关键词: 视觉导航, 摄像机标定, 畸变模型, 智能车

Abstract: One camera is used in the autonomous navigation system of intelligent vehicle, and camera calibration is the key and precondition of the intelligent vehicles correct and safe navigation. Through the study of ideal model and actual model of camera, an improved calibration method was proposed. In the process of obtaining internal and external parameters of the camera, this algorithm combined the advantages of both linear and nonlinear calibration, which calibrated parts of the parameters of camera firstly and then considered simplifying the distortion model. The nonlinear equation systems can be changed into linear equation systems. Additionally, all the parameters of camera were acquired through many times iteration. On the one hand, it can ensure the calibration accuracy. On the other hand, it reduces the complexity of the cameras actual model. The experimental results show that the method can meet the requirements of vision navigation.

Key words: vision navigation, camera calibration, distortion model, smart car