【作者】 杨金峰；

【导师】 邾继贵；

【作者基本信息】 天津大学 ， 测试计量技术与仪器， 2007， 硕士

【摘要】 单摄像机立体视觉坐标测量系统有体积小、测量速度快、成本低的优点,但是由于单一摄像机拆分像面带来了视场的损失,为了增强它的适用性,采用了大视场镜头,由此又增加了结构的复杂性,所以论文重新分析了双目立体视觉传感器的结构因素对测量精度的影响,以此为参考设计单摄像机立体立体视觉测量结构,同时针对大视场角镜头引入的图像畸变,以及传统的摄像机标定方法的不足,根据鱼眼镜头的成像模式,提出了适应大畸变摄像机标定的两步法标定方法,并且完成了实验验证和分析。论文的主要研究内容如下:1.根据原有的立体视觉传感器的结构分析模型,修正和变换了其与结构相关的测量误差数学表达,以摄像机的光轴与传感器基线的交角为主导参量,得出由结构引入的误差量的简洁数学解析式,并以此分析由结构和像面提取精度带来的测量误差,为双目立体视觉结构设计提供另一种分析方法。2.根据论文对测量精度的结构因素分析,构建了大视场单摄像机立体视觉坐标测量结构,分析了结构中参数之间的相互关系。为单摄像机立体视觉测量的选择和应用提供分析依据。制作了样机,并且完成了实验验证,证明它的正确性和合理性。3.结合传统摄像机标定方法的稳定性和鱼眼镜头成像模式,以及RAC(径向排列约束)的思想,分析提出了先确定大视场摄像机的成像模型,再根据传统标定方法进行精确标定的两步法的摄像机标定方法,为大视场角摄像机的标定提供精度保证,同时为鱼眼镜头摄像机的标定提供参考。4.针对提出的摄像机标定方法,从理论仿真和实际实验的角度分别验证了它的稳定性、可行性和正确性。更多还原

【Abstract】 Single camera stereo vision coordinates measurement system has an advantage of structure size, measurement speed and cost. For its extensive applicability, this dissertation analyses the structural factor influence on measurement accuracy of the binocular stereo vision sensor from new point of view. And design large-field structure of single camera stereo vision measurement, by this, makes for a loss of field of view that cause by splitting of single camera image plane. At the same time, considering the large image distortion bring by large field of view lens, and deficiency of conventional camera calibrating method for large-field lens, based on fish-eye lens imaging mode, two-step approach calibration method that suit for large distortion camera calibration is introduced, accomplish experimental verification and analyses.The main works of this dissertation are summarized as follows:1. On the basis of quondam structure analysis model for binocular stereo vision sensor, modify and transform mathematical formulation of measuring error that involves structure. Use intersection angle of the optical axis and baseline as led parameter, and get a concise mathematical analysis of measurement error determined by structure. Analyses the error cause by structure and abstraction precision, supply other kind of analytical procedure for binocular stereo vision physical design2. On the basis of analyses for structural factor that influence precision, design single camera stereo vision measurement of coordinates structure with large field. Analyses the correlation of the structure parameter, make a model machine and accomplish experimental verification.3. Considering conventional camera calibrating method, fish-eye lens imaging mode and RAC (radial array constraint), introduce two-step approach for the camera calibration method. First calibration imaging model, next finish precision calibration with conventional calibrating method. Suit for large filed and fish-eye lens.4. Verify the reliability, feasibility and validity of new camera calibrating method with theory simulation and actual experiment.更多还原