基于新型双目机构的立体视觉系统标定

Calibration of Stereo Vision System Based on a New Binocular Device

摘要: 为了获得更大的摄像机视野和更高的系统鲁棒性，研制了一种新型的双目机构；并以此机构为核心搭建了立体视觉系统，之后对整个系统进行了标定．为有效地消除图像的畸变，提出了一种显—隐式畸变校正方法；此方法可以同时校正图像的径向和切向畸变，用最小二乘法即可求解．提出了一种简单而精确的分步旋转法来校准左右图像的极线．实验结果表明，经过显—隐式畸变校正方法和分步旋转法处理的立体图对，可以满足立体匹配的要求．

Abstract: In order to obtain larger camera visual field and higher system robustness,a new binocular device is deve-loped.A stereo vision system based on this binocular device is built and calibrated.In order to eliminate image distortion, an explicit-implicit distortion correction method is presented,which can correct radial and tangential image distortions and can be solved with least square method.A compact and precise step-rotation method is used to rectify the epipolar lines.Experimental results show that the stereo image pairs processed by explicit-implicit distortion correction method and step-rotation method can meet the requirements of stereo matching.