大视场双目视觉传感器的现场标定.pdfVIP

17 　3 　 Vol.17　No.3 2009 3 　 　 　　 　　　　　　　Optics and Precision Engineering 　　　 　　　 　　 M ar.2009 　1004-924X(2009)03-0633-08 孙军华, 吴子彦, 刘谦哲, 张广军 (北京航空航天大学 精密光机电一体化技术教育部 点实验室, 北京100191) :, , 。 , 。 , 。 , , 。 , , 6 000 mm×4 500 mm 0.06 mm 。 　　:立体视觉传感器;标定;大视场;基线尺;基本矩阵 :P391;P212.6　　:A Field calibration of stereo vision sensor with large FOV SUN Jun-hua, WU Zi-yan, LIU Qian-zhe, ZHANG Guang-jun (K ey Laboratory f or Precision Op tical-mechanical Technology of the Ministry of Education, Beihang University , Beij ing 100191, China) Abstract: he mathematical model of a stereo vision sensor is analyzed.Aiming at the application of vision measurement in large Field of View (FOV), a novel calibration method for stereo vision sensor with large FOV is proposed.A baseline rulur is randomly placed in FOV of the vision sensor for sev- eral times and the images of the feature points on the baseline rulur are acquired by the cameras. hen, based on the foundational matrix and the constraint of the known distance between two feature points on the target, the intrinsic parameters of cameras and the structure parameters of stereo vision sensor are simultaneously estimated by the method combining linear solution with nonlinear optimiza- tion. he experimental results show that the proposed calibration method is efficient and easy to oper- ate .All parameters of stereo vision sensor can be determined without initial value.By the measure- ment precision of 0.06 mm in the measurement range of 6 000 mm×4 500 mm, it is proved that the proposed method is suitable for calibrating stereo vision sensor with large FOV on the spot. Key words:stereo vision sensor;calibration;large FOV;baseline ruler;fundamental matrix 　　:2008-07-02;:2008-10-07. 　　:(NoNo; (No.200800061003) 634