基于计算机视觉和测量平差理论的相机标定

doi:10.13229/j.cnki.jdxbgxb201703035

吉林大学学报(工学版) ›› 2017, Vol. 47 ›› Issue (3): 944-951.doi: 10.13229/j.cnki.jdxbgxb201703035

基于计算机视觉和测量平差理论的相机标定

王凤艳^{1, 2}, 黄润秋², 陈剑平³, 张元元⁴, 王明常¹

1.吉林大学地球探测科学与技术学院, 长春 130026;
2.成都理工大学地质灾害防治与地质环境保护国家重点实验室, 成都 610059;
3.吉林大学建设工程学院, 长春 130026;
4.北京市勘察设计研究院有限公司工程检测监测所, 北京 100038

收稿日期:2016-02-22 出版日期:2017-05-20 发布日期:2017-05-20
通讯作者: 黄润秋(1963-),男,教授,博士生导师.研究方向:工程地质,岩土工程.E-mail:hrq@cdut.edu.cn
作者简介:王凤艳(1970-),女,教授,博士.研究方向:工程测量.E-mail:wangfy@jlu.edu.cn
基金资助:
国家自然科学基金项目(41472243,41330636); 地质灾害防治与地质环境保护国家重点实验室开放基金项目(SKLGP2013K018); 区域开发与环境响应湖北省重点实验室开放研究基金项目(2015(B)003)

Camera calibration based on computer vision and surveying adjustment fundamentals

WANG Feng-yan^{1, 2}, HUANG Run-qiu², CHEN Jian-ping³, ZHANG Yuan-yuan⁴, WANG Ming-chang¹

1.College of Geo-Exploration Science and Technology, Jilin University, Changchun 130026, China;
2.State Key Laboratory of Geohazard Prevention and Geoenvironment Protection, Chengdu University of Technology, Chengdu 610059, China;
3.College of Construction Engineering, Jilin University, Changchun 130026, China;
4.Institute of Engineering Detecting and Monitoring, Beijing Engineering Corporation Limited, Beijing 100038, China

Received:2016-02-22 Online:2017-05-20 Published:2017-05-20

摘要/Abstract

摘要： 以计算机视觉中顾及径向和切向畸变的针孔模型为基础,引入测量平差理论,建立了基于计算机视觉和测量平差理论的相机标定数学模型,并以液晶显示屏棋盘格网作为相机标定参照物,以Microsoft Visual Studio为开发平台,利用MFC结合OpenCV编制了相机标定软件Camera Calibration 1.0。通过对数码相机Canon 5D Marx II的标定试验及与近景摄影测量商业软件Lensphoto的对比试验,得出标定参数的精度在±1 pixel内,验证了所建相机标定模型的正确性和相机标定软件Camera Calibration 1.0的可靠性,且利用所建相机标定模型实现了对标定参数的精度评定,从而克服了传统计算机视觉中只计算像点坐标重投影误差的单一精度评定方法的局限。最后,将研究成果用于长春市杨家沟采石场边坡结构面信息的勘察实践,获取了采石场边坡大量随机结构面的迹线和产状信息,为基于随机动力学的边坡稳定性评价提供了详实的基础数据。研究成果还可用于以非量测相机作为传感器的其他生产及科研工作。

关键词: 计算机应用, 相机标定, 测量平差理论, OpenCV, 棋盘格网, 结构面

Abstract: On the basis of the pinhole model with radial and tangential distortions in computer vision, mathematical models of camera calibration based on computer vision and surveying adjustment fundamentals were established. Taking chess grid of Liquid Crystal Display (LCD) as reference object for camera calibration, Microsoft Visual Studio as the development platform, camera calibration software, Camera Calibration 1.0, was programmed based on MFC and OpenCV. Through calibration experiments for Canon 5D Marx II digital camera, and comparison with commercial software Lensphoto of close rang photogrammetry system, it was shown that the errors of calibration parameters were within ±1 pixel, and the correctness of the established camera calibration models was verified. The reliability of the Camera Calibration 1.0 software was validated. The precision evaluation of calibration parameters was achieved using the established calibration models, which overcomes the limit in conventional computer vision that only single precision for projecting errors of image point coordinates was evaluated. Furthermore, the method developed in this study was applied to the discontinuity investigation of the slope of Yangjiagou quarry in Changchun. The information of a large number of random discontinuities of rock mass slop was obtained to provide the full and accurate data for stability evaluation of the slop.

Key words: computer application, camera calibration, surveying adjustment fundamentals, OpenCV, chess grid, discontinuities

中图分类号:

TP391

王凤艳, 黄润秋, 陈剑平, 张元元, 王明常. 基于计算机视觉和测量平差理论的相机标定[J]. 吉林大学学报(工学版), 2017, 47(3): 944-951.

WANG Feng-yan, HUANG Run-qiu, CHEN Jian-ping, ZHANG Yuan-yuan, WANG Ming-chang. Camera calibration based on computer vision and surveying adjustment fundamentals[J]. 吉林大学学报(工学版), 2017, 47(3): 944-951.

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基于计算机视觉和测量平差理论的相机标定

Camera calibration based on computer vision and surveying adjustment fundamentals

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