基于大型场景下的多相机标定方法

doi:10.11896/jsjkx.211200054

计算机科学 ›› 2022, Vol. 49 ›› Issue (11A): 211200054-6.doi: 10.11896/jsjkx.211200054

• 图像处理&多媒体技术 • 上一篇下一篇

基于大型场景下的多相机标定方法

廖德¹, 张辉², 赵晨阳¹

1 长沙理工大学电气与信息工程学院长沙 410114
2 湖南大学电气与信息工程学院长沙 410012

出版日期:2022-11-10 发布日期:2022-11-21
通讯作者: 张辉(zhanghuihby@126.com)
作者简介:(LiaoDe1995@qq.com)
基金资助:
国家重点研发计划(2018YFB1308200);国家自然科学基金(61971071,6202780012);湖南省杰出青年科学基金(2021JJ10025);长沙市科技重大专项(kh2003026);机器人学国家重点实验室联合开放基金(2021-KF-22-17);中国高校产学研创新基金(2020HYA06006)

Multi-camera Calibration Method Based on Large-scale Scene

LIAO De¹, ZHANG Hui², ZHAO Chen-yang¹

1 College of Electrical and Information Engineering,Changsha University of Science and Technology,Changsha 410114,China
2 College of Electrical and Information Engineering,Hunan University,Changsha 410012,China

Online:2022-11-10 Published:2022-11-21
About author:LIAO De,born in 1995,master.His main research interests include image processing,robot control technology,etc.
ZHANG Hui,born in 1983,Ph.D,professor.His main research interests include machine vision,sparse representation and vision tracking.
Supported by:
National Key R & D Program of China(2018YFB1308200),National Natural Science Foundation of China(61971071,6202780012),Hunan Science Fund for Distinguished Young Scholars(2021JJ10025),Changsha Science and Technology Major Project(kh2003026),Joint Open Foundation of State Key Laboratory of Robotics(2021-KF-22-17) and China University Industry-University-Research Innovation Fund(2020HYA06006).

摘要/Abstract

摘要： 在计算机视觉领域,在实现大型目标物体的检测定位、尺寸估计等系列测量时,需要用到多个相机传感器获取物体的三维信息。但在复杂环境下,会出现相机之间存在非重叠视场情况而无法进行有效视觉测量的问题。为了解决非重叠视场下多相机的标定问题,提出了一种无需改变机械结构,且在带约束条件下的多相机标定方法。首先将相机安装在相互固定的位置,并确保相机之间不存在振动等情况,通过建立多相机优化数学模型以及相机同时采集多组相机对应标定板的位姿参数关系,采用SVRG优化算法实现对相机坐标系之间的位姿参数优化,进而求得多相机之间的位姿矩阵。最后利用相机之间的坐标系变换矩阵,求得对应目标之间的相对位姿参数作为评估精度指标。结合实际大型盾构机进行仿真实验与实际测试,结果表明,所提方法抗干扰性较强,优化效果稳定,且在实际应用中能够达到毫米级别的准确度。

关键词: 视觉测量, 相机标定, 非重叠视场, 盾构机, 位姿估计

Abstract: In the field of computer vision,multiple camera sensors need to be used to obtain three-dimensional information of the object so as to achieve a series of measurements such as detection,positioning and size estimation of large target objects.In actual applications,in complex environments,there will be a problem of non-overlapping field of view between the cameras,which prevents effective visual measurement.Therefore,in order to solve the calibration problem of multiple cameras,a multi-camera calibration method with constraints is proposed,without changing the mechanical structure.First,install the cameras in a fixed position,and ensure that there is no vibration between the cameras,by establishing a multi-camera optimization mathematical model and the cameras simultaneously collecting the pose parameter relationships of multiple sets of cameras corresponding to the calibration board,and using the SVRG optimization algorithm to achieve Optimize the pose parameters between the camera coordinate systems,and then obtain the pose matrix between multiple cameras.Finally,the coordinate system transformation matrix between the cameras is used to obtain the relative pose parameters between the corresponding targets as the evaluation accuracy index.And combined with the actual large-scale shield machine to carry out simulation experiment and actual test.The results show that this method has strong anti-interference,stable optimization effect,and can achieve millimeter-level accuracy in practical applications.

Key words: Vision measurement, Camera calibration, Non-overlapping field of view, Shield machine, Pose estimation

中图分类号:

TP391

廖德, 张辉, 赵晨阳. 基于大型场景下的多相机标定方法[J]. 计算机科学, 2022, 49(11A): 211200054-6. https://doi.org/10.11896/jsjkx.211200054

LIAO De, ZHANG Hui, ZHAO Chen-yang. Multi-camera Calibration Method Based on Large-scale Scene[J]. Computer Science, 2022, 49(11A): 211200054-6. https://doi.org/10.11896/jsjkx.211200054

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基于大型场景下的多相机标定方法

Multi-camera Calibration Method Based on Large-scale Scene

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