引导标定参数优化。实验结果表明：在观测值为505 mm的情况下，该方法测距均方根误差和标准差可达0.809和0.290，不但有效提高了大视场汇聚型双目立体视觉标定精度，而且具有良好的稳定性。

关键词: 立体视觉, 汇聚型双目标定, 大视场, 定位偏差, 加权优化

Abstract: The convergent placement of binocular cameras can lead to defocus blur and perspective deformation of the marked points, introducing positioning deviations and calibration errors, especially problematic in large field of view (FOV) environments and consequently affecting measurement accuracy. To address this problem, a large FOV convergence binocular stereo vision calibration method based on the weighting of mark points positioning deviation degree is proposed. Firstly, the defocus blur and perspective deformation of the mark points are calculated by using the position of the target in the camera coordinate system. Secondly, the corresponding weight is set according to the positioning deviation degree of mark points. Finally, the mark points weight coefficients are added to the objective function to guide the optimization of calibration parameters. Experimental results show that the root-mean-square error and standard deviation of distance measurement can reach 0.809 and 0.290, respectively, when the observation value is 505 mm. This method not only effectively improves the calibration accuracy of large field convergence binocular stereo vision, but also exhibits good stability.

Key words: stereo vision, convergent binocular calibration, large field of view (FOV), positional deviation, weighted optimization

中图分类号:

TP391.41

崔帅华, 余磊, 何茜, 熊邦书, 欧巧凤. 一种大视场汇聚型双目立体视觉标定方法[J]. 应用科学学报, 2024, 42(2): 269-279.

CUI Shuaihua, YU Lei, HE Xi, XIONG Bangshu, OU Qiaofeng. A Large FOV Convergence Binocular Stereo Vision Calibration Method[J]. Journal of Applied Sciences, 2024, 42(2): 269-279.

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