摘要
四足机器人平台在多目标协作场景下的视觉测量精度要求较高。文章针对云台双目相机与单目手眼相机组成的三目视觉系统存在的坐标系统一难题,提出了一种基于平面靶标张量约束的三目视觉全局标定方法。首先采用Zhang标定法分别对三相机进行内外参数标定,而后以双目相机左相机为基础坐标系建立统一坐标系,根据三视张量约束优化三相机外参数,最后根据三目定位原理,建立三目视觉测量系统。实验证明,三次测量的最大相对误差仅为3.18%,该方法操作切实有效。
The visual measurement accuracy requirements for quadruped robot platforms in multi-objective collaborative scenarios are relatively high.This paper addresses the challenge of coordinate system unification in a three-camera vision system composed of a pan-tilt binocular camera and a monocular hand-eye camera,and proposes a global calibration method for the three-camera vision system based on planar target tensor constraints.Firstly,the Zhang calibration method is used to calibrate the internal and external parameters of the three cameras respectively.Then,a unified coordinate system is established with the left camera of a pan-tilt binocular camera as the base coordinate system.The external parameters of the three cameras are optimized according to the three-view tensor constraints.Finally,a three-camera vision measurement system is established based on the principle of three-camera positioning.Experiments have proved that the maximum relative error of three measurements is only 3.18%,and this method is practical and effective in operation.
作者
傅豪
刘昊洋
周煜翔
郭静
FU Hao;LIU Haoyang;ZHOU Yuxiang;GUO Jing(Institute 16 th of China Aerospace Academe No.9,Shaanxi Engineering and Technology Research Center for Heavy Duty Explosion-proof Mobile Robots,Xi'an 710000,China)
出处
《空间电子技术》
2025年第5期17-22,共6页
Space Electronic Technology
基金
工业和信息化部国家重点研发计划项目(编号:2024YFB4708700)
陕西省科学技术厅重点研发计划(编号:2024CY2-GJHX-91)
无人机全天候值守的低成本可重构移动平台技术研究(编号:2024CY2-GJHX-91)。
关键词
三目视觉
三视张量
平面靶标
全局标定
相机模型
trinocular vision
trifocal tensor
planar target
global calibration
camera mode
