Calibration method of camera instrinsic parameters based on binocular parallax theory

doi:10.3778/j.issn.1002-8331.2009.13.071

Computer Engineering and Applications ›› 2009, Vol. 45 ›› Issue (13): 240-243.DOI: 10.3778/j.issn.1002-8331.2009.13.071

• 工程与应用 • Previous Articles Next Articles

Calibration method of camera instrinsic parameters based on binocular parallax theory

GUO Ai-xia^1,2,ZOU Xiang-jun¹,LU Jun¹,ZOU Hai-xin¹,SUN Quan¹

1.Key Lab of Key Technology on Agricultral Machine and Equipment Minnistry of Education，College of Engineering South China Agricultral University，Guangzhou 510642，China
2.College of Informatics，South China Agricultral University，Guangzhou 510642，China

Received:2008-12-16 Revised:2009-02-06 Online:2009-05-01 Published:2009-05-01
Contact: GUO Ai-xia

利用双目视差理论的摄像机参数标定方法

郭艾侠^1,2,邹湘军¹,卢俊¹,邹海鑫¹,孙权¹

1.华南农业大学南方农业机械与装备关键技术省部共建教育部重点实验室，广州 510642
2.华南农业大学信息学院计算机系，广州 510642

通讯作者: 郭艾侠

Abstract

Abstract: About the problem of object orientation of longan and lychee picking manipulator，a experiment system on camera calibration based on binocular stereo vision is proposed.This system chooses the camera calibration model with binocular parallax theory.By taking photos of character dots located on the calibration board with different depth space，dealing with and analyzing the experimental data，logical foci and baseline between binocular cameras are obtained.The data obtained from experiment confirm a theory that depth distance of picking object has relation to foci and parallax camera，which is a basis for research of picking manipulator’s location.

Key words: picking manipulator, camera calibration, binocular parallax

摘要： 针对龙眼和荔枝采摘机械手的目标获取问题，文章提出了基于双目立体视觉的摄像机标定的实验系统。实验系统是采用双目视差原理来获取深度信息的标定模型，通过对不同距离的标定板上已知特征点的图片获取和数据处理和分析，确定了两摄像机之间的最佳基线距离，在此基础上进一步验证了采摘目标的深度信息与摄像机的焦距有关的理论，并获得摄像机的合理焦距，为采摘机械手定位提供了基础理论研究依据。

关键词: 机械手, 摄像机标定, 双目视差

GUO Ai-xia^1,2,ZOU Xiang-jun¹,LU Jun¹,ZOU Hai-xin¹,SUN Quan¹. Calibration method of camera instrinsic parameters based on binocular parallax theory[J]. Computer Engineering and Applications, 2009, 45(13): 240-243.

郭艾侠^1,2,邹湘军¹,卢俊¹,邹海鑫¹,孙权¹. 利用双目视差理论的摄像机参数标定方法[J]. 计算机工程与应用, 2009, 45(13): 240-243.

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Calibration method of camera instrinsic parameters based on binocular parallax theory

利用双目视差理论的摄像机参数标定方法

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