基于直线的射影不变性和极线约束标定摄像机参数

提出一种用图像对标定摄像机参数的新方法。传统自标定方法需要先由图像特征计算基础矩阵,该方法则是从图像中提取一组未知长度和长度比的平行直线,以图像中心坐标为主点初值,利用直线的射影不变性先求得摄像机焦距、旋转矩阵和平移向量的初值;再由图像对固有的极线约束来优化摄像机的参数,从而得到高精度的主点、焦距、旋转矩阵和平移向量。使用该方法对图像目标进行三维重建,仿真实验表明：该方法对场景要求较少,原理简单,方法易行,标定摄像机参数精度较高。     

摄像机标定中栅格型标定点的亚像素提取的研究

介绍了一种新的摄像机标定用栅格型靶标标定点亚像素的提取方法。该方法先利用一个基于Hessian矩阵的形状算子判定栅格点的像素位置,然后对栅格点邻近区域内的图像灰度函数进行二阶泰勒展开,并通过计算该灰度曲面的局部极小值点来确定栅格中心点的亚像素位置。相对于传统的直线拟合求交点的方法,该算法计算过程简单,且具有较高的提取精度。     

基于直线特征的摄像机标定方法研究

提出了一种基于直线特征的求解摄像机内外方位参数的方法。首先利用径向平行约束RAC求解大部分的外方位参数,包括旋转矩阵R、平移分量tx和ty,然后再引入畸变模型求解内方位参数以及平移分量tz。该方法的特点是采用共面点标定物,利用直线特征约束进行标定,标定内外方位参数只需要一副图像就可以完成。实验结果表明,该方法是一种精度较高的、简单实用的摄像机标定方法。     

一种高精度线结构光视觉传感器现场标定方法

针对现有线结构光视觉传感器标定方法存在的局限性,提出一种不需要求解光平面标定点的标定方法.根据光条图像求解平面靶标上光条在摄像机坐标系下的Plücker矩阵.在视觉传感器前合适位置将平面靶标摆放多次,联立所有光条空间直线的Plücker矩阵,求解光平面在摄像机坐标系的平面方程.最后通过非线性优化方法得到光平面方程在最大似然准则下的最优解.在标定过程中,所有光条点都参与光平面参数的计算过程,因此该方法标定结果精度高、稳健性强.实验证明,与现有方法相比该方法标定精度提高30%左右.     

基于消失点约束的多相机标定方法

针对多摄像机一维标定算法精度低、抗噪性和稳定性差等问题,提出了基于消失点之间互相约束的多摄像机标定方法.为了避免径向畸变对成像造成的影响,利用欧式空间位置约束的几何特性,进行畸变参数的求取.通过靶标特征点约束结合摄像机的射影不变性排除杂点的干扰,再利用空间消失点之间夹角一致性,以及靶标特征点所构成的直线和消失点的反向射线平行性来求解摄像机的参数.当一维靶标任意运动时,存在着无法区分靶标特征点对应的成像点临界问题,采取反推理论数学分析法可事先避免该问题的出现.通过构建多摄像机系统进行标定实验,可以看出该方法具有较高的标定精度,且随着噪声的增加,标定结果具有一定的抗噪性和稳定性;由相对误差值可知,该方法可应用于多摄像机系统.     

基于共线向量的非量测镜头畸变校正

针对传统摄像机标定算法中摄像机内外参数与镜头畸变之间存在耦合,提出了一种将镜头畸变从摄像机参数中分离出来单独求解的算法。算法基于"三维空间中的直线经过遵循透视模型的相机投影,在相机平面上仍是直线"这一基本属性。对于无畸变图像,直线上任意两特征点构成的共线向量外积应为零向量。利用非线性优化方法求解畸变参数,讨论了畸变中心与畸变系数之间的耦合性。设计了一种畸变校正效果评估方法,证明了结果的正确性。完成畸变校正后,摄像机的内外参数可线性求解。实验表明,该方法仅需一张图片即可完成所有摄像机参数的求解,提高了标定效率,且稳定度高,精度与传统标定方法相当。     

基于共面靶标的线结构光传感器标定新方法

现有的线结构光传感器标定方法中,结构光平面上标定点的计算精度将会直接影响到传感器最终的标定精度。提出了一种基于共面靶标的线结构光传感器标定新方法,该方法无需计算光平面上的标定点,也无需反复计算摄像机的外参数。多次移动共面靶标计算不同方向激光条纹直线的消隐点,并对其拟合直线得到光平面的消隐线,完成光平面法向的标定。根据交比不变原理计算共面靶标上标定点间的距离,并以其为约束来标定剩余参数。考虑到误差传递的影响,定义了优化目标函数,以已求得参数为初值进行非线性优化。对比实验表明了该方法具有较高的标定精度,测量误差均方根为0.0306mm,且标定过程简单,计算复杂度低,适合现场标定。     

基于双重虚拟圆靶标的激光扫描测头标定

提出了一种基于双重虚拟圆来标定光平面的新方法。该方法利用棋盘的角点在图像坐标系下构建双重虚拟圆,虚拟圆与激光光条直线建立了相对的位置关系,根据交比不变原理计算出光条上的特征点在摄像机坐标系下的坐标。在摄像机视场范围内多次变换棋盘位置,构造出的虚拟圆也相应变换,由此计算得到更多的特征点,利用最小二乘法拟合光平面方程。实验表明,该方法求得的精度要明显优于实际的圆形靶标标定的精度,光平面标定的均方根误差为0.04mm,且棋盘靶标更易于制作,标定计算简单可靠,适合现场标定。     

摄像机的一种主动视觉标定方法

提出了一种快速高精度的摄像机主动视觉标定方法,建立了摄像机模型并详细分析了其各项参数的求解算法。标定时,令摄像机作一组二维的平移运动,采集圆孔靶标件的图像并计算圆心的像点坐标,同时记录摄像机的移动距离,得到标定所需的特征点。利用这些特征点计算摄像机标定参数,标定精度可达到0.005 mm。利用该方法定制的标定模块实现了摄像机的自动标定。该方法对摄像机运动的限制条件较少,并基本实现了摄像机模型参数的线性求解,为主动视觉系统的摄像机标定提供了一种有效的解决方案。     

一种利用图像序列进行摄像机标定的方法

结合消隐点的有关知识,利用图像序列中运动的人体及其阴影的垂直关系,给出了一种实用性比较强的摄像机标定方法.该方法采用线性的方法计算出了可变焦摄像机5参数的内参数矩阵及旋转矩阵,并在一定的条件下计算出平移矩阵,最终将摄像机完全标定.计算内参数及旋转矩阵时不必考虑图像之间对应点之间的关系,从而大大减少了图像检测期间算法的复杂度,提高了标定的速度.此外,模拟和实际图像实验也表明该自标定方法具有较高的鲁棒性和准确性,适用于在线摄像机标定系统.     

Calibration of fringe projection profilometry with bundle adjustment strategy

The measurement accuracy of fringe projection profilometry (FPP) largely depends on the calibration procedure. A more reliable calibration approach based on the stereo vision model of the FPP scheme in conjunction with the bundle adjustment strategy is presented. It can adjust the coordinates of benchmarks and thereby estimate the scheme parameters more accurately even with an imperfect target. The experiment results shows that the proposed approach can reach highly accurate calibration by solely using a printed target pattern, which verifies the proposed approach.     

Proposition of a compensated pixelwise calibration for photonic infrared cameras and comparison to classic calibration procedures: Case of thermoelastic stress analysis

In this paper, we propose a compensated pixelwise calibration that integrates the effects of the camera housing temperature. The results of this calibration are compared on black body images to classic two points Non Uniformity Correction based calibrations, compensated or not. It is shown that the proposed approach leads to a significant improvement in the thermal resolution with a reduction in the mean error as well as the standard deviation. The approach is finally challenged on a real case measurement focusing on thermoelasticity. The gain in terms of accuracy measurement is highlighted by comparing the proposed calibration to classic calibrations and the scope of interest of this new calibration is discussed.     

高分辨率光学遥感卫星小目标法在轨辐射定标

辐射定标是卫星遥感信息定量化的关键技术之一。高分辨率光学遥感卫星小目标法在轨定标将目标反射率的现场测量转换为实验室高精度测量,以实际测量代替气溶胶散射特性假设,通过简化辐射传输计算获取大气透过率与遥感器入瞳辐亮度,根据遥感器系统PSF检测结果将小目标的辐射响应与背景辐射相分离,降低对场区背景环境要求的同时提高了绝对辐射定标精度。试验结果分析表明,高分辨率光学遥感卫星传感器小目标法在轨辐射定标不确定度优于3%,与大面积辐射校正场或灰阶靶标法的定标结果差异3.65%,小目标法有望在全谱段范围实现高分辨率光学遥感卫星传感器的全动态范围定标与几何检校。     

A novel calibration approach to structured light 3D vision inspection

Structured light 3D vision inspection is a commonly used method for various 3D surface profiling techniques. In this paper, a novel approach is proposed to generate the sufficient calibration points with high accuracy for structured light 3D vision. This approach is based on a flexible calibration target, composed of a photo-electrical aiming device and a 3D translation platform. An improved algorithm of back propagation (BP) neural network is also presented, and is successfully applied to the calibration of structured light 3D vision inspection. Finally, using the calibration points and the improved algorithm of BP neural network, the best network structure is established. The training accuracy for the best BP network structure is 0.083 mm, and its testing accuracy is 0.128 mm.     

基于精密测角法的测绘相机分组渐进标定算法

针对精密测角法标定测绘相机内方位元素中理论误差和观测点分布状态对标定精度影响的问题,提出了一种基于精密测角法的分组渐进标定算法。提出的算法包括2个部分：采用分组渐近方式调整精密转台零点位置,减小了理论误差;对每组观测数据引入了数据一致性约束,消除观测值分布、数量对标定结果的影响。最后,给出了分组渐进算法的精度分析。实验数据显示,在相同试验环境条件下,分组渐进标定算法中主点、主距标定精度比精密测角算法分别提高了2.43倍和2.00倍,可达到2.12 μm和4.02 μm,表明分组渐进标定算法提高了标定精度。     

Development and application of automated vicarious calibration system

In order to improve the frequency and precision of radiometric calibration, the automated vicarious calibration system(AVCS) is developed and deployed at the Dunhuang test site to perform vicarious calibration without the in situ manned measurements. The surface and atmospheric parameters are automatically collected by AVCS.An absolute radiometric calibration approach based on AVCS is proposed. Six successful calibrations of the Aqua Moderate Resolution Imaging Spectroradiometer(MODIS) are conducted. The results are in good agreement with the on-board calibration system with all the relative differences less than 4%. It enables us to monitor the change of a sensor over long time scales.     

Autonomous vicarious calibration based on automated test-site radiometer

We employ the in-site automated observation radiometric calibration(AORC) approach to perform vicarious calibration, which does not require the manual efforts of a field team to measure the surface conditions. By using an automated test-site radiometer(ATR), the surface radiance at any moment in time can be obtained. This Letter describes the AORC approach and makes use of data to compute top-of-atmosphere radiance and compare it to measurements from the Moderate Resolution Imaging Spectroradiometer. The result shows that the relative deviation is less than 5% and the uncertainty is less than 6.2%, which indicates that the in-site AORC maintains an accuracy level on par with traditional calibration.     

Constructing feature points for calibrating a structured light vision sensor by viewing a plane from unknown orientations

To calibrate a structured light vision sensor, it is necessary to obtain at least four non-collinear feature points that fall on the light stripe plane. We propose a novel method to construct non-collinear feature points used for calibrating a structured light vision sensor with a planar calibration object. After the planar calibration object is moved freely in the range of measuring of the structured light vision sensor at least twice, all the local world coordinates of the feature points falling on the light stripe plane can be readily obtained in site. The global world coordinates of the non-collinear feature points in the local world coordinate frame can be computed through the three-dimensional (3D) camera coordinate frame. A planar calibration object is designed according to the proposed approach to provide accurate feature points. The experiments conducted on a real structured light vision sensor that consists of a camera and a single-light-stripe-plane laser projector reveal that the proposed approach has high accuracy and is practical in the vision inspection applications. The proposed approach greatly reduces the cost of the calibration equipment and simplifies the calibrating procedure. It advances structured light vision inspection one step from laboratory environments to real world use.     

基于多灰阶靶标的在轨辐射定标方法研究

辐射定标是光学遥感信息定量化的关键技术之一。随着高分辨光学遥感器定量化应用的发展,在轨绝对辐射定标精度的要求也越来越高。提出了一种基于多灰阶靶标的在轨定标方法,采用实际测量的漫射辐照度与总辐照度比来代替辐射传输计算的气溶胶散射,同时布设高反射率靶标以提高辐射定标精度。初步试验结果表明,基于多灰阶靶标的高分辨率光学卫星传感器在轨绝对辐射定标方法,对假定的理论模型依赖较少,能够实现全动态范围的高精度定标,不确定度优于4%,而且满足复杂环境条件的应用要求。     

结合光谱变换和Kennard-Stone算法的水稻土全氮光谱估算模型校正集构建策略研究

土壤组分光谱估算过程中校正样本集的构建会影响模型的预测精度。当前结合反射光谱和Kennard-Stone (KS)算法的校正样本集构建策略忽视了土壤反射光谱是土壤属性的综合反映,构建的样本集通常无法很好地代表目标土壤组分的变异。光谱变换方法可以突出目标组分的光谱特征,为此,本文以湖北省江汉平原滨湖地区水稻土为研究对象,结合包括一阶微分(FD)、Savitzky-Golay(SG)、Haar小波变换、标准正态变量变换(SNV)和多元散射校正(MSC)在内的光谱变换方法和KS算法进行校正样本集建构,通过对比不同样本集构建策略对使用偏最小二乘回归(PLSR)建立的土壤全氮含量光谱估算模型预测精度的影响,研究光谱变换是否有助于提高基于KS算法构建的校正样本集的代表性。结果表明：不同光谱变换会影响校正样本集的构建。反射光谱经过SG或Haar小波变换后,再使用KS算法构建校正样本集与直接基于反射光谱使用KS算法构建的校正样本集相同,建立的估算模型精度不变,相对分析误差(RPD)分别为1.41和1.27。结合FD,SNV或MSC变换和KS算法构建的校正集与基于反射光谱使用KS算法构建的校正集不同,建立的估算模型RPD分别从0.95,1.48和1.42提高到1.13、1.78和2.20。研究表明SNV和MSC等光谱变换方法可以提高基于KS算法构建的校正样本集的代表性,并可有效提高模型预测精度。