熔池双目立体视觉系统中摄像机标定方法研究
Title A research on camera calibration method
in the binocular stereo vision system of weld pool
Abstract
In this article the research situation of the weld pool vision sensing was
described and the binocular visual image sensing system of aluminum alloy
weld pool in twin-wire pulsed MIG welding was established. And after using
near infrared optical filtering to diminish the arc light intensity, clear
binocular weld pool images were obtained at proper sensing conditions.
Based on binocular stereo vision theory, a three dimensional reconstruction
method was proposed. Using two CCD sensors of the same type to acquire the
same scene from different angles, by calculating the parallax of spatial
points in the two images to obtain three-dimensional coordinates of the
point, and according the three-dimensional measurement principle to rebuild
the dimension of an object.
A software of three-dimensional reconstruction was designed. To verify the
accuracy of the method, the three-dimensional shape and size of the actual
objects such as checkerboard and camera case were recovered, and the error
between the experiment dimension and the actual dimension of the object is
about 1%.
Keywords camera calibration binocular stereo vision 3D
reconstruction 3D vision sensing
1 绪论 . 1
1.1 课题意义 . 1
1.2.1 熔池二文视觉传感 2
1.2.2 熔池三文视觉传感 3
1.3 双目立体视觉传感技术 5
1.3.1 双目熔池立体视觉传感原理 5
1.3.2 双目立体视觉技术的实现步骤 6
1.4 课题的研究思路和组织结构 8
1.4.1 课题的研究思路 8
1.4.2 主要的研究内容 . 8
2 熔池图像采集 . 10
2.1 实验设备. 10
2.1.1 焊接试验设备 . 10
2.1.2 图像采集实验设备 . 10
2.2 CCD摄像机采集熔池图像 . 11
2.3 本章小结. 12
3 摄像机标定 14
3.1 标定的意义. 14
3.2 标定的坐标系简介. 14
3.3 标定的模型. 16
3.3.1 线性摄像机模型及其标定 . 16
3.3.2 非线性摄像机模型标定 . 18
3.3.3 立体摄像机模型标定 . 20
3.4 单摄像机标定. 20
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