单目视觉相机标定方法研究

Research on the Method of Monocular Camera Calibration

摘要: 由于相机透镜和装配过程中造成的误差，导致最终相机标定结果存在一定误差，为了降低误差提升标定精度，基于平面棋盘格标定法基础上最小化重投影误差对解算得到的标定参数进行非线性迭代求全局最优解。在分析相机的理论成像模型后以及对引入畸变参数后的非线性相机成像模型进行研究后求解得到相机变换矩阵和相机内参数，最后对标定结果进行优化。实验结果表明，该方法标定误差均值为0.1402，标准差为0.0207，相较于传统标定方法具有更高的精度和更好的稳定性，具有一定的工程实践意义。

Abstract: In order to reduce the error and improve the calibration accuracy, the calibration parameters obtained by the solution are nonlinear iteratively based on the plane checkerboard calibration method to minimize the reprojection error and find the global optimal solution. After analyzing the theoretical imaging model of the camera and studying the nonlinear camera imaging model after introducing distortion parameters, the camera transformation matrix and the parameters in the camera are solved, and finally the calibration results are optimized. The experimental results show that the mean calibration error of this method is 0.1402 and the standard deviation is 0.0207, which has higher accuracy and better stability than the traditional calibration method and has certain engineering practical significance.