【摘要】 提出了一种基于双目立体视觉的摄像机外参数在线自标定算法。该算法采用理想的小孔成像模型,事先离线标定好摄像机的内参数,且各项内参数在自标定过程中均不发生变化,通过双目系统采集的二维目标图像,进行匹配和分析计算,来实时标定视觉系统的位置参数即摄像机的外参数。由于该算法可以实现摄像机快速在线标定,可以实时获得视觉系统位置参数,故可为无人机的自主着陆提供高度信息。更多还原

【Abstract】 This passage introduces a quick and on-line self-calibration algorithm for external camera parameters based on binocular vision system.The algorithm using the model of pin-hole which needs to be calibrated the interior camera parameter before self-calibration.The interior parameter cannot be modified during self-calibration.In order to calibrate vision system position parameter in real time, matching and analyzing calculation are necessary through the 2-dimension target image from binocular vision system.For this algorithm can calibrate on-line camera parameters quickly, the vision system position parameter can be gotten and the altitude information of the UAV when it landing can be obtained.更多还原