A method for calibrate helicopter airborne binocular stereo vision is disclose

Abstract

A method for airborne binocular stereo vision calibration of a helicopt is disclosed, belonging to the helicopter flight test technical field. The method includes mounting a binocular camera on a helicopt, Establishing camera coordinate system, calibrating the binocular camera by Zhang 's calibration method, obtaining camera internal reference, making A ground three-dimensional black-and-white checkerboard target is then made, determining the coordinates of at least four planar target vertices, controlling the helicopter to fly above the ground stereoscopic black-and-white checkerboard target,acquiring a target image by a binocular camera, at that same time, obtaining the position of the vertex of the planar target in the target image (shown in the description), obtaining the position ofthe plane target vertex in the airframe coordinate system (shown in the description) and finally Calculating helicopter airborne binocular stereo vision calibration parameters [Rt] according to the coordinate converting relationship (shown in the description) from the camera coordinate system to the airframe coordinate system (shown in the description). The application solves the calibration problem of a binocular vision measurement system in an airborne environment, and realizes the position and posture measurement of an object by using the binocular vision system on a helicopter.

Description

technical field [0001] The application belongs to the technical field of helicopter flight test, and in particular relates to a method for calibration of helicopter onboard binocular stereo vision. Background technique [0002] To put it simply, binocular vision is to use two cameras to imitate the binocular effect of the human eye, and use related algorithms to depict the picture processed by the brain in the computer. We can use this technology to get the distance to the measured target and get the three-dimensional information of the target. Binocular vision is widely used in robot navigation, precision industrial measurement, object recognition, virtual reality, scene reconstruction, and survey fields. [0003] One of the key technologies of the binocular vision system is camera calibration. The purpose of camera calibration is to obtain initialization parameters related to the conversion relationship from the two-dimensional image space to the three-dimensional body c...

AI Technical Summary

Problems solved by technology

In addition, in order to obtain good binocular intersection measurement accuracy, the distance between the two cameras should be as large as possible, so it is difficult to find the area where the two cameras can observe together at a distance of 1m

[0008] Because it is difficult to calibrate the binocular camera in the airborne environment, it greatly limits the application of the binocular vision system in the field of airborne measurement

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