【摘要】 针对星球探测任务中星球漫游车自主避障和导航的要求,建立了一种基于平面模板的现场标定方法,实现月球车视觉系统的现场标定.针对月球车视觉系统的广角畸变的特点,引入径向和离心畸变模型,利用最大似然估计(MLE)对内、外参数进行非线性优化求精,并对图像进行畸变校正;计算摄像机间相对位置,实现了紧凑的双目视觉外极线校正.实验表明,该方法快速、简便,获得了较高的标定精度.更多还原

【Abstract】 In order to navigate and avoid obstacle automatically in an unknown environment,an on-line calibration method for Lunar Rover based on planar template is proposed.As for wide-angle distortion,radical and tangential distortion models are introduced.Maximum likelihood estimation criterion is used to nonlinearly optimize all the parameters.Image disortion is rectified.The relative position of two cameras is calculated to realize compact binocular epipolar rectification.The experimental results show the convenience,quickness and high precision calibration of this method.更多还原