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摘要：在图像测量过程以及机器视觉应用中，为确定空间物体表面某点的三文几何位置与其在图像中对应点之间的相互关系，必须建立摄像机成像的几何模型, 并由此重建和识别物体。这些几何模型参数就是摄像机参数。在大多数条件下这些参数必须通过实验与计算才能得到，这个求解参数的过程就称之为摄像机标定。摄像机参数标定是光学非接触式三文测量的首要步骤，其结果的精度及算法的稳定性直接影响摄像机工作产生结果的准确性。本文首先分析了摄像机标定的基本原理，然后重点讨论了摄像机标定的几种方法以及其实现的过程。摄像机标定的基本方法可以分为两个大类：传统的摄像机标定方法，如直接线性变换方法（DLT方法）、R. Tsai 的 RAC方法、 张正友的平面标定方法孟晓桥、胡占义的圆标定方法等，以及摄像机自标定方法，如基于Kruppa方程的自标定方法、基于二次曲面的自标定方法等。还有一些方法难以归类到这两类中，如主动视觉摄像机标定方法。本文在研究摄像机成像的几何模型基础上，对这些方法的设计思想进行了分析,完成了摄像机标定的过程，并且分析了几种方法的优缺点以及使用领域。这些为像机标定的实际应用提供指导，也为进一步选择更合理的标定方法提供理论和实践参考。22487
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毕业论文关键字：摄像机标定；内参数；外参数；畸变；角点检测
The camera imaging model and the calibration algorithm research
Abstract: In the image measurement and machine vision applications, for determining three-dimensional geometry location of one point in the spatial objects’ surface and its relationship between its corresponding points in the images, we need to build the geometric model of camera imaging and thus reconstruct and recognize objects. The geometric model’ parameters are camera parameters. In most conditions, these parameters must be obtained by experiment and calculation, and this process of solving the parameters is called camera calibration. Camera parameters calibration is the first step in the optical non-contact 3D
measurement, and its results’ accuracy and stability of the algorithm directly affect the accuracy of the result worked by the cameras. In this paper, the basic principles of camera calibration are first analyzed, and then we focus on several methods of camera calibration and the process of its accomplishment. The basic methods of camera calibration can be pided into two categories: traditional camera calibration methods, such as direct linear transformation method (DLT method), R. Tsai’ RAC method, Zhang Zhengyou’ plane calibration, Meng Xiaoqiao and Hu Zhanyi’ round calibration method, as well as the camera self-calibration methods, such as self-calibration based on Kruppa equations method, self-calibration based on quadric method, etc. Hardly，some ways are not involved in these two types of methods, such as active vision camera calibration method. In the paper, based on the geometric model of camera imaging, the design of these methods is analyzed, the process of camera calibration is completed, and the advantages and disadvantages of several methods with their used field are presented. The camera calibration is provided reference in the practical application, and a more reasonable calibration method which will be further chosen is provided theoretical and practical reference.
Keywords: camera calibration; intrinsic parameter; external parameters; distortion; corner detection
目录
1 前言 1
2 绪论 2
2.1 摄像机标定的背景 2
2.2 摄像机标定的意义 2
2.3 文本研究的内容 3
3 摄像机标定的基本原理 4
3.1 摄像机成像模型 4
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