大视场线结构光视觉传感器的现场标定-NSFC.pdf

第40 卷第1 期 光电工程 Vol.40, No.1 2013 年1月 Opto-Electronic Engineering Jan, 2013 文章编号：1003-501X(2013)01-0106-07 大视场线结构光视觉传感器的现场标定 刘 冲，孙军华，刘 震，张广军 ( 北京航空航天大学 精密光机电一体化技术教育部重点实验室，北京 100191 ) 摘要：针对大视场线结构光视觉传感器的现场标定，提出了一种基于自由组合一维靶标的标定方法。自由组合多 个一维靶标并固定，其中每个一维靶标至少包含3 个共线特征点。靶标在传感器测量空间内自由摆放至少两次。 以一维靶标两两之间夹角恒定为约束求解摄像机内部参数；由一维靶标消影点性质和特征点之间距离约束，求解 各特征点在摄像机坐标系下的空间坐标；根据交比不变计算光平面与各一维靶标交点的摄像机坐标，拟合出光平 面方程。实验表明，该方法可获得与平面靶标相当的标定精度，具有靶标加工容易、精度高、摆放次数少的特点， 适合大视场线结构光视觉传感器的现场标定。 关键词：大视场；线结构光传感器；标定；一维靶标 中图分类号：TP391.41 文献标志码：A doi：10.3969/j.issn.1003-501X.2013.01.017 A Field Calibration Method for Line Structured Light Vision Sensor with Large FOV LIU Chong ，SUN Jun-hua ，LIU Zhen ，ZHANG Guang-jun ( Key Laboratory of Precision Opto-mechatronics Technology, Ministry of Education ; Beihang University, Beijing 100191 China ) Abstract: A calibration method for line structured light vision sensor with large Field of View(FOV) by using 1D targets with unconstrained combination is proposed. Several 1D targets, each of which has at least 3 feature-points aligned on a feature-line, are combined freely according to the measuring range of the sensor. All primitive parameters of the line structured light vision sensor are determined with observation of the target shown at a few (at least two) different viewpoints. The intrinsic parameters are solved using the invariability of angle between every two one-dimensional