Global Calibration Method for Active Binocular Vision System

Abstract

The invention discloses an initiative binocular vision system overall calibration method which includes the steps that firstly, an initiative binocular vision system is installed and parameters are adjusted, then, camera calibration and three-dimensional calibration are performed, and three-dimensional calibration of the system is achieved; secondly, a laser tracker is used for determining a world coordinate system, deriving relational expressions from a dynamic left camera coordinate system to the world coordinate system and confirming the calibration parameters; thirdly, the system is moved to a posture 1 and a posture 2 in sequence from an initial posture, and the geometrical relationship between the left camera coordinate system and the world coordinate system under each posture is calibrated; finally, a overall calibration constraint equation is set up so as to solve unknown parameters, and overall calibration is finished. The initiative binocular vision system overall calibration method improves the stability and the speed of overall calibration and obtains high overall calibration precision.

Description

Technical field [0001] The invention relates to a global calibration method for an on-site multi-sensor three-dimensional vision measurement system, in particular to a global calibration method for an active binocular vision system. Background technique [0002] With the development of computer technology and the improvement of computing power, computer vision has become one of the hottest research disciplines in the fields of engineering and science. As an important branch of computer vision, active binocular vision system is a bionic system capable of dynamic 3D measurement and reconstruction of real 3D scenes. The system mainly consists of two industrial cameras and a pan / tilt capable of pitch and yaw motion. The baseline distance between the cameras can be adjusted, and the motion parameters of the system can be obtained in real time (yaw angle, pitch angle). Compared with the passive binocular vision system, the active binocular vision system can change the angle of v...

AI Technical Summary

Problems solved by technology

[0005] The technology of the present invention solves the problem: in order to solve the shortcomings of the existing calibration methods such as slow speed and poor stability, the present invention provides a global calibration method for active binocular vision systems, which is used for global calibration speed and accuracy in the narrow working range of the measurement site Use when higher requirements

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