一种无公共视场相机位置关系的求解方法

多相机系统的标定是立体视觉测量中的一个重要问题。而当各相机间公共视场较小或无公共视场时，标定参照物不能同时出现在所有相机的公共视场，因此无法求解系统中多相机的相对位置关系。针对该类问题，论文在二维靶标标定法的基础上，提出了一种基于两轴转台的无公共视场相机位置关系的求解方法。将待标定系统固定在转台上，利用转台转动确定靶标坐标系与转台坐标系之间的相对关系；通过转动转台使二维靶标依次进入每个相机视场以分别确定转动后每个相机在靶标坐标系中的位置，并记录转动的角度；最后，结合靶标坐标系与转台坐标系关系，求解各相机之间的相对位置关系。实验结果表明，该方法具有可操作性，解算误差在0.5%以内，可较准确地确定多个光轴之间角度较大的非共视场相机位置关系。

Solution to relative position of cameras without public FOV

Calibration of multi-camera is essential in stereo visual measurement. When calibration plane board can not be visualized simultaneously by multiple cameras, relative position of cameras can not be achieved. In order to solve this problem, a method utilizing 2-axis turntable for multi-camera calibration without public field of view (FOV) is proposed in this paper. Before calibration, multi-camera system is installed and restrained on turntable properly, and relative positions are determined between coordinate of targets and turntable using rotation of turntable.Then turntable is rotated to ensure calibration board enters each camera's FOV, positons of each camera in recent target coordinate system are determined, and angles of turntable's axes are recorded simultaneously. Finally, relationship of relative positions between each camera is solved according to the relationship between coordinate of target turntable.The experimental results indicate that this solution is feasible, and calculating error is within 0.5%. Accordingly, this solution is proved to have certain accuracy in determining positon relationship of multi-camera with non-public FOV and wide angles between optical axes.