机械臂双目视觉系统内外参高精度标定

在空间站机械臂中，双目视觉系统作为其重要组成部分，能够引导机械臂自主完成对目标的定位和捕获。内外参标定技术是双目相机高精度获取合作目标位置、方向等运动信息进而进行三维重建的首要前提和重要保障。文中提出了一种基于光束法平差算法的双目视觉系统内外参标定技术，采用三维靶标场作为标定目标，并将高精度测角设备经纬仪作为精测基准，通过坐标转换解算分步得到相机的内、外参数。实验表明，该方法标定的相机内参重投影误差小于0.5个像元，外参测试误差为±0.19 mm，有较高的测试精度和鲁棒性，为机械臂实施视觉闭环自主捕获合作目标提供可靠依据。

High precision calibration for internal and external parameter of manipulator binocular vision system

As an import part of the space manipulator, the binocular vision system can guide the manipulator to localize and acquire the samples. The calibration of internal and external parameters is the primary premise and important guarantee for binocular camera to obtain the motion information such as the position and the direction of the cooperative target with high precision. A method for the calibration of internal and external parameters of the binocular camera based on bundle adjustment algorithm was proposed. A three-dimensional target was used as the calibration target, and the high-precision angle measuring equipment theodolite was used as the precision measurement reference. And then the internal and external parameter of manipulator binocular vision system could be calculated. The experimental results show that the camera internal parameter reprojection error is less than 0.5 pixel, and the accuracy of the external parameter test is ±0.19 mm, which is able to satisfy the test needs and the test precision. This method offers a meaningful principle of integration and adjustment of manipulator binocular vision system.