摘要机器视觉技术因为其具有较好的实时性、非接触性、可视性以及高度自动化和高度智能化等诸多优点，近年来在各个领域都得到了广泛应用，成为当今各个行业的关注的焦点。作为机器视觉应用的前提和基础，摄像机标定也一直是机器视觉领域研究的热点。86100

本文回顾了双目立体视觉系统和视觉标定的基本原理，以及立体匹配过程中使用到的一些约束条件。分析了众多学者提出的许多优秀的标定方法，分析了当下国内外照相机标定技术的尚存在的难点和问题。在此基础上，利用halcon的双目立体视觉标定算子，完成了实验室中的双目视觉系统的标定，得到了双目立体视觉系统的内部参数和外部参数，包括平移矢量、旋转矩阵、畸变参数等，为进一步的研究打下了基础。在此基础上完成立体图像对的矫正，验证了双目视觉系统的标定结果。

毕业论文关键词：机器视觉；双目立体视觉；标定；Halcon；

Abstract Since the past few years, because of the real-time performance, non-contact, visibility, and highly automated and highly intelligent, and many other advantages, machine vision have been widely used in various field, being the focus of attention of many industry today。As the precondition and foundation of machine vision, camera calibration has always been a hot research topic in the field of machine vision。 

This topic reviews the basic principles of binocular stereo vision system and vision calibration, and analyses some constraints in the process of stereo matching。 In the paper, many excellent calibration methods proposed by a lot of scholars are analyzed, and the difficulties and problems in the current domestic and foreign camera calibration technology are explained too。 On the basis of this, by using  Halcon binocular stereo vision calibration operator, completed the calibration of laboratory in binocular stereo vision system, and finally get the internal and external parameters of the binocular stereo vision system, including the translation vector and rotation matrix, distortion parameters, which lay the foundation for further study。 The experiment finished the correction of stereo image pair, verified the calibration results of binocular vision system。 

Keywords ：machine vision ；binocular stereo vision ；calibration ；Halcon；

目  录

第一章 绪论 1

1。1选题背景以及研究意义 1

1。2相机标定研究的现状 2

1。2。1国内外发展状况 2

1。2。2存在的问题及研究难点分析 3

1。3双目立体视觉标定概述 5

1。4基本内容以及章节安排 5

第二章  相机标定 6

2。1标定的基本概念 6

2。2双目立体视觉系统的标定 9

第三章 立体图像对应点匹配常见的约束条件 12

3。1立体匹配概述 12

3。2约束条件 13

3。2。1外极线约束 13

3。3立体校正 15

第四章  标定实验 16

4。1 标定系统 16

4。1。1 Halcon和双目相机 16

4。1。2 标定板介绍 17