基于自由运动一维标定物的多摄像机参数标定方法与实验

Calibration method and experiments of multi-camera's parameters based on freely moving one-dimensional calibration object

中文关键词  多摄像机  内外参数  标定  一维标定物  自由运动

英文关键词  multi-camera  internal and external parameters  calibration  1D calibration object  free motion

中文摘要

      一维标定方法易于实现且标定效率高. 为了克服现有一维标定方法的一些不足, 本文提出一种用一维标定物标定多摄像机内外参数的方法. 首先进行两两标定. 在此过程中, 假定主点坐标近似已知而仅考虑畸变、焦距、旋转和平移等参数, 接着利用基本矩阵及一维标定物上特征点之间的几何约束, 计两摄像机的内外参数. 两两标定完成后, 采用Dijkstra最短路径法和捆绑调整对多摄像机系统进行全局标定(含主点坐标). 仿真和真实实验表明本文的方法是切实有效的.

英文摘要

      The one-dimensional (1D) calibration method is of easy implementation and with high efficiency. In order to overcome deficiencies of existing 1D calibration methods, a new method is proposed in this paper to calibrate the internal and external parameters of multiple cameras by using a 1D calibration object. Firstly, the pair-wise calibration is carried out, where the positions of principal points are assumed to be approximately known and only those parameters such as the distortion, focal length, relative rotation and translation are needed to be taken into consideration. Then, with the fundamental matrix and geometry constraints of feature points on the calibration wand, the internal and external parameters of binocular cameras can be determined. After the pair-wise calibration, all parameters (including the positions of principal points) of the multicamera system are refined by using Dijkstra’s shortest path algorithm and the bundle adjustment method. The simulation and real experiments demonstrated the effectiveness of the proposed method.