上海交通大学学报

上海交通大学学报（自然版）

• 自动化技术、计算机技术 • 上一篇    下一篇

基于非线性逆透视变换的摄像机畸变参数标定

李颢，杨明   

  1. (上海交通大学 电子信息与电气工程学院， 上海 200240)
  • 收稿日期:2007-09-12 修回日期:1900-01-01 出版日期:2008-10-28 发布日期:2008-10-28
  • 通讯作者: 杨明

A Nonlinear Inverse Perspective Transform Based Method for Camera Distortion Calibration

LI Hao, YANG Ming   

  1. (School of Electronic, Information and Electrical Engineering,
    Shanghai Jiaotong University, Shanghai 200240, China)
  • Received:2007-09-12 Revised:1900-01-01 Online:2008-10-28 Published:2008-10-28
  • Contact: YANG Ming

摘要： 为实现摄像机畸变参数标定，提出了一种基于非线性逆透视变换模型的标定新方法.根据线性透视变换模型和畸变模型推导出非线性逆透视变换模型，以及逆透视变换参数与畸变参数之间的关系；在此基础上，建立以畸变参数为最优解的泛函，然后进行优化搜索求解.在优化搜索中，采用改进牛顿法确定搜索方向，然后，采用试探法沿搜索方向进行一维搜索.该方法仅需对数目较少的畸变参数进行优化搜索，可大幅降低优化搜索的维度和复杂度.仿真和实验结果表明：该方法正确有效，求解精度较高.

关键词: 摄像机畸变, 非线性逆透视变换, 标定, 视觉, 移动机器人

Abstract: Camera distortion calibration plays an indispensable role in the research of robot vision. A nonlinear inverse perspective transform based method was proposed. In the light of linear perspective model and distortion model, a nonlinear inverse perspective model as well as the relation between inverse perspective transform coefficients and distortion coefficients was derived. A function with distortion coefficients as the optimum was put forward and optimized. Because only few distortion coefficients are optimized, the optimization dimension and complexity are largely reduced. During optimization, the search direction is determined by improved Newton method and a try and error linear search method is carried out along the search direction. Both the simulation and experiments verify the effectiveness and high accuracy of the method.

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