针对卷烟厂中机器人烟包解包系统的三自由度云台摄像机，提出一种基于平行直线的摄像机自标定方法。根据三自由度云台建立相应的摄像机成像模型，确定需要标定的摄像机内外参数；利用烟包上平行直线在图像中对应的坐标，求出需要的消失点的图像坐标，结合几何关系以及相关的成像原理计算摄像机的内外参数。该方法利用烟包上表面的平行直线实现摄像机的标定，不需要制作特定的标靶，能进行实时标定。%For the three degree of freedom (DOF) pan‐tilt‐zoom (PTZ) camera of the cigarette package unpacking system in cigarette factory ,a self‐calibrating method of camera based on parallel lines was proposed .Some intrinsic and extrinsic parameters of the camera needed to calibrate were made clear after establishing a corresponding camera imaging model according to the 3 DOF PTZ .The image coordinates of vanishing points were obtained using the image coordinates of parallel lines on the cigarette pac‐kage .The intrinsic and extrinsic parameters of the camera were calculated by combining these image coordinates with the geometric rela‐tions as well as the correlative imaging principle .The method proposed utilizes the parallel lines which are on the surface of cigarette packages to achieve the camera calibration ,so that there is no need to make a specific calibration target .
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