双视角三维测量系统同时标定方法

赵涵卓; 高楠; 孟召宗; 张宗华

doi:10.12086/oee.2021.200127

双视角三维测量系统同时标定方法

doi: 10.12086/oee.2021.200127

基金项目:

国家重大科学仪器设备开发重点专项 2017YFF0106404

国家自然科学基金资助项目 51675160

河北省应用基础研究计划重点基础研究资助项目 15961701D

详细信息

作者简介:
赵涵卓(1992-)，女，硕士研究生，主要从事光学三维测量的研究。E-mail: 972466185@qq.com

通讯作者:
高楠(1982-)，男，博士研究生，副教授，主要从事光学测量与光谱检测方面的研究。E-mail: ngao@hebut.edu.cn

中图分类号: TH741
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出版历程
- 收稿日期: 2020-04-18
- 修回日期: 2020-09-14

Method of simultaneous calibration of dual view 3D measurement system

Funds:

Major Project of the Scientific Equipment Development of China 2017YFF0106404

National Natural Science Foundation of China 51675160

Major Basic Research Projects of Hebei Applied Basic Research Program 15961701D

More Information

Corresponding author: Gao Nan, E-mail: ngao@hebut.edu.cn

摘要

摘要: 针对现有标定方法在相机无公共视场情况下的局限性，本文提出使用双平面标定板对双相机进行同时标定的方法。通过推导两个相机与两个标定板间的坐标变换，将待标定相机与参考相机的相对位姿关系的求解转换为较为成熟的手眼标定方程求解。通过实验验证：该方法可实现双相机的同时标定，且方法的绝对误差不超过0.089 mm，较为可靠；在双视角三维测量系统中，与相位-深度的累积误差不超过0.116 mm，可为进一步的数据融合提供可靠的初值。此外，由于本方法灵活方便，可适用于多视角三维测量系统的同时标定。
- 双视角测量 /
- 全局标定 /
- 系统标定 /
- 条纹投影
Abstract: In view of the limitations of the existing methods when the camera has no common field of view, this paper proposes a method of using two plane calibration plates to calibrate two cameras at the same time. By deriving the coordinate transformation between the two cameras and two calibration plates, the solution of the relative pose relationship between any camera and the reference camera is transformed into a more mature hand-eye calibration equation. The experimental results show that this method can achieve simultaneous calibration of two cameras, and the absolute error is less than 0.089 mm. In the dual vision 3D measurement system, the cumulative error with phase height is less than 0.116 mm, which can provide a reliable initial value for the next step of data fusion.
- dual vision measurement /
- global calibration /
- system calibration /
- fringe projection

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图 1 测量系统模型

Figure 1. Model of measurement system

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图 2 全局标定示意图

Figure 2. Global calibration diagram

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图 3 双视角三维测量系统

Figure 3. Double vision 3D measurement system

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图 4 双棋盘格标定板

Figure 4. Double checkerboard calibration board

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图 5 全局标定精度验证

Figure 5. Global calibration accuracy verification

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图 6 选取的验证距离

Figure 6. Selected verification distance

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图 7 双圆环标定板

Figure 7. Double ring targets

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图 8 视角1恢复的台阶三维形貌

Figure 8. Three dimensional topography of steps restored by perspective 1

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图 9 相机2视角恢复的台阶三维形貌

Figure 9. Three dimensional topography of steps restored by perspective 2

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图 10 两视角融合效果图

Figure 10. Fusion of two perspectives

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表 1 全局标定精度验证结果

Table 1. Verification results of global calibration accuracy

摆放位置	最大误差/mm	最小误差/mm	平均误差/mm
1	0.089	0.036	0.075
2	0.077	0.039	0.069
3	0.084	0.045	0.071

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表 2 双视角测量结果(单位：mm)

Table 2. Measurement results of double view angle (unit: mm)

	台阶实际间距
	17.603	18.422	13.258	18.212
视角1测量间距	17.637	18.386	13.291	18.255
视角1测量误差	0.034	0.036	0.033	0.043
视角2测量间距	17.643	18.387	13.225	18.253
视角2测量误差	0.040	0.035	0.033	0.041
双视角测量结果	18.408	17.611	13.994	17.618
双视角测量误差	0.102	0.097	0.090	0.116

下载: 导出CSV

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