(值)双目视觉的立体标定方法.pdfVIP

计算机工程与设计 Computer Engineering and Design 1508 2011, Vol.32, No.4 计算机工程与设计 Computer Engineering and Design 双目视觉的立体标定方法 + 刘俸材， 谢明红， 王 伟 ( 华侨大学机电学院，福建 泉州36202 1) 摘 要：为实现双 目视觉系统的立体标定，分析了摄像机成像模型，并充分考虑了透镜的径向畸变和切向畸变，提出了一种 新的立体标定算法。该算法利用张正友的灵活标定算法，初步求取摄像机的内参数，结合Brown 算法并提取图像中角点的子 像素级坐标，精确求取摄像机内参数和畸变向量。为方便后续的图像校正，基于前面的单个摄像机标定，通过计算空间中的 景物点在左右摄像机成像平面上的位置关系，计算出双目视觉系统中两个摄像机之间的旋转矩阵R 和平移向量T，从而实现 了立体标定。实验结果表明，该算法能取得较高的精度，可以应用于双目视觉系统。 关键词：双目立体视觉; 摄像机标定; 摄像机模型; 立体标定; 角点提取 中图法分类号：TP391 文献标识码：A 文章编号：1000-7024 (2011) 04-1508-05 Stereo calibration method of binocular vision + LIU Feng-cai, XIE Ming-hong , WANG Wei (College of Mechanical and Electrical Engineering, Huaqiao University, Quanzhou 36202 1, China) Abstract ：In order to realize stereo calibration for binocular vision system, firstly, the image model of camera with a full consideration of radial distortion and tangential distortion of lens is analyzed, and a new method of stereo calibration is proposed. The flexible calibration method of Zhang Zhengyou is used to achieve the initial value of the cameras intrinsic parameters, and combined with the arithmetic of Brown, sub-pixel coordinates of images ’corner point are extracted. Through this method, it calculates the intrinsic parameters and distortion vector accurately. Hereafter, based on the single camera calibration aforementioned and calculation of the position relationship of spatial point proj ected to the left and right cameras’imaging planes which helps to work out the rotation matrix