外文翻譯---ccd雙目立體視覺(jué)測(cè)量系統(tǒng)的理論研究-其他專業(yè)-文庫(kù)吧資料
2025-01-27 09:15本頁(yè)面
【正文】 ates (x, y), (x 39。), 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 vision In 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 overdetermined By equation (4) yields: 2 Image recognition errors on the accuracy of the system Stereo vision system, the space object point in two camera image plane position is represented by pixel coordinates, and pixel area array CCD camera has a certain physical size, which makes the space object point in the image on the real physical coordinates Not the exact expression, a fundamental cause of the image recognition 3. Image plane pixel coordinates and physical coordinates the following relations: Where: (u, v) the image in pixels coordinate system, dx, dy, respectively, for each pixel in the xaxis and y axis on the physical size, (u0, v0) o the origin of the coordinate system for the oxy O0 uv coordinate system in the coordinates [3]. Shown in Figure 4, assuming that the image recognition accuracy of pixel. For a space object point, set the projection to the image plane on the iline, the first j columns of pixels, then this time the physical coordinates of the point x = ( i u0) dx y = ( j v0) dy As long as the point falls within the pixel, the coordinate value is a constant. Ideally, the coordinates of which should be within a certain range, respectively: ( i u0 0. 5) dx x ( i u0 + 0. 5) dx ( j v0 0. 5) dy y ( i v0 + 0. 5) dy Integrated on the type, then the error should point to Image Recognition ex = 0. 5 ( x [ x ]) ey = 0. 5 ( y [ y ]) Where: [x], [y], respectively, for x, y rounded. Since the existence of image recognition errors, the actual coordinates of image point coordinates and the ideal image point has the following relationship: x =?? X + ex, y =?? Y + ey, (x, y) as the point of actual physical coordinates, ( ?? x,?? y) as the ideal image point of physical coordinates. Let the measured object point coordinates P = (^ X, ^ Y, ^ Z), by equation (1) to calculate the projection of the points in the two cameras the ideal image point coordinates (?? X,?? Y) and (? ? x 39。 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。(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
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