Acquisition of camera dynamic extrinsic parameters in free binocular stereo vision system
LI Xiao1,2, GE Baozhen1,2, LUO Qijun1,2,3, LI Yunpeng1,2, TIAN Qingguo1,2
1. School of Precision Instrument and Opto-Electronics Engineering, Tianjin University, Tianjin 300072, China; 2. Key Laboratory of Opto-Electronics Information Technology of Ministry of Education, Tianjin 300072, China; 3. College of Electronic Information and Automation, Civil Aviation University of China, Tianjin 300300, China
Abstract：Aiming to solve the change of the extrinsic parameters between the two cameras in free binocular stereo vision system caused by the rotation of the cameras, a method for acquiring the dynamic extrinsic parameters based on calibration of rotation axis was proposed. Multiple rotation and translation matrixes were obtained by the calibration at different positions, then the parameters of rotation axis could be calculated by using least square method. Combined with the intrinsic and extrinsic parameters at initial position and rotation angle, the dynamic extrinsic parameters between the two cameras could be calculated in real time. The chessboard corners were reconstructed with the dynamic extrinsic parameters calculated by the proposed method, the result showed that the average error was 0.241mm and the standard deviation was 0.156mm. Compared with the calibration method based on multiple-plane calibration target, the proposed method is easier to implement and has higher precision, where dynamic extrinsic parameters can be acquired without real-time calibration.
李肖, 葛宝臻, 罗其俊, 李云鹏, 田庆国. 自由双目立体视觉摄像机动态外参数的获取[J]. 计算机应用, 2017, 37(10): 2888-2894.
LI Xiao, GE Baozhen, LUO Qijun, LI Yunpeng, TIAN Qingguo. Acquisition of camera dynamic extrinsic parameters in free binocular stereo vision system. Journal of Computer Applications, 2017, 37(10): 2888-2894.
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2017, Vol. 37 
