Calibration method of general imaging model orthogonal spectroscopic imaging pose sensor

Abstract

The invention relates to calibration of an orthogonal spectroscopic imaging pose sensor, aims to solve the problems of distortion correction and imaging model of the orthogonal spectroscopic imaging pose sensor, and aims to provide a calibration method based on a general imaging model. The calibration method is applied to calibration of a novel orthogonal spectroscopic imaging pose sensor. Therefore, the technical scheme adopted by the invention discloses the calibration method of a general imaging model orthogonal spectroscopic imaging pose sensor. Pose measurement is achieved through orthogonal spectroscopic imaging of a double-linear-array CCD camera. A continuous vector value function is used for representing a mapping relation. A vector value function is fitted through radial basis function interpolation. Control points are adaptively selected in combination with a Kmeans clustering method. A CCD camera matrix is solved. Linear coordinates of all points in a calibration data set are solved according to the CCD camera matrix, and calibration is achieved. The method is mainly applied to calibration occasions of the pose sensor.

Description

technical field [0001] The invention relates to the calibration of an orthogonal spectroscopic imaging pose sensor, in particular to a calibration method for a general imaging model orthogonal spectroscopic imaging pose sensor. Background technique [0002] In visual measurement, the linear array CCD has higher resolution and faster speed than the area array CCD, but the linear array CCD can only acquire one-dimensional images. In order to realize space target measurement, the multi-eye measurement method based on multiple linear array CCDs is usually used to complete the measurement. The multi-eye measurement method requires that the measured space target must be within the common field of view of all linear array CCDs, so the measurement range is greatly limited. In order to meet the measurement requirements of large range, high precision and fast speed in visual measurement, an orthogonal spectroscopic imaging pose sensor based on dual linear array CCD is designed and im...

AI Technical Summary

Problems solved by technology

However, the actual optical system has a pupillary difference at the entrance pupil, so that the rays cannot intersect at one point. The larger the pupillary difference, the lower the accuracy of calibration using the pinhole imaging model.

However, the orthogonal spectroscopic imaging pose sensor proposed in this paper has a special optical structure and has large distortion.

Therefore, the pinhole imaging model cannot accurately describe the imaging system

Although the rotational symmetry model proposed by Tardif et al. can solve the problem of pupil difference, it still cannot solve the influence of manufacturing and assembly errors on the calibration accuracy.

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