[1]张晓闻,吕铁钢.一种应用于双目相机标定的三角形球标定物[J].机械与电子,2025,(07):16-23.
　ZHANG Xiaowen,LYU Tiegang.A Triangular Sphere Calibration Object Applied to Binocular Camera Calibration[J].Machinery & Electronics,2025,(07):16-23.
点击复制

一种应用于双目相机标定的三角形球标定物()
分享到：

《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2025年07期
页码:
16-23
栏目:
研究与设计
出版日期:
2025-07-27

文章信息/Info

Title:
A Triangular Sphere Calibration Object Applied to Binocular Camera Calibration
文章编号:
1001-2257 ( 2025 ) 07-0016-08
作者:
张晓闻; 吕铁钢
太原工业学院电子工程系,山西 太原 030008
Author(s):
ZHANG Xiaowen ;  LYU Tiegang
( Department of Electronic Engineering , Taiyuan Institute of Technology , Taiyuan 030008 , China )
关键词:
双目相机标定; 三角形基元; 内外参数; 多视点标定
Keywords:
calibration of binocular cameras ;  triangular element ;  internal and external parameters ;  multi viewpoint calibration
分类号:
TP391.4
文献标志码:
A
摘要:
为解决实际应用场合中双目相机标定存在标定精度欠佳、标定误差大等问题,提出了一种可应用于双目相机标定的三角形球标定物,该标定物以球作为标定立体,三角形作为基元,进行双目相机标定,通过椭圆拟合、Cholesky 分解、单应矩阵求解以及非线性优化等步骤,计算双目相机的内外参数及畸变参数。该标定物简化了基元对应关系,可实现多视点相机同时标定,所提方法既适用于 2 个不同结构的单目相机解算双目相机参数,也适用于同一结构内的 2 个图像传感器组成的双目相机标定。通过实验证明,应用该标定物的双目相机,在标定精度、左右相机标定误差以及鲁棒性等方面均优于传统算法,算法综合评价得到明显提高。
Abstract:
In order to solve the problems of poor calibration accuracy and large calibration errors in the calibration of binocular cameras in practical applications , a triangular sphere calibration object that can be applied to binocular camera calibration is proposed.The calibration object uses a sphere as the calibration stereo and a triangle as the base element for binocular camera calibration.The internal and external parameters as well as distortion parameters of the binocular camera are calculated through steps such as ellipse fitting , Cholesky decomposition , homography matrix solving , and nonlinear optimization.This method simplifies the correspondence between primitives and enables simultaneous calibration of multi viewpoint cameras.It is suitable for solving binocular camera parameters for two monocular cameras with different structures , as well as for calibrating binocular cameras composed of two image sensors within the same structure.Through experiments , it has been proven that the binocular camera using this calibration object outperforms traditional algorithms in terms of calibration accuracy , left and right camera calibration errors , and robustness.The comprehensive evaluation of the algorithm has been significantly improved.

参考文献/References:

[ 1 ] USAMENTIAGA R , GARCIA D F.Multi-camera calibration for accurate geometric measurements in industrial environments [ J ] .Measurement , 2018 , 134 : 345-358.

[ 2 ] CV ˇ SIC ’ I , MARKOVIC ’I , PETROVIC ’ I.Enhanced calibration of camera setups for high-performance visual odometry [ J ] .Robotics and autonomous systems , 2022 , 155 : 104189.
[ 3 ] ZHANG Z Y.Camera calibration with one-dimensional objects [ J ] .IEEE Transaction pattern analysis and machine intelligence , 2004 , 26 ( 7 ): 892-899.
[ 4 ] ZHANG Z.A flexible new technique for camera calibration [ J ] .IEEE Transaction pattern analysis and machine intelligence , 2000 , 22 ( 11 ): 1330-1334.
[ 5 ] LI Y L.A calibration method of computer vision system based on dual attention mechanism [ J ] .Image and vision computing , 2020 , 103 : 104039.
[ 6 ] ZHANG Z , ZHAO R J , LIU E H , et al.A single-image linear calibration method for camera [ J ] .Measurement , 2018 , 130 : 298-305.
[ 7 ] HUO J Z , ZHANG H D , MENG Z C , et al.A flexible calibration method based on small planar target for defocused cameras [ J ] .Optics and lasers in engineering , 2022 , 157 : 107125.
[ 8 ] BU L B , HUO H T , LIU X Y , et al.Concentric circle grids for camera calibration with considering lens distortion [ J ] .Optics and lasers in engineering , 2021 , 140 : 106527.
[ 9 ] YIN X Q , REN M J , ZHU L M.A single-pose series sphere-based calibration method for camera projec- tor structured light system [ J ] .Optics communictions , 2022 , 507 : 127659.
[ 10 ] HUANG L , DA F P , GAI S Y.Research on multi camera calibration and point cloud correction method based on three-dimensional calibration object [ J ] . Optics and lasers in engineering , 2019 , 115 : 32-41.
[ 11 ] BU L B , HUO H T , LIU X Y , et al.Concentric circle grids for camera calibration with considering lens distortion [ J ] .Optics and lasers in engineering , 2021 , 140 : 106527.
[ 12 ] AN P , LIU Q , ABEDI F , et al.Novel calibration method for camera array in spherical arrangement [ J ] .Signal processing : image communication , 2020 , 80 : 115682.
[ 13 ] RUAN M H , HUBER D.Calibration of 3D sensors using a spherical target [ C ] ∥2014 2nd International Conference on 3D Vision.New York : IEEE , 2015 : 187-193.
[ 14 ] FUERSATTEL P , DOTENCO S , PLACHT S , et al. OCPAD occluded checkerboard pattern detector [ C ] ∥2016 IEEE Winter Conference on Applications of Computer Vision.New York : IEEE , 2016 : 1-9.
[ 15 ] HA H , PERDOCH M , ALISMAIL H , et al.Deltille Grids for Geometric Camera Calibration [ C ] ∥2017 IEEE International Conference on Computer Vision ( ICCV ) .New York : IEEE , 2017 : 5354-5362.
[ 16 ] GR¨ UNBAUM B , SHEPHARD G C.Tilings and patterns [ M ] .New York : W.H.Freeman and Company , 1987.
[ 17 ] PLACHT S , F¨ URSATTEL P , MENGUE E A , et al. ROCHADE : robust checkerboard advanced detection for camera calibration [ C ] ∥European Conference on Computer Vision , 2014 : 766-779.
[ 18 ] KIM J S , GURDJOS P , KWEON I S.Geometric and algebraic constraints of projected concentric circles and their applications to camera calibration [ J ] .IEEE Transactions on pattern analysis and machine intelligence , 2005 , 27 ( 4 ): 637-642.
[ 19 ] D ’ AZEVEDO E F.Are bilinear quadrilaterals better than linear triangles [ J ] .SIAM journal on scientific computing , 2003 , 22 ( 1 ): 198-217.
[ 20 ] STEGER C.An unbiased detector of curvilinear structures carsten steger [ J ] .IEEE Transactions on pattern analysis and machine intelligence , 1998 , 20 ( 2 ):113-125.
[ 21 ] ZHANG X W , LV T G , DAN W , et al.High-preci- sion binocular camera calibration method based on a 3D calibration object [ J ] .Applied optics , 2024 , 63 ( 10 ): 2667-2682.
[ 22 ] HARTLEY R , ZISSERMAN A.Multiple view geometry in computer vision [ M ] .Cambridge : Cambridge University Press , 2000.

备注/Memo

备注/Memo:
收稿日期: 2025-02-22
基金项目:山西省基础研究计划(自由探索类)项目( 202303021222299 );山西省高等学校科技创新项目( 2023L358 )
作者简介:张晓闻 ( 1990- ),女,内蒙古赤峰人,博士,讲师,研究方向为机器视觉。
更新日期/Last Update: 2025-08-28