中文摘要：

为了建立挖掘机器人视觉系统摄像机测量模型,提高视觉测量精度,分析了挖掘机器人摄像机视觉系统内、外参数成像模型及摄像机非线性畸变参数,确定了适合挖掘机器人视觉系统的标定参数。通过采集自制的棋盘标定模板不同方向的七幅图像,基于OpenCV技术实现了对模板角点的提取。通过七幅图像进行标定实验,实验结果获得了摄像机模型的线性内部参数矩阵,标定出了摄像机非线性模型的径向畸变系数,摄像机外部旋转矩阵及平移向量,并给出了标定参数误差。研究结论表明采用角点提取方法,标定误差可达亚像素级,能够满足挖掘机器人视觉系统的标定及视觉测量精度要求。

英文摘要：

In order to build a camera measurement model for a vision system in excavator robot and improve the vision＇s measurement precision,this study analyzed the internal and external parameters imaging model and nonlinear distortion parameters of a camera vision system in excavator robot,and determined the calibration parameters suitable for a excavator robot vision system.By acquiring seven home-made chessboard calibration template images in different directions,the study was able to extract angular point of board based on OpenCV.A calibration test using these seven images was performed.The test obtained the linear internal parameter matrices of camera model,derived the radial distortion coefficient of camera nonlinear model,camera external rotation matrix and displacement vector,and provided the calibration parameter error.The study concludes that the calibration errors can achieve a sub-pixel level using the angular point detection method,and can meet the requirements of visual system calibration and visual measure precision for excavator robot.