野外大视场双目视觉坐标定位系统快速标定方法分析-analysis of fast calibration method for field wide field binocular vision coordinate positioning system.docxVIP

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野外大视场双目视觉坐标定位系统快速标定方法分析-analysis of fast calibration method for field wide field binocular vision coordinate positioning system.docx

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野外大视场双目视觉坐标定位系统快速标定方法分析-analysis of fast calibration method for field wide field binocular vision coordinate positioning system

ABSTRACTInordertorealizethequickcalibrationofthebinocularvisionmeasuringsysteminlongdistances,largefieldofview,andtoreceivetherelevantparametersofthevisualsensorquickly,animprovedmethodwasproposed,whichjustneedtocalibrateonecameraparameter:horizontalangleoftheopticalaxis.Consideringtheadjustingdeviceofthesystemandtheconditionthatthefocallengthisfixed,theMeasurementmodelissimplified.Thecalibrationcouldbecompletedwhilethegeographiccoordinatesofthecenterofmeasuringareaandthecenter’scoordinatesintheimagehavebeenknown.Thereisnoneedtomaketargetofhigh-precision.Thetheoreticalerrorintroducedbytheerrorofthefocallengthwaslessthan0.5m.Intheactualuse,themeasurementerrorislessthan2m,inaareaof400m??800m,at2km~3kmaway.Thenewmethodovercomesthedifficultcausedbythemovementofthetarget.Theimprovedmethodcouldensuretheaccuracy,anditiseasytorealizewithlesstime.Itissuitformeasuringthecoordinatesinlargefieldofview.Themaincontentsinthispaperinclude:Inthepaper，thebackgroundandtheapplicationrequirementarementioned，thecurrentsituationofresearchhavebeenintroducedalso.Thebinocularvisionmeasuringprincipleanditsfeaturesareintroduced.Abinocularvisionsystemisconstructedbasedontheprinciple.Binocularvisionmeasurementsystemhastheadvantagesofnocontact,highaccuracy.Itisverysuitabletomeasurethelocatingofobjectsintheapplicationbackgroundofthispapermentioned.Choosethemeasurementmodelforlargefieldofbinocularvisionobjectpointlocatingsystemaccordingtotherequirementsandtheapplicationenvironment,andbasedonthismodelcalibrationmethodforthesystemgetimproved.Accordingtothepinholecamerameasurementmodelbasedonmatrixtransformation,thispaperpresentsacalibrationmethodofasingleparameter,andusingthemethodofGPStoobtainthetranslationvectorcalibrationrequired.Theerroranalysisiscarriedoutontheimprovedcalibrationmethodthroughsimulationandexperiment.Inthepaper,wealsoevaluatethelevelofprecision,verifytherepeatabilityofthesingleparametercalibrationmethod,andshowtheadvantageofthesingleparametercalibrationmethodinimprovingtheefficien