High-Precision Calibration of Omnidirectional Camera Using an Iterative Method
High-Precision Calibration of Omnidirectional Camera Using an Iterative Method
复制标题
使用迭代方法对全向相机进行高精度标定
DOI：
10.1109/access.2019.2945635
复制
发表时间：
2019-01-01
期刊：
影响因子：
3.9
通讯作者：
Sun, Zhuang
中科院分区：
文献类型：
--
作者：
Gong, Xuanrui;Lv, Yaowen;Sun, Zhuang
棋盘格图像的畸变会导致特征点定位不准确，从而影响摄像机标定的精度。针对这一问题，提出了一种迭代精化方法.该方法首先利用传统的标定方法获得初始参数，然后利用初始参数估计出的投影模型将畸变棋盘变换为无畸变平面。然后，提取校正图像的特征点坐标。使用新点位置的细化重新计算校准参数，直到相机参数收敛。这种迭代细化方法提高了特征点的定位精度，从而提高了摄像机标定的精度。通过一系列仿真和物理实验验证了该方法的正确性和有效性。实验表明，与传统方法相比，特征点重投影误差降低了39。
A distorted checkerboard image affects the precision of omnidirectional camera calibration because of the inaccurate localization of the feature points. To solve this problem, an iterative refinement method is presented. First, the initial parameters are obtained using the traditional calibration method, and the distorted checkerboard is transformed to a distortion-free plane by the projection model that is estimated by initial parameters. Then, the feature point coordinates of the corrected image are extracted. The calibration parameters are recomputed using the refinement of new point locations until the camera parameters converge. This iterative refinement method improves the localization accuracy of feature points and, consequently, of camera calibration. The correctness and effectiveness of the method are verified by a series of simulations and physical experiments. The experiments show that the reprojection errors of feature points are reduced by 39 compared to traditional methods.