张友军, 张持健, 谢婉怡, 刘勇, 夏营威, 王依人. 基于里程计法的双目云高系统外参标定研究[J]. 应用光学, 2021, 42(3): 522-526. DOI: 10.5768/JAO202142.0303005
引用本文: 张友军, 张持健, 谢婉怡, 刘勇, 夏营威, 王依人. 基于里程计法的双目云高系统外参标定研究[J]. 应用光学, 2021, 42(3): 522-526. DOI: 10.5768/JAO202142.0303005
ZHANG Youjun, ZHANG Chijian, XIE Wanyi, LIU Yong, XIA Yingwei, WANG Yiren. Calibration of external parameters of binocular cloud height system based on odometer method[J]. Journal of Applied Optics, 2021, 42(3): 522-526. DOI: 10.5768/JAO202142.0303005
Citation: ZHANG Youjun, ZHANG Chijian, XIE Wanyi, LIU Yong, XIA Yingwei, WANG Yiren. Calibration of external parameters of binocular cloud height system based on odometer method[J]. Journal of Applied Optics, 2021, 42(3): 522-526. DOI: 10.5768/JAO202142.0303005

基于里程计法的双目云高系统外参标定研究

Calibration of external parameters of binocular cloud height system based on odometer method

  • 摘要: 双目成像系统测量云底高基线长,外参标定困难。提出一种适用于地基云高测量系统的双目相机外参标定方法,采用ORB算法提取与匹配左右云图同名点,然后根据对极几何约束计算两个相机之间的旋转平移关系。为验证该算法的精度,在室外搭建基线60 m的双目云高系统,采用里程计法标定外参,标定得到两个相机之间的距离误差为34.44 cm,精度达到99.43%。通过分析校正后的双目云图和天空视差图,验证了大基线里程计外参标定法的精度较高。

     

    Abstract: The binocular cloud height observation system has a long baseline, so it is difficult to calibrate the external parameters of the system. An external parameter calibration method for binocular camera used in ground-based cloud height measurement system was proposed. The oriented FAST and rotated BRIEF (ORB) algorithm was used to extracte the left and right cloud image points with the same name for matching, and then calculate the rotation and translation relationship between two cameras according to the antipode geometric constraints. In order to verify the accuracy of the algorithm, a binocular cloud height system with a baseline of 60 m was set up outdoors. The odometer method was used to calibrate the external parameters, and the distance error between two cameras was 34.44 cm, the accuracy was 99.43%. Finally, by analyzing the corrected binocular cloud image and sky parallax image, the higher accuracy of the external parameter calibration method of the large baseline odometer was verified.

     

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