Abstract: A camera calibration method based on a single point in the view field of robot system has been proposed.The benchmark can be arbitrarily selected in the scene.When the robot moves relatively to the benchmark，many feature points can be obtained easily.The constraint equation and transformation matrix between coordinate systems can be established in order to comput the extrinsic and intrinsic parameters of the camera，through corresponding points of image sequences.In the calibration process，only one point in the scene needs to be extracted，and the motions of mobile robot can be controlled conveniently and the algorithm can be implemented simply.Its effectiveness is verified by the experiment results.

摘要： 设计了一种基于视场中单个目标点的视觉系统标定方法，任意选取视场中的一点作为目标点，以该目标点为基准，机器人作相对运动来获得多个特征点。建立图像系列对应点之间的几何约束关系及各坐标系之间的变换矩阵，确定变换矩阵关系式，进一步求解摄像机的内外参数。该标定方法只需提取场景中的一个景物点，对机器人的运动控制操作方便、算法实现简洁。实验结果验证了该方法的有效性。