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Lunar rover binocular vision navigation system calibration method

A navigation system and binocular vision technology, applied in the direction of measuring devices, instruments, etc., can solve the problems of unsuitable dual cameras, oscillation of fitting parameters, and many undetermined coefficients, so as to improve the calibration accuracy is not high, improve work efficiency, Simple operation effect

Active Publication Date: 2010-11-03
BEIJING INST OF CONTROL ENG
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Problems solved by technology

This calibration method is characterized by many undetermined coefficients and unclear meanings, and high-order quadratic equations are prone to produce fitting parameter oscillations. It is not suitable for close-range cameras (non-infinity target imaging) and dual cameras.

Method used

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  • Lunar rover binocular vision navigation system calibration method
  • Lunar rover binocular vision navigation system calibration method
  • Lunar rover binocular vision navigation system calibration method

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Experimental program
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Embodiment

[0084] Steps to calibrate the internal parameters of the camera to be calibrated first:

[0085] (1) Establish a calibration device that includes a circular retroreflective measurement mark and a coding mark with a diameter of 10mm (or a diameter of 8mm) made of reflective materials produced by the US 3M company (models: 7610) and placed in the experiment. Indoors, the three-dimensional coordinates representing the relative position of the calibration device can be obtained. Use the industrial measurement system developed by Zhengzhou Chenwei Technology Co., Ltd. or the V-STARS digital photogrammetry system to measure the retroreflection measurement marks and coding marks in the calibration device. Carry out the measurement to obtain the three-dimensional coordinates of the backlight measurement reflection mark and the coding mark on the calibration device as the control point coordinates, and then convert the control point coordinates into the coordinate system of the calibrat...

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Abstract

The invention discloses a lunar rover binocular vision navigation system calibration method. A measurement system measures a calibration device comprising a light-reflecting measurement mark and a coded mark to obtain a control point coordinate, two cameras to be calibrated respectively shoot the calibration device, and internal parameters of the two cameras to be calibrated and external parameters of the two cameras to be calibrated at different positions relative to the calibration device can be calibrated by adopting a collinearity equation; and a theodolite measurement system is matched with the calibration device to calibrate respective prism square coordinate system of the two cameras to be calibrated, and respective external parameters of the two cameras to be calibrated are calibrated by utilizing the respective prism square coordinate system and the external parameters of the two cameras to be calibrated at different positions relative to the calibration device respectively. The lunar rover binocular vision navigation system calibration method radically solves the problem that a coordinate system of a camera cannot be obtained by a direct measurement method, and makes the coordinate system of the camera visible; meanwhile, the lunar rover binocular vision navigation system calibration method has the advantages of simple operation, high calibration precision and high work efficiency.

Description

technical field [0001] The invention relates to a calibration method for a binocular vision navigation system of a lunar rover, which is mainly used in the fields of digital photogrammetry, computer vision and the like. Background technique [0002] The binocular visual navigation system of the lunar rover is mainly composed of two digital cameras and two cubic mirrors, such as figure 1 As shown, two cubic mirrors are respectively fixed on two cameras. The binocular visual navigation of the lunar rover mainly relies on two digital cameras to obtain external information at the same time to determine its own position, including visual measurement, terrain matching, path planning, etc. In the binocular vision navigation system, system comprehensive calibration is the key technology, and accurate calibration is the basis to ensure correct navigation. Therefore, the calibration accuracy of the binocular vision navigation system of the lunar rover directly determines whether the...

Claims

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Application Information

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IPC IPC(8): G01C25/00
Inventor 李春艳王立卢欣范生宏李晓周建涛刘淑娟
Owner BEIJING INST OF CONTROL ENG
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