中文摘要：

针对圆轨双链主动视觉机构中摄像机动态标定问题,设计了一种在圆轨内侧安装均匀分布6组立体标靶块的标定体系。从保证摄像机在任意支链位置均能获得立体标靶块图像出发,分析了立体标靶块的合理布局和靶块尺寸,并给出了梯形靶面的编码标志点和非编码标志点的设计方案;基于小孔成像原理,建立了标定体系的视觉标定模型,实现了通过一块平面棋盘靶进行立体标靶块的非编码标志点空间坐标的测定,以及通过立体标靶块进行摄像机位姿的动态标定。实验结果表明了标定体系设计的合理性及用其动态标定的有效性。

英文摘要：

Aiming at the problem of the dynamic calibration of the cameras in the mechanism of double-stranded active vision on circular orbit, a calibration system is designed to install six groups of 3D target blocks which are uniformly distributed in a circular orbit inside. Firstly, to ensure that the camera of branched-chain which is laid any location in the mechanism can acquire the image of a group of 3D target blocks, the proper distribution and size of 3D target blocks are analyzed, and the target surface which are composed of coding and non-coding mark points are designed. Secondly, based on the pinhole principle, the visual model of calibration system is established to determine the space coordinates of non-coding mark points of 3D target blocks using a planar chessboard target, and to realize the dynamic calibration of cameras using 3D target blocks. The experimental results show that the design of the calibration system is reasonable and the method of the dynamic calibration is effective.