Automation and calibration for robot vision systems
Automation and calibration for robot vision systems
复制标题
机器人视觉系统的自动化和校准
DOI：
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发表时间：
1988
期刊：
影响因子：
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通讯作者：
S. Shafer
中科院分区：
文献类型：
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作者：
S. Shafer
通用机器人视觉包括许多不同的任务，这些任务提出了各种各样的成像条件和要求。为了支持全方位的这些任务，成像系统必须提供非常宽的动态范围以及几何和辐射特性的高精度。一般来说，这只能通过高精度的自动化成像系统来实现。本文定义了机器人成像系统的十二参数模型 - 六个参数涉及相机位置，三个参数涉及光学约束，三个参数涉及灵敏度 - 将普通电视相机和“科学”相机作为特殊情况。我们将此模型称为“成像空间”，即机器人成像系统的配置空间。对这个完整模型的系统考虑导致对相机校准的处理比以前更全面。虽然传统的校准文献仅涉及成像系统的几何校准，但新模型使用类似的概念来概述系统的辐射（像素值）校准。还引入了“二阶校准”的概念，其中明确考虑了几何和辐射测量的相互作用。以有用的形式表示二阶校准数据还不是一个已解决的问题。我们还概述了以面向任务的方式指定成像约束的一些问题。本文主要不是研究成果的报告；相反，它是一份关于成像系统技术和校准的最新技术水平的报告，并概述了该领域未来的一些工作方向。全文的重点是实现宽动态范围，即几何和辐射测量的高精度，因为现代机器人视觉理论表明成像系统的精度与物体形状等计算量的精度之间存在直接联系。
General-purpose robot vision includes a number of different tasks that impose a great variety of imaging conditions and requirements. To support the full range of these tasks, an imaging system must provide a very wide dynamic range and high precision in both geometric and radiometric characteristics. In general, this can only be accomplished by a highly precise, automated imaging system. This paper defines a twelve-parameter model for a robot imaging system - six parameters in camera position, three in optical constraints, and three in sensitivity - that subsumes common TV cameras and "scientific" cameras as special cases. We call this model the "Imaging Space", a configuration space for robot imaging systems. Systematic consideration of this complete model leads to a more comprehensive treatment of camera calibration than has been seen before. While traditional calibration literature refers only to geometric calibration of the imaging system, the new model uses similar concepts to outline the radiometric (pixel value) calibration of the system. The concept of "second-order calibration" is also introduced, in which the interaction of geometry and radiometry is explicitly accounted for. Representing this second-order calibration data in a useful form is not yet a solved problem. We also outline some of the issues in specifying imaging constraints in a task-oriented way. This paper is not primarily a report of research results; instead, it is a report on the state of the art in imaging system technology and calibration and an outline of some future directions for work in this area. The emphasis throughout is on the achievement of wide dynamic range, i.e. high precision in geometry and radiometry, because modern theories for robot vision are showing a direct link between the precision of the imaging system and the precision in computed quantities such as object shape.