基于机械臂辅助的相机标定研究

Manipulator Assisted Calibration and Parameter Curve Fitting for Zoom Lens

摘要:

随着变焦镜头摄像机越来越多地被应用于计算机视觉的各个领域,其内部参数与放大倍数的关系的准确获知就显得尤为重要;采用建立内部参数与放大倍数之间函数关系的方式来构造参数模型;为了提高各放大倍数状态下的标定速度,采用舵机驱动的多自由度机械臂并由程序根据标定进程来灵活控制标定模板的移动位置,减少了人工干预;在通过张正友标定算法得到一系列离散的参数值后,采用了3种不同的拟合函数对其进行曲线拟合,并给出了各种方法的拟合效果及误差对比;通过该方法,可以有效建立起镜头的参数模型,为视觉分析提供准确的参数信息。

Abstract:

While the zoom lens cameras are increasingly used in various areas of computer vision, to accurately inform the relationship between the zoom values and the internal parameters is especially important. A parameter model using the function between zoom values and the internal parameters is proposed to express the relationship of them. In order to improve the calibration speed and reduce the manual intervention in different zoom state, servos driving manipulator is used and its movement is flexible controlled in accordance with the calibration process by the program. After a series of discrete parameter values are calibrated by Zhang zhenyou’s calibration algorithm, three different functions are used to fit the curve of the values, and fitting effect and error are also compared. Through the proposed method, parameter model of the zoom lens can be established which can provide accurate parameter information for further visual analysis.