ccd雙目立體視覺(jué)測(cè)量系統(tǒng)的理論研究_外文翻譯(編輯修改稿)
2024-09-04 23:11 本頁(yè)面
【文章內(nèi)容簡(jiǎn)介】 principle, we can see the error image recognition system accuracy is another important factor in a direct impact. Based on the above considerations, the structure from the theoretical parameters of the system and image recognition errors on the precision of the system of indepth analysis and research. Combination of system parameters on the accuracy of the camera calibration given set of practical applications, stereo vision measurement system design1 Binocular stereo vision measurement principle and mathematical model Camera imaging modelCamera imaging model, the geometric relationship between the optical imaging system of mathematics said. At present the application of camera calibration are pinhole camera imaging model imaging model, twoplane model and artificial neural network model. In which a large number of pinhole imaging model is used in an imaging model, which reflects the relationship between an ideal linear map shown in Figure 1. One, Oc for the camera optical center, Oc XcYc Zc for the camera coordinate system, OXYZ the world coordinate system, oxy for the camera imaging plane physical coordinates.P (X, Y, Z) for the space of a material point, p 39。(x, y) is its projection point on the image plane. According to the imaging model, the space object point P (X, Y, Z) and the relationship between the image point can be expressed asWhen two or more intersection cameras, you can get 2 i (i ≥ 2) consisting of equations overdetermined equations, so the least squares method can be used to solve equations to determine the spatial coordinates of object points. stereo vision measurement system modelBinocular stereo vision system usually consists of two identical CCD structure and properties of the position and placement of the two CCD symmetry. Based on the above camera imaging model, from (2) can introduce the following overdeterminedEquations:Where r, t, r 39。, t39。 are the two camera coordinate system relative to the world coordinate system translation and rotation matrix, can be obtained through camera calibration. (X, y), (x 39。, y39。), respectively, for the space object point (X, Y, Z) in the two CCD image plane projection of the physical coordinates.Figure 2 Simple model of binocular stereo visionIn order to analyze structural parameters of the system, where the building shown in Figure 2 stereo vision system. In this structure, the coordinate system in the same plane, which for the Y axis perpendicular to the paper, the world coordinate system OXYZ with the left camera coordinate origin coincides Oc Xc Yc Zc, two camera spacing L, the angle between the two axis 2α. According to the above structure, the camera can determine the position of the two equations for the overdeterminedBy equation (4) yields:2 Image recognition errors on the accuracy of the systemStereo vision system, the space object point in two camera image plane position i
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