平行摄像机阵列移位法获取视差图像的研究

平行摄像机阵列移位法是一种摄像机阵列获取三维场景的视差图像的新方法.该方法在平行摄像机阵列法的基础上,将获取的视差图像进行平移处理,获得了立体显示所需的具有正、负水平视差的视差图像,且这些视差图像没有楔形失真和垂直视差.该方法集中了会聚摄像机阵列法和平行摄像机阵列法两种常规方法各自的优点并摒弃了其缺点.实验证实,所获取的视差图像在光栅式自由立体显示器上得到了三维场景的清晰逼真再现显示效果.     

A distortion correction algorithm for fish-eye panoramic image of master-slave visual surveillance system

A master-slave visual surveillance system is composed of one fish-eye panoramic camera and one dynamic pan-tilt-zoom (PTZ) dome camera. In order to make PTZ dome camera zoom into all targets of interest in panoramic image, the fish-eye panoramic camera is fixed inclining towards the gravity direction, which may cause more obvious distortion. This paper proposed a novel method for the distortion correction of captured panoramic image based on the midpoint circle algorithm (MCA). The method uses incremental calculation of decision parameters to determine the pixel positions along a circle circumference, and both of the vertical and horizontal are rectilinearised. Experimental results show that our correction method based on MCA is efficient and effective. In particular, due to its low computational cost, our method can be applied on embedded camera platform without any extra hardware resources.     

基于畸变率的图像几何校正

大视场成像光学系统中的畸变会降低图像质量，必须预以校正。提出一种新的校正方法，即根据畸变率的定义推导出畸变校正公式。根据公式，在镜头畸变率已知的情况下可以很容易地校正畸变。对于畸变率未知的情况，给出了建立畸变模型的方法，通过畸变模型可近似计算畸变率。得出通过控制畸变模型中某一个形状的参数可以控制畸变量大小的结论。提出的方法已经在实际工程中采用。实践证明，这种模型可以满足大多数镜头的畸变校正要求。     

Accuracy evaluation of optical distortion calibration by digital image correlation

Due to its convenience of operation, the camera calibration algorithm, which is based on the plane template, is widely used in image measurement, computer vision and other fields. How to select a suitable distortion model is always a problem to be solved. Therefore, there is an urgent need for an experimental evaluation of the accuracy of camera distortion calibrations. This paper presents an experimental method for evaluating camera distortion calibration accuracy, which is easy to implement, has high precision, and is suitable for a variety of commonly used lens. First, we use the digital image correlation method to calculate the in-plane rigid body displacement field of an image displayed on a liquid crystal display before and after translation, as captured with a camera. Next, we use a calibration board to calibrate the camera to obtain calibration parameters which are used to correct calculation points of the image before and after deformation. The displacement field before and after correction is compared to analyze the distortion calibration results. Experiments were carried out to evaluate the performance of two commonly used industrial camera lenses for four commonly used distortion models.     

图像显示系统几何畸变的测量及校正

为了保证图像显示系统能够产生120°的大视场,在系统中使用了超广角耦合物镜,这样就不可避免地存在几何畸变。提出了一种基于点物成像原理,并采用数码相机和精密单轴转台进行畸变测量的方法,介绍了测量原理和测量过程,根据测量后得到的畸变规律,采用数字图像处理的方法对几何畸变进行了校正。校正后,图像显示系统的畸变小于0.4%,完全能够满足导弹景象匹配系统定位误差及定位概率的检测要求。     

大视场短焦距镜头CCD摄像系统的畸变校正

从光学测量角度出发,结合计算机视觉中的摄像机标定方法,解决了大视场短焦距镜头CCD摄像系统的畸变校正问题。与摄像机标定不同,畸变校正中仅标定内部参数,外部参数作为已知条件。采用线性畸变模型,由最小二乘法解线性方程组得到摄像系统畸变模型的畸变系数。介绍了数字图像中像素间距和光学中心的标定方法。通过比较由标定参数得到的畸变图像和摄像机采集的畸变图像对实验标定精度进行评定,实验结果表明边缘视场(112°)的标定精度达到了0 75%。     

超宽视场离轴光学系统畸变一致性校正技术

为满足海岸带超宽视场和高分辨率的动态监测需求,高分辨率宽覆盖已成为空间光学遥感器的重要发展趋势。HY-1C/D卫星海岸带成像仪采用两台相机组合的方式实现大幅宽,单台相机是32°超宽视场离轴光学系统,相机存在弧形畸变且畸变较大。研究了超大视场离轴光学系统畸变一致性校正技术,提出“多变量仿真-高精密测量-交互迭代”的装调方法,开展了兼顾像质、视轴、畸变的多变量全链路仿真计算,通过高精度畸变测量系统实现了畸变补偿的交互迭代调整,解决了镜头装调阶段畸变不可控的难题,实现双台相机畸变一致性控制精度优于0.1%,完全满足测试技术要求,结果表明方法合理可行。     

用于监控系统的鱼眼镜头光学设计

为了满足监控系统中单镜头可实现全景监控的需求,运用仿生学原理,在原有鱼眼镜头的基础上结合监控系统的需求,运用ZEMAX软件设计了一款视场为180°,相对孔径为1/1.6的鱼眼镜头.该镜头由9片透镜组成,总长度为68.5mm,采用1/3英寸CCD作为图像接收器件.在120lp/mm时,其MTF曲线在轴上大于0.4,在80...     

基于折线采样的高分辨率成像系统设计

针对现有的提高线阵电荷耦合器件(CCD)成像系统的图像空间分辨率的方法存在的不足,提出了一种新的采样模式,并设计了一种高分辨率成像系统。该系统利用两个相同的线阵CCD相机进行特定的空间排列,即使得相机1和相机2的CCD阵列都倾斜θ来进行扫描取像,并利用图像校正和像素插值等图像重建方法,得到高分辨率的图像。实验结果表明,倾斜角取60°的情况下,相对于单个线阵相机在θ=0°的正常采样模式下得到的采样图像,图像的空间分辨率提高了1倍,且保持了成像的视野不变。本系统工程上实现简单,十分经济且便于维护,仅利用现有的成像装置即可获取更高分辨率的图像。     

A calibration method of lens distortion for line scan cameras

We present a practical method to calibrate the lens distortion in line scan cameras. The distortion correction software based on this method has been designed and implemented in the digital protection of cultural relics. In this paper, a lens distortion model which applies to line scan cameras is derived from the widely used array camera distortion model. Then, a new calibration method which utilizes the imaging characteristic of equidistant collinear feature points is proposed to calibrate the model. Experiment results show the proposed calibration method is stable and effective.     

高精度虹膜识别光学镜头的研制

针对虹膜识别系统中难于获取高分辨率的虹膜图像问题,设计一款高精度虹膜图像采集摄像镜头。镜头焦距14.2 mm, 畸变小于0.15%,像方数值孔径为0.26,像面直径为5.35 mm,工作距离130 mm,物像共轭距为150 mm。光学系统可获得高分辨率图像,在0.7视场光学传递函数MTF在120 lp/mm时大于30%。镜头由4片球面透镜构成,结构简单,适合产业化生产,各项光学指标检测结果达到设计要求。     

一种成像式亮度计校正方法北大核心CSCD

采用图像传感器的成像式亮度计可通过短焦距成像物镜实现大视场和空间分辨的亮度测量,但仍存在图像传感器像素非线性响应,短焦物镜产生的强烈渐晕效应及图像边缘畸变等问题。因此提出了一种成像式亮度计校正方法,利用标准辐射源法进行线性校正与平场校正,以获得线性修正系数和平场校正矩阵,通过几何坐标标定法获得畸变校正矩阵。采用焦距为12 mm的物镜及200万pixel的图像传感器搭建了成像式亮度计,经校正后完成了液晶显示屏发光亮度测量,与商用分光辐射亮度计进行了对比测试,测量相对误差不超过±2%,实现了大视场高精度空间分辨亮度测量。     

Real-time distortion correction of fish-eye lens based on Bayer image signal

The imaging system based on a fish-eye lens generally has to correct the distortion of fish-eye images. The distortion correction based on the Bayer image signal is valuable, such as reducing the computation burden of image signal processing chips and providing a new imaging system structure of fish-eye lens. In this paper, a distortion correction method of fish-eye lens based on the Bayer image signal is proposed. Firstly, a distortion correction method that focuses on vertical straight lines and processing delay is proposed. Secondly, according to the correlation among color channels of the Bayer image, a novel Hermite interpolation method appropriate for Bayer image signal is proposed. Finally, a prototype system of fish-eye-lens-based imaging is established and the real-time field-programmable gate array (FPGA) implementation of the proposed method is demonstrated. The experiment demonstrates that the proposed distortion correction is not only characteristic of real-time processing and the smaller computation amount, but also applicable to embedded hardware.     

单摄像机虚拟立体视觉测量技术研究

以双目立体视觉传感器三维测量模型为基础,提出了一种用于测量空间三维点坐标的低成本单摄像机模型。该模型利用光学成像,把单摄像机镜像为一对虚拟摄像机,在一个CCD像面上采集到同一物体存在视差的两幅图像,从而恢复空间点的三维信息。讨论了单摄像机传感器测量空间三维点坐标的基本原理,建立了单摄像机传感器的测量模型,克服了双摄像机系统中成本高、切换采集左右摄像机的图像使检测速度减慢等诸多缺陷,为空间三维点的精密测量提供了经济、快速、有效的测量途径。实验表明．传感器可实现约0．8％的相对测量精度．证明了本方案合理、有效。     

头盔显示器视差自动测量中眼位点的自动对准

自动测量头盔显示器的视差时，用CCD相机取代人眼的主观读取，由于机器视觉不如人眼灵活，CCD相机在人眼观察点才能确保移动时采集的图像是完整的，从而保证全视场的视差测量。该文提出采用模式搜索法在头盔显示器光学平面内实现CCD相机自动对准人眼观察点(眼位点)，从而实现头盔显示器全视场视差的自动测量。对该自动测量系统的测量原理，以及CCD相机自动对准眼位点的实现过程进行了详细论述与说明，对测量精度与效率，对准精度与重复定位精度进行了实验分析。实验结果表明，该方法能够快速、准确、自动地对准眼位点，定位精度为±0.071°，与摆头法测量视差系统进行对比实验，全视场视差测量效率高，重复精度高。     

采用广角数码相机测量图像显示系统的几何畸变

准确地测量含有广角耦合物镜的图像显示系统的几何畸变是实现图像显示系统几何畸变数字校正的前提和关键。提出了一种以非量测广角数码相机为测量设备的几何畸变的测量方法,首先给出了广角数码相机镜头畸变的标定方法,确定了数码相机镜头畸变系数,然后讨论了基于广角数码相机和Photoshop软件进行图像显示系统几何畸变测量的测量方法,分析了影响测量精度的因素。最后,将本文的测量结果与基于点物成像原理,采用单轴转台和普通数码相机进行测量的测量结果进行了对比,二者吻合得较好。从测量结果看,本文给出的测量方法,其测量精度可以满足工程要求,简单、易行。     

结合Levenberg-Marquardt算法的垂直视差消减方法

垂直视差的存在是影响立体视频观视舒适度的主要因素。为了在不影响水平视差的条件下实现对垂直视差的消减,本文引入Levenberg-Marquardt(L-M)非线性算法实现变换矩阵的精确求解。首先用抗缩放、旋转及仿射变换的SIFT(Scale-invariant feature transform)特征匹配算法检测出双目图像对的特征匹配点,然后根据匹配点的坐标位置运用L-M算法计算可消减垂直视差的变换矩阵,将变换矩阵作用于目标图像,计算出该视图每个像素点的新坐标位置。实验结果表明:与利用线性算法求解二维射影变换矩阵的垂直视差消减方法相比,本文提出的求解方法在垂直视差消减上比该算法提高了约0.029 1~0.323 2个像素,对水平视差的影响比该算法降低了约0.118 7~1.139 1个像素。因此本文提出的方法对垂直视差的消减起到了优化作用。     

一种新型的立体投影图景

阐述了视差全景图的制作原理,本技术的关键为记录立体图像光学信息的方法和投影方式都是多角度的,屏幕采用栅板视差全景或蝇复眼屏。景深较深的图景可分为几个层次反复制作。     

Line-scan CCD camera calibration in 2D coordinate measurement

We present a line-scan camera calibration method in a plane not perpendicular to but parallel to the optical axis, without requiring the camera motion or a complex calibration pattern. A random 2D reference coordinate system in the calibration plane can be used, images of a rod perpendicular to the calibration plane at known coordinates are captured by the camera, the relation between the given coordinates and the rod image centroid position are analyzed based on a reduced pinhole model and image processing, and then the camera parameters and distortion factors are all estimated. These distortion factors build a sample relation only between the image position in theory and in practice, and they do not change with object position. Two wide-angle line-scan cameras that are used in a 2D-coordinate measurement system are calibrated by this method; the application results illustrate the effectiveness and convenience of this method.     

Line-based camera calibration with lens distortion correction from a single image

Camera calibration is a fundamental and important step in many machine vision applications. For some practical situations, computing camera parameters from merely a single image is becoming increasingly feasible and significant. However, the existing single view based calibration methods have various disadvantages such as ignoring lens distortion, requiring some prior knowledge or special calibration environment, and so on. To address these issues, we propose a line-based camera calibration method with lens distortion correction from a single image using three squares with unknown length. Initially, the radial distortion coefficients are obtained through a non-linear optimization process which is isolated from the pin-hole model calibration, and the detected distorted lines of all the squares are corrected simultaneously. Subsequently, the corresponding lines used for homography estimation are normalized to avoid the specific unstable case, and the intrinsic parameters are calculated from the sufficient restrictions provided by vectors of homography matrix. To evaluate the performance of the proposed method, both simulative and real experiments have been carried out and the results show that the proposed method is robust under general conditions and it achieves comparable measurement accuracy in contrast with the traditional multiple view based calibration method using 2D chessboard target.