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首页> 外文期刊>International journal of cognitive informatics and natural intelligence >Oriented Planetary Exploration Robotic Vision Binocular Camera Calibration
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Oriented Planetary Exploration Robotic Vision Binocular Camera Calibration

机译：定向行星探索机器人视觉双目摄像机标定

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摘要

One of the goals of planetary exploration is to cache rock samples for subsequent return to Earth in the future Mars Sample Return (MSR) mission. This paper presents a method of binocular camera calibration. Robotic vision has become a very popular field in recent years due to the numerous promising applications it may enhance. However, errors within the cameras and in their perception of their environment can cause applications in robotics to fail. To help correct these intrinsic and extrinsic imperfections, stereo camera calibrations are performed. There are currently many accurate methods of camera calibration available; however, most or all of them are barely theoretical and difficultly practical. Because the authors 'robot need to accurately approach and placement scientific objects, in this paper the authors present an image rectification method that is an extension to two-step method. There is an additional step for correcting the distorted image coordinates. The image rectification is performed and accurately compensates for radial and tangential distortions. Finally, through Matlab tool developed the results of experiment are accurate and available.
机译：行星勘探的目标之一是将岩石样本缓存起来，以便在将来的火星样本返回（MSR）任务中返回地球。本文提出了一种双目相机校准方法。近年来，由于机器人视觉可能会增强许多有希望的应用，因此它已成为一个非常受欢迎的领域。但是，相机内部的错误及其对环境的感知可能会导致机器人应用失败。为了帮助纠正这些内在和外在的不完美，执行了立体相机校准。当前有许多准确的摄像机校准方法可用；但是，它们中的大多数或全部都只是理论上的，很难实践。由于作者的机器人需要准确地接近和放置科学对象，因此在本文中，作者提出了一种图像校正方法，该方法是对两步法的扩展。还有一个校正畸变图像坐标的附加步骤。进行图像校正并精确补偿径向和切向变形。最终，通过Matlab工具开发的实验结果是准确且可用的。

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