移动端视觉测量系统的相机快速标定方法
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摘要
针对现有的相机标定方法无法适应计算能力较弱移动端设备的问题,该文提出一种改进的适用于移动端设备的相机快速标定方法,获取高精度的相机内、外参数。在传统相机标定方法的基础上,引入二阶径向畸变和二阶切向畸变建立带有非线性畸变项的相机模型,同时,借助非线性最小二乘的LM算法优化迭代初始估值参数,从而快速得到高精度相机内、外参数。实验表明,该方法提高了相机标定效率和精度,参数迭代耗时由0.220s缩短至0.063s(移动端耗时为0.234s),反投影误差由0.25pixel降低至0.15pixel以内。
Aiming to solve the problem that the existing camera calibration methods can not adapt to the weak computing power terminal,this paper presented an improved fast camera calibration method for mobile terminal.Based on the traditional camera calibration method,two order radial distortion and tangential distortion were introduced to establish the nonlinear distortion of the camera model.Meanwhile,the Levenberg-Marquardt(LM)optimization algorithm of nonlinear least squares were introduced to iterative the initial estimate parameters which could help to calculate the ideal parameter quickly.The experimental results showed that this method improved the efficiency and accuracy of camera calibration and the time spend on parameter iteration was reduced from 0.220 sto0.063 s(the mobile terminal takes 0.234 s),the reprojection error decreased from 0.25 pixel to less than 0.15 pixel.
Aiming to solve the problem that the existing camera calibration methods can not adapt to the weak computing power terminal,this paper presented an improved fast camera calibration method for mobile terminal.Based on the traditional camera calibration method,two order radial distortion and tangential distortion were introduced to establish the nonlinear distortion of the camera model.Meanwhile,the Levenberg-Marquardt(LM)optimization algorithm of nonlinear least squares were introduced to iterative the initial estimate parameters which could help to calculate the ideal parameter quickly.The experimental results showed that this method improved the efficiency and accuracy of camera calibration and the time spend on parameter iteration was reduced from 0.220 sto0.063 s(the mobile terminal takes 0.234 s),the reprojection error decreased from 0.25 pixel to less than 0.15 pixel.
引文
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[16]林冬梅,张爱华,王平,等.张氏标定法在双目视觉脉搏测量系统中的应用[J].兰州理工大学学报,2016,42(2):78-85.(LIN Dongmei,ZHANG Aihua,WANG Ping,et al.Application of Zhang’s calibration method in binocular vision pulse measurement system[J].Journal of Lanzhou University of Technology,2016,42(2):78-85.)
[17]段振云,王宁,赵文辉,等.基于点阵标定板的视觉测量系统的标定方法[J].光学学报,2016,36(5):151-159.(DUAN Zhenyun,WANG Ning,ZHAO Wenhui,et al.Calibration method based on lattice calibration plate in vision measurement system[J].Acta Optica Sinca,2016,36(5):151-159.)
[18]李竹良,赵宇明.基于单幅图片的相机完全标定[J].计算机工程,2013,39(11):5-8.(LI Zhuliang,ZHAO Yuming.Full calibration of camera based on single image[J].Computer Engineering,2013,39(11):5-8.)
[19]王民,周兆镇,李昌华,等.基于像素点灰度差的Harris角点检测算法[J].计算机工程,2015,41(6):227-230.(WANG Min,ZHOU Zhaozhen,LI Changhua,et al.Harris corner detection algorithm based on pixel point grat difference[J].Computer Engineering,2015,41(6):227-230.)
[20]全厚德,闫守成,张洪才.计算机视觉中摄像机标定精度评估方法[J].测绘科学技术学报,2006,23(3):222-224.(QUAN Houde,YAN Shoucheng,ZHANG Hongcai.The evaluation of camera calibration accuracy in computer vision[J].Journal of Zhengzhou Institute of Surveying and Mapping,2006,23(3):222-224.)
[2]王向军,邓子贤,曹雨,等.野外大视场单相机空间坐标测量系统的快速标定[J].光学精密工程,2017,25(7):1961-1967.(WANG Xiangjun,DENG Zixian,CAO Yu,et al.Fast calibration for single camera space coordinate measuring system with large field of view[J].Optics and Precision Engineering,2017,25(7):1961-1967.)
[3] TSAI R Y.An efficient and accurate camera calibration technique for 3D machine vision[C]∥Proceedings of IEEE Conference on Computer Vision and Pattern Recognition.Washington DC:IEEE Computer Society,1986:364-374.
[4] TSAI R Y.A versatile camera calibration technique for high-accuracy 3D machine vision metrology using offthe-shelf TV cameras and lenses[J].IEEE Journal of Robotics and Automation,1987,3(4):323-344.
[5] HARTLEY R I.Self-calibration of stationary cameras[J].International Journal of Computer Vision,1997,22(1):5-23.
[6] MA S D.A self-calibration technique for active vision system[J].IEEE Transactions Robotics and Automation,1996,12(1):114-120.
[7]孟晓桥,胡占义.摄像机自标定方法的研究与进展[J].自动化学报,2003,29(1):110-124.(MENG Xiaoqiao,HU Zhanyi.Recent progress in camera self-calibration[J].Acta Automatica Sinica,2003,29(1):110-124.)
[8]雷成,胡占义,吴福朝,等.一种新的基于Kruppa方程的摄像机自标定方法[J].计算机学报,2003,26(5):587-597.(LEI Cheng,HU Zhanyi,WU Fuchao,et al.A novel camera self-calibration technique based on the Kruppa equations[J].Chinese Journal of Computers,2003,26(5):587-597.)
[9]董恩增,闫胜旭,佟吉钢.基于主动视觉的人脸检测与跟踪算法研究[J].系统仿真学报,2015,27(5):973-979.(DONG Enzeng,YAN Shengxu,TONG Jigang.Research about method of face detection and tracking based on active vision[J].Journal of System Simulation,2015,27(5):973-979.)
[10]薛俊鹏,苏显渝,窦蕴甫.基于同心圆光栅和契形光栅的摄像机自标定方法[J].中国激光,2012,39(3):184-188.(XUE Junpeng,SU Xianyu,DOU Yunfu.A concentric circles and wedge grating-based camera self-calibration method[J].Chinese Journal of Lasers,2012,39(3):184-188.)
[11]吴晓军,范东凯.一种鲁棒的基于半正定规划的相机自标定方法[J].电子学报,2014,42(6):1210-1215.(WU Xiaojun,FAN Dongkai.A robust semi-definite programming based camera self-calibration method[J].Acta Electronica Sinica,2014,42(6):1210-1215.)
[12]ZHANG Zhengyou.A flexible new technique for camera calibration[J].IEEE Transactions on Pattern Analysis and Machine Intelligence,2000,22(11):1330-1334.
[13]刘艳,李腾飞.对张正友相机标定法的改进研究[J].光学技术,2014,40(6):565-570.(LIU Yan,LI Pengfei.Reaserch of the improvement of Zhang’s camera calibration method[J].Optical Technique,2014,40(6):565-570.)
[14]邹建成,田楠楠.简易高精度的平面五点摄像机标定方法[J].光学精密工程,2017,25(3):786-791.(ZOU Jiancheng,TIAN Nannan.An easy and high-percision camera calibration method based on planar five points[J].Optics and Precision Engineering,2017,25(3):786-791.)
[15]刘杨豪,谢林柏.基于共面点的改进摄像机标定方法研究[J].计算机工程,2016,42(8):289-293.(LIU Yanghao,XIE Linbo.Research on improved camera calibration method based on coplanar points[J].Computer Engineering,2016,42(8):289-293.)
[16]林冬梅,张爱华,王平,等.张氏标定法在双目视觉脉搏测量系统中的应用[J].兰州理工大学学报,2016,42(2):78-85.(LIN Dongmei,ZHANG Aihua,WANG Ping,et al.Application of Zhang’s calibration method in binocular vision pulse measurement system[J].Journal of Lanzhou University of Technology,2016,42(2):78-85.)
[17]段振云,王宁,赵文辉,等.基于点阵标定板的视觉测量系统的标定方法[J].光学学报,2016,36(5):151-159.(DUAN Zhenyun,WANG Ning,ZHAO Wenhui,et al.Calibration method based on lattice calibration plate in vision measurement system[J].Acta Optica Sinca,2016,36(5):151-159.)
[18]李竹良,赵宇明.基于单幅图片的相机完全标定[J].计算机工程,2013,39(11):5-8.(LI Zhuliang,ZHAO Yuming.Full calibration of camera based on single image[J].Computer Engineering,2013,39(11):5-8.)
[19]王民,周兆镇,李昌华,等.基于像素点灰度差的Harris角点检测算法[J].计算机工程,2015,41(6):227-230.(WANG Min,ZHOU Zhaozhen,LI Changhua,et al.Harris corner detection algorithm based on pixel point grat difference[J].Computer Engineering,2015,41(6):227-230.)
[20]全厚德,闫守成,张洪才.计算机视觉中摄像机标定精度评估方法[J].测绘科学技术学报,2006,23(3):222-224.(QUAN Houde,YAN Shoucheng,ZHANG Hongcai.The evaluation of camera calibration accuracy in computer vision[J].Journal of Zhengzhou Institute of Surveying and Mapping,2006,23(3):222-224.)