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中文摘要：
多摄像机结构光大视场测量系统,存在摄像机空间分布广、摄像机之间无公共视场角、标定模型复杂等问题。所以采用合适方法对多摄像机与结构光进行高精度全局标定非常关键。提出将二维平面靶标与一维靶标相结合,分步对摄像机及结构光进行全局标定。首先,综合考虑摄像机镜头畸变,采用二维平面靶标对单个摄像机内部参数进行离线标定。借助一维靶标对摄像机及结构光外部参数进行在线标定。将一维靶标上距离已知的共线特征点作为约束条件,逐个求解相邻摄像机坐标系之间外部参数。任选一个摄像机作为全局坐标系,通过相邻摄像机坐标系外部参数矩阵逐步换算,求解每个摄像机坐标系与全局坐标系外部参数。同理,采用一维靶标,至少获取激光平面上3个非共线特征点全局坐标,计算激光平面方程。最后,综合所有摄像机内外部参数、激光平面方程系数,建立多摄像机结构光大视场测量系统全局测量模型。标定试验和现场实际应用表明文中所提方法切实可行。
英文摘要：
The global calibration of multi-cameras and structured-light vision system is the key issue in the high-accura- cy profiling measurement of large field of view due to wide camera distribution, lacking common field of view among the cameras and complicated calibration model for multiple cameras. In this paper, a novel calibration approach for multicameras and structured-light vision system is proposed, which only requires one 2D planar target and one 1D tar- get. The intrinsic and extrinsic parameters of the cameras are calibrated off-line and on-line, respectively. Firstly, dif- ferent types of lens distortions, including lens radial distortion, tangential distortion and thin prism distortion, are con- sidered, and the intrinsic parameters of the cameras are calibrated according to the planar target feature points. Then, selecting one camera coordinate frame as the global coordinate frame, the 1D target is moved freely in the field of view of neighboring cameras, and the rotation matrix and translation vector for every neighboring camera are computed based on the co-linearity property and the known distances of the feature points on the 1D target. The transformation from each camera local coordinate frame to the global coordinate frame is realized by utilizing the above neighboring camera rotation matrix and translation vector. Similarly, the laser plane equation in the global coordinate frame is acquired with at least three non-collinear points on the laser plane using the 1D target. Finally, the global measurement model is set up through integrating the intrinsic parameters, the extrinsic parameters and the laser plane equation in the global coordinate frame. Both the calibration experiment and field application results demonstrate the effectiveness and feasi- bility of the proposed algorithm.
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