中文摘要：

针对基于二维平面靶标的双目标定问题，为提高标定稳定性及标定精度，从单应性矩阵的角度分析了标定姿态的选择对标定结果的影响，提出对标定姿态进行规避的三个性质。三个性质分别指出，避免出现只平移靶标及在靶标平面内旋转靶标的姿态，尽量避免靶标平面与图像成像面平行的姿态。在此基础上，提出了一种五姿态集标定方法。实验结果表明，三个性质应用价值高，有利于保证标定精度；当每个姿态集下拍摄不少于三对图像时，五姿态集标定法能达到较高的标定稳定性与标定精度。

英文摘要：

In order to improve the stability and precision of binocular calibration based on two-dimensional plane target, the influence of pose selection on calibration is emphatically analyzed from homography matrix perspective. Then three properties are proposed to regulate calibration poses, which point out respectively, to avoid all poses of translating and rotating target only in its own plane and the parallel pose between target and image plane. On the basis of three properties, a strategy to select poses of binocular calibration called five poses set calibration is presented. Experimental results demonstrate that three properties have high application value, which is beneficial to ensure accuracy of calibration, and only if no less than three images are acquired in every pose set, five poses set calibration can reach high calibration reliability and accuracy.