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Research on multi-camera calibration and point cloud correction method based on three-dimensional calibration object

机译：基于三维标定对象的多摄像机标定和点云校正方法研究

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摘要

The single camera measurement system can't obtain all the surface information of the object limited by the field of view, thus it can't achieve complete measurement of the object. Multi-camera system can overcome this difficulty. But it is difficult to unify the coordinate system of distinct cameras. In order to solve this problem, a global calibration method of multi-camera system is proposed. A three-dimensional cube calibration object is designed. Every camera is only calibrated on one surface of the cube calibration object. Because different surfaces of the cube calibration object are in a unified world coordinate, the coordinates of the feature points on different surfaces are naturally in the unified world coordinate system. Thus global calibration can be completed by calibrating multiple cameras at the same time. In addition, to minimize the error of calibration, a correction method is proposed. The correction parameters are obtained by the deviation between the world coordinates and the reconstructed coordinates of the feature points on calibration object. The parameters are applied to the measurement to improve the accuracy of the whole point cloud. Experiments are carried out on a multi-camera measurement system, and the results show that the method proposed in this paper is effective and feasible.
机译：单相机测量系统无法获得视场所限制的物体的所有表面信息，因此无法实现物体的完整测量。多摄像机系统可以克服这一难题。但是很难统一不同摄像机的坐标系。为了解决这个问题，提出了一种多相机系统的全局标定方法。设计了三维立体标定对象。每个摄像机仅在立方体校准对象的一个​​表面上进行校准。由于多维数据集校准对象的不同表面处于统一的世界坐标中，因此不同表面上的特征点的坐标自然处于统一的世界坐标系中。因此，可以通过同时校准多个摄像机来完成全局校准。另外，为了使校准误差最小，提出了一种校正方法。校正参数是通过世界坐标与校准对象上特征点的重构坐标之间的偏差获得的。将参数应用于测量以提高整个点云的准确性。在多摄像机测量系统上进行了实验，结果表明本文提出的方法是有效可行的。

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  • 来源
    《Optics and Lasers in Engineering》 |2019年第4期|32-41|共10页
  • 作者

    Huang Lin; Da Feipeng; Gai Shaoyan;

  • 作者单位

    Southeast Univ, Sch Automat, Nanjing 210096, Jiangsu, Peoples R China|Minist Educ, Key Lab Measurement & Control Complex Syst Engn, Nanjing 210096, Jiangsu, Peoples R China;

    Southeast Univ, Sch Automat, Nanjing 210096, Jiangsu, Peoples R China|Minist Educ, Key Lab Measurement & Control Complex Syst Engn, Nanjing 210096, Jiangsu, Peoples R China;

    Southeast Univ, Sch Automat, Nanjing 210096, Jiangsu, Peoples R China|Minist Educ, Key Lab Measurement & Control Complex Syst Engn, Nanjing 210096, Jiangsu, Peoples R China;

  • 收录信息 美国《科学引文索引》(SCI);美国《工程索引》(EI);
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Calibration; Multi-camera; Measurement; 3D calibration object; Fringe projection;

    机译：校准;多机位;测量;3D校准对象;边缘投影;

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