A Helicopter Airborne Binocular Stereo Vision Calibration Method
A technology of binocular stereo vision and calibration method, which is applied in image analysis, image enhancement, instruments, etc., can solve problems such as calibration, difficult binocular cameras, difficult two cameras, etc., and achieve the effect of eliminating body vibration
Active Publication Date: 2022-07-15
CHINA HELICOPTER RES & DEV INST
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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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[0030] In order to make the objectives, technical solutions and advantages of the implementation of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the accompanying drawings in the embodiments of the present application. Throughout the drawings, the same or similar reference numbers refer to the same or similar elements or elements having the same or similar functions. The described embodiments are some, but not all, embodiments of the present application. The embodiments described below with reference to the accompanying drawings are exemplary, and are intended to be used to explain the present application, but should not be construed as a limitation to the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present...
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The present application provides a method for calibrating binocular stereo vision onboard a helicopter, which belongs to the technical field of helicopter flight test. The target camera is statically calibrated to obtain the internal parameters of the camera, and then a three-dimensional black and white checkerboard target on the ground is produced, the coordinates of at least four plane target vertices are determined, and the helicopter is controlled to fly above the ground three-dimensional black and white checkerboard target, and the target image is collected by the binocular camera. , obtain the position of the plane target vertex in the target image at the same time, obtain the position of the plane target vertex in the body coordinate system and finally calculate the helicopter airborne binocular stereo vision calibration parameter [Rt ]. The application solves the calibration problem of the binocular vision measurement system in the airborne environment, and realizes the application of the binocular vision system on the helicopter to measure the pose of the object.
Description
technical field [0001] The present application belongs to the technical field of helicopter test flight testing, and in particular relates to a method for calibrating a helicopter's airborne binocular stereo vision. Background technique [0002] In simple terms, binocular vision is to use two cameras to imitate the binocular effect of the human eye, and to depict the image processed by the brain in the computer through related algorithms. Through this technology, we can obtain the distance from the measured target and obtain 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 surveying. [0003] One of the key technologies of binocular vision system is camera calibration. The purpose of camera calibration is to obtain the initialization parameters related to the transformation relationship from the two-dimensional image space to...
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IPC IPC(8): G06T7/80
CPCG06T7/80G06T2207/30244
Inventor 涂科敏彭勇顾文标雒文龙金可吴鑫张超李佳欣
Owner CHINA HELICOPTER RES & DEV INST