作者：杨根齐, 汤宝平, 蒋恒恒

作者单位：重庆大学机械传动国家重点实验室, 重庆 400030

关键词：摄像机自标定; 圆环点; 等效圆心; Harris算子; Fostner算子

摘要：

针对现有的摄像机自标定算法抗噪声性能差等问题,分析了基于圆环点的摄像机自标定方法的原理,对现有方法作出了改进。充分利用Harris算子和Fostner算子的优点设计了一种亚像素的角点检测算法,提取的角点位置可精确到亚像素级;同时引入了等效圆心的概念,最大限度地降低了噪声干扰。然后充分利用射影几何调和共轭的理论求取摄像机的内参数。实验结果表明,该标定方法原理简单,标定结果鲁棒性较好且标定精度较高,可应用于高精度的视觉测量。

Sub-pixel camera self-calibration approach based on circle-points

YANG Gen-qi, TANG Bao-ping, JIANG Heng-heng

State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing 400030, China

Abstract: In view of the poor anti-noise performance of traditional camera self-calibration, the principle of camera self-calibration has been analyzed based on circle-point, and some improvements have been made based on the traditional methods. Making full use of the merits of harris operator and fostner operator, a novel sub-pixel corner suspecting algorithm was designed, and the location accuracy using this algorithm could come to sub-pixel. In order to decrease the effect of noise at higher degree, the equivalent center of the circle was imported. Then, it made full use of the theory of harmonic conjugate in projective geometry to calculate the inner parameters of camera. The experimental results demonstrate this method does very well on the theoretic simplicity, the robustness and veracity of the result. And it can be applied to high-accurate vision measurement.

Keywords: Camera self-calibration; Circle-point; Equivalent center of circle; Harris operator; Fostner operator

2009, 35(3): 107-109  收稿日期: 2008-10-22;收到修改稿日期: 2008-12-30

基金项目: 霍英东教育基金会11届青年教师基金(111057)教育部留学回国人员启动基金(教外司留(2008-5)第四十三批博士后科学基金(20080430749)

作者简介: 杨根齐(1983-),男,江西樟树人,硕士研究生,专业方向为机器视觉及视觉测量方向。

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