摘要
高集成特种车辆的标定工作直接影响车辆使用性能,是车辆研制过程的重要环节;传统标定方法使用经纬仪、水平仪等仪器对车辆进行测量,操作复杂、自动化水平和工作效率低;针对这一问题,提出了一种基于多目视觉测量技术的高集成特种车辆通用自动标定方法,利用多相机拍摄地面控制场和固定于被测产品表面测量工装,获取编码点信息,利用基于最小二乘法的空间坐标转换原理和公共点转换技术计算各待测对象之间的空间位姿关系,从而得出车辆各项精度指标;验证试验结果表明,相对于传统标定方法,视觉通用自动标定方法可在精度相当的前提下将标定时间减少为原来的25%,大大提高标定效率。
The calibration of highly integrated special vehicles directly affects their performance and is a crucial step in the development of vehicles.Traditional calibration methods use instruments such as theodolites and spirit levels to measure the vehicle,which has the characteristics of complex operations and low automation and efficiency.To address this issue,this paper proposes a general automatic calibration method for highly integrated special vehicles based on multi-view vision measurement technology.Using multiple cameras to photograph the ground control field and measurement fixtures fixed on the surface of the tested product to obtain the encoded point information.By applying the spatial coordinate transformation principle based on the least squares method and common point transformation techniques,the spatial pose relationships between the tested objects are calculated,thereby achieving various accuracy indicators of the vehicle.Validation tests show that,compared to traditional calibration methods,the proposed vision-based automatic calibration method can reduce the calibration time to 25%of the original duration while maintaining comparable accuracy,significantly improving calibration efficiency.
作者
蒋圣鹏
刘禹华
曾远帆
王上飞
王艺伟
周迪
JIANG Shengpeng;LIU Yuhua;ZENG Yuanfan;WANG Shangfei;WANG Yiwei;ZHOU Di(Shanghai Mechanical and Electrical Engineering Institute,Shanghai 201109,China)
出处
《计算机测量与控制》
2025年第12期174-181,205,共9页
Computer Measurement & Control
关键词
特种车辆
双目视觉
自动标定
标定系统
special vehicles
binocular vision
automatic calibration
calibration system
