A VERSATILE CAMERA CALIBRATION TECHNIQUE FOR HIGH-ACCURACY 3D MACHINE VISION METROLOGY USING OFF-THE-SHELF TV CAMERAS AND LENSES
A VERSATILE CAMERA CALIBRATION TECHNIQUE FOR HIGH-ACCURACY 3D MACHINE VISION METROLOGY USING OFF-THE-SHELF TV CAMERAS AND LENSES
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DOI：
10.1109/jra.1987.1087109
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发表时间：
1987-08-01
期刊：
影响因子：
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通讯作者：
TSAI, RY
中科院分区：
文献类型：
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作者：
TSAI, RY
介绍了一种利用现成的电视摄像机和镜头进行机器视觉测量的三维（3D）摄像机标定新技术。两阶段技术的目的是有效地计算相机的外部位置和方向相对于对象参考坐标系以及有效焦距，径向透镜失真，和图像扫描参数。两阶段技术在准确性、速度和多功能性方面优于现有的技术水平。建立了一个理论框架，并在五个附录中进行了全面的论证，为未来的三维机器人视觉研究铺平了道路。使用真实的数据的测试结果进行了说明。准确性和速度都得到了报告。对实验结果进行了分析，并与理论预测进行了比较。最近的努力表明，稍加修改，两阶段校准可以在真实的时间。
A new technique for three-dimensional (3D) camera calibration for machine vision metrology using off-the-shelf TV cameras and lenses is described. The two-stage technique is aimed at efficient computation of camera external position and orientation relative to object reference coordinate system as well as the effective focal length, radial lens distortion, and image scanning parameters. The two-stage technique has advantage in terms of accuracy, speed, and versatility over existing state of the art. A critical review of the state of the art is given in the beginning. A theoretical framework is established, supported by comprehensive proof in five appendixes, and may pave the way for future research on 3D robotics vision. Test results using real data are described. Both accuracy and speed are reported. The experimental results are analyzed and compared with theoretical prediction. Recent effort indicates that with slight modification, the two-stage calibration can be done in real time.