In-situ calibration method for structure parameters of large-visual-field binocular stereo vision system by small two-dimensional targets

Abstract

The invention discloses an in-situ calibration method for structure parameters of a large-visual-field binocular stereo vision system by small two-dimensional targets, which belongs to the technical fields of optical measurement and mechanical engineering. The calibration method comprises the following steps of: acquiring images of the small two-dimensional calibration targets which are placed in different positions in a measurement scene; respectively computing external parameters, which correspond to the calibration targets placed in the different positions and are opposite to left and right cameras, according to internal parameters, which are calibrated in an off-line manner, of the left and right cameras, and further computing the structure parameters of the stereo vision system; and finally, establishing an objective function to perform nonlinear optimization on the structure parameters of the stereo vision system. The small two-dimensional calibration targets effectively solve the problems of high cost, difficulty in transportation and storage and inconvenience in application and maintenance of large high-precision calibration targets, and can be applicable to the in-situ calibration of the structure parameters of the stereo vision system in a complicated environment.

Description

Technical field: [0001] The invention relates to a method for calibrating structural parameters of a binocular stereo vision system with a large field of view, in particular to a method for on-site calibration of structural parameters of a binocular stereo vision with a large field of view by using a small two-dimensional calibration target. It belongs to the technical fields of optical measurement and mechanical engineering. Background technique: [0002] The calibration of the parameters of the traditional binocular stereo vision system is to calibrate the parameters of the left and right cameras and the parameters of the system structure at the same time. With the continuous increase of the measurement scene, this traditional method has also been extended to the calibration of the large field of view binocular stereo vision measurement system. [0003] The calibration of the parameters of the large field of view binocular stereo vision system usually uses a large-scale t...

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Problems solved by technology

[0005] In order to overcome the deficiencies and defects of the existing technology, at the same time consider the importance of on-site calibration, such as it can effectively solve the problem of calibration parameters, especially structural parameters, due to the influence of the working environment, such as temperature, vibration, etc. during the use of the measurement system. Changes occur, resulting in problems such as reduced measurement accuracy

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